Improvement

.idea/workspace.xml

@@ -5,6 +5,7 @@
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/kx.py" beforeDir="false" afterPath="$PROJECT_DIR$/kx.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/main.py" beforeDir="false" afterPath="$PROJECT_DIR$/main.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/protocol_kx.py" beforeDir="false" afterPath="$PROJECT_DIR$/protocol_kx.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -83,7 +84,7 @@
       </list>
     </recent_temporary>
   </component>
-  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="SpellCheckerSettings" BundledDictionaries="0" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" Dictionaries="0" CorrectionsLimit="5" DefaultDictionary="application-level" UseSingleDictionary="true" />
   <component name="SvnConfiguration">
     <configuration />
   </component>
@@ -102,31 +103,35 @@
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
     <state x="740" y="280" key="FileChooserDialogImpl/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625210370146" />
-    <state width="1899" height="285" key="GridCell.Tab.0.bottom" timestamp="1625231013474">
+    <state width="1899" height="285" key="GridCell.Tab.0.bottom" timestamp="1626178105375">
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
-    <state width="1899" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625231013474" />
+    <state width="1899" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1626178105375" />
     <state width="1899" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1625226001969" />
-    <state width="1899" height="285" key="GridCell.Tab.0.center" timestamp="1625231013474">
+    <state width="1899" height="285" key="GridCell.Tab.0.center" timestamp="1626178105375">
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
-    <state width="1899" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625231013474" />
+    <state width="1899" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1626178105375" />
     <state width="1899" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1625226001969" />
-    <state width="1899" height="285" key="GridCell.Tab.0.left" timestamp="1625231013474">
+    <state width="1899" height="285" key="GridCell.Tab.0.left" timestamp="1626178105375">
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
-    <state width="1899" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625231013474" />
+    <state width="1899" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1626178105375" />
     <state width="1899" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1625226001969" />
-    <state width="1899" height="285" key="GridCell.Tab.0.right" timestamp="1625231013474">
+    <state width="1899" height="285" key="GridCell.Tab.0.right" timestamp="1626178105375">
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
-    <state width="1899" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625231013474" />
+    <state width="1899" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1626178105375" />
     <state width="1899" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1625226001969" />
     <state x="656" y="349" key="com.intellij.ide.util.TipDialog" timestamp="1625209374327">
       <screen x="0" y="0" width="1920" height="1050" />
     </state>
     <state x="656" y="349" key="com.intellij.ide.util.TipDialog/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625209374327" />
     <state x="2576" y="349" key="com.intellij.ide.util.TipDialog/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623318929088" />
+    <state x="718" y="246" width="737" height="804" key="find.popup" timestamp="1626177094089">
+      <screen x="0" y="0" width="1920" height="1050" />
+    </state>
+    <state x="718" y="246" width="737" height="804" key="find.popup/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1626177094089" />
     <state x="2543" y="227" width="672" height="678" key="search.everywhere.popup" timestamp="1625214536301">
       <screen x="1920" y="0" width="1920" height="1050" />
     </state>

kx.py

@@ -1,67 +1,86 @@
 import protocol_kx
 import can
-import cantools
-import os
 import numpy as np
 import struct
 import time
 
-
 K = np.zeros(protocol_kx.KX_K_COUNT)
+K_received = np.zeros(protocol_kx.KX_K_COUNT)
 
 
 class KX:
-    def __init__(self, id, value, sbl_id, can):
+    def __init__(self, sbl_id, can, dict):
-        K[id] = value
         self.sbl_id = sbl_id
         self.can0 = can
-
+        for element in dict:
-
+            K[element] = dict[element]
-    def KXInit(self, id, value):
-        K[id] = value
-
 
     def reset(self):
         resetMsg = can.Message(arbitration_id=0xA, data=[99, self.sbl_id], is_extended_id=False)
         try:
             self.can0.send(resetMsg)
-            print(f"Message sent on{self.can0.channel_info}")
         except self.can0.CanError:
-            print("Message NOT sent")
+            print("Message reset NOT sent")
-
-
 
     def sendK(self):
         i = 0
         for element in K:
             ba = bytearray(struct.pack("f", element))
             messageK = can.Message(arbitration_id=0x2BB, data=[self.sbl_id, i, 0,
-                                                             protocol_kx.KX_FLAG_SEND, ba[0], ba[1], ba[2], ba[3]], is_extended_id=False)
+                                                               protocol_kx.KX_FLAG_SEND, ba[0], ba[1], ba[2], ba[3]],
+                                   is_extended_id=False)
             try:
                 self.can0.send(messageK)
                 time.sleep(0.01)
-                print(f"Message sent on{self.can0.channel_info}")
             except self.can0.CanError:
-                print("Message NOT sent")
+                print("Message sendK NOT sent")
             i = i + 1
 
-
-
     def writeToFlashK(self):
         messageK = can.Message(arbitration_id=0x2BB, data=[self.sbl_id, 0, 0,
-                                                             protocol_kx.KX_FLAG_WRITE_REQ, 0, 0, 0, 0], is_extended_id=False)
+                                                           protocol_kx.KX_FLAG_WRITE_REQ, 0, 0, 0, 0],
+                               is_extended_id=False)
         try:
             self.can0.send(messageK)
             time.sleep(0.01)
-            print(f"Flash sent on{self.can0.channel_info}")
         except self.can0.CanError:
             print("Flash NOT sent")
 
