Can msg send

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

.idea/workspace.xml

@@ -1,7 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ChangeListManager">
-    <list default="true" id="72cc40b1-c3bf-43e3-bbc5-daa6555ea73d" name="Default Changelist" comment="" />
+    <list default="true" id="72cc40b1-c3bf-43e3-bbc5-daa6555ea73d" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
+      <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" />
+    </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -14,7 +19,11 @@
       </list>
     </option>
   </component>
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
   <component name="ProjectId" id="1tfF9PwSNSXsgpWLjjHxA5A61PP" />
+  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showExcludedFiles" value="true" />
@@ -22,6 +31,8 @@
   </component>
   <component name="PropertiesComponent">
     <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+    <property name="SHARE_PROJECT_CONFIGURATION_FILES" value="true" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$/../texas_test" />
   </component>
   <component name="RunManager" selected="Python.main">
     <configuration name="main" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
@@ -87,29 +98,38 @@
     <servers />
   </component>
   <component name="WindowStateProjectService">
-    <state width="1899" height="285" key="GridCell.Tab.0.bottom" timestamp="1623333108256">
+    <state x="740" y="280" key="FileChooserDialogImpl" timestamp="1625210370146">
       <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="1623333108256" />
+    <state x="740" y="280" key="FileChooserDialogImpl/0.0.1920.1050/1920.0.1920.1050@0.0.1920.1050" timestamp="1625210370146" />
-    <state width="1882" height="285" key="GridCell.Tab.0.bottom/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <state width="1899" height="285" key="GridCell.Tab.0.bottom" timestamp="1625231013474">
-    <state width="1899" height="285" key="GridCell.Tab.0.center" timestamp="1623333108256">
       <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="1623333108256" />
+    <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="1882" height="285" key="GridCell.Tab.0.center/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <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.left" timestamp="1623333108256">
+    <state width="1899" height="285" key="GridCell.Tab.0.center" timestamp="1625231013474">
       <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="1623333108256" />
+    <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="1882" height="285" key="GridCell.Tab.0.left/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <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.right" timestamp="1623333108256">
+    <state width="1899" height="285" key="GridCell.Tab.0.left" timestamp="1625231013474">
       <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="1623333108256" />
+    <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="1882" height="285" key="GridCell.Tab.0.right/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1623328090440" />
+    <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 x="2576" y="349" key="com.intellij.ide.util.TipDialog" timestamp="1623318929088">
+    <state width="1899" height="285" key="GridCell.Tab.0.right" timestamp="1625231013474">
+      <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@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="2543" y="227" width="672" height="678" key="search.everywhere.popup" timestamp="1625214536301">
       <screen x="1920" y="0" width="1920" height="1050" />
     </state>
-    <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="2543" y="227" width="672" height="678" key="search.everywhere.popup/0.0.1920.1050/1920.0.1920.1050@1920.0.1920.1050" timestamp="1625214536301" />
   </component>
 </project>

kx.py

@@ -3,6 +3,8 @@ import can
 import cantools
 import os
 import numpy as np
+import struct
+import time
 
 
 K = np.