-
     def send_test_source_enable(self, enabaled):
         ba = bytearray(struct.pack("f", enabaled))
-        messageK = can.Message(arbitration_id=0x2BB, data=[self.sbl_id, protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 0,
+        messageK = can.Message(arbitration_id=0x2BB,
-                                                           protocol_kx.KX_FLAG_SEND, ba[0], ba[1], ba[2], ba[3]], is_extended_id=False)
+                               data=[self.sbl_id, protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 0,
-        self.can0.send(messageK)
+                                     protocol_kx.KX_FLAG_SEND, ba[0], ba[1], ba[2], ba[3]], is_extended_id=False)
+        try:
+            self.can0.send(messageK)
+            time.sleep(0.01)
+        except self.can0.CanError:
+            print("Test source enable NOT sent")
+
         self.sendK()
-        self.writeToFlashK()
+        self.writeToFlashK()
+
+    def send_receive_cmd(self):
+        messageK = can.Message(arbitration_id=0x2BB,
+                               data=[self.sbl_id, 0, 0,
+                                     protocol_kx.KX_FLAG_RECEIVE_REQ, 0, 0, 0, 0], is_extended_id=False)
+        try:
+            self.can0.send(messageK)
+            time.sleep(0.01)
+        except self.can0.CanError:
+            print("Receive command NOT sent")
+
+        d = 0
+        while d < 64:
+            message = self.can0.recv(10)
+            if message.arbitration_id == 0x2BB:
+                frame = bytearray()
+                frame.append(message.data[4])
+                frame.append(message.data[5])
+                frame.append(message.data[6])
+                frame.append(message.data[7])
+                data= struct.unpack("f", frame)
+                K_received[message.data[1]] = data[0]
+                if(K_received[message.data[1]] != K[message.data[1]]):
+                    print("Error in element ", message.data[1], "Need value = ", K[message.data[1]], "Get value = ", K_received[message.data[1]])
+                d += 1

main.py

@@ -1,23 +1,75 @@
 import kx
 import can
 import protocol_kx
-import struct
+
-import os
+Init_Struct = dict([
+    (protocol_kx.KDescription.K_SBL_ID.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_COMP_RX_CHAIN_DISABLED.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCES_COUNT.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X.value, 9.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y.value, 10.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_X.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_Y.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_Z.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MIN.value, 1.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MIN.value, 1.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z_MIN.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MAX.value, 11.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MAX.value, 17.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z_MAX.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_X.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_Y.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_Z.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_SIGLVL.value, 950),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X_MIN.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y_MIN.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z_MIN.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X_MAX.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y_MAX.value, 0.0),
+    (protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z_MAX.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DT.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DX.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DY.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DVX.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DVY.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DR.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DV.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_DA.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_ASSOC_DR.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_ASSOC_DV.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_ASSOC_DA.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_CONFIRM_COUNT.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_CONFIRM_PERIOD.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_MISSED_COUNT.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_PK_VAL_THLD.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_T_SX.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_T_SY.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_T_SVX.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_T_SVY.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_ADV_PK_VAL.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_ADV_SY_MULT.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_BND_BOX_XL.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_BND_BOX_XR.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_BND_BOX_YB.value, 0.0),
+    (protocol_kx.KDescription.K_JPDA_BND_BOX_YT.value, 0.0),
+    (protocol_kx.KDescription.K_MRR_RX_GAIN.value, 0.0),
+    (protocol_kx.KDescription.K_USRR_RX_GAIN.value, 0.0),
+    (protocol_kx.KDescription.K_TO_DSS.value, 0.0),
+    (protocol_kx.KDescription.K_TO_DSS_2.value, 0.0)
+])
 
 
 can0 = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
 
 
-KXLOX = kx.KX(protocol_kx.KDescription.K_TEST_SOURCE_2_SIGLVL.value, 950, 255, can0)
+KXLOX = kx.KX(255, can0, Init_Struct)
 KXLOX.send_test_source_enable(0)
-KXLOX.KXInit(protocol_kx.KDescription.K_SBL_ID.value, 43)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MAX.value, 21)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MAX.value, 21)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MIN.value, 1)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MIN.value, 1)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y.value, 7)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X.value, 7)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450)
-KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 1)
 KXLOX.send_test_source_enable(1)
+KXLOX.send_receive_cmd()
 

protocol_kx.py

@@ -17,14 +17,6 @@ KX_FLAG_WRITE_ERR = 7
 KX_FLAG_WRITE_OK = 8
 
 
-class CANMsgK:
-    def __init__(self, sblID, index, flag, k):
-        self.sblID = sblID
-        self.index = index
-        self.flag = flag
-        self.k = k
-
-
 class KDescription(Enum):
     K_SBL_ID = 0
     K_TEST_COMP_RX_CHAIN_DISABLED = 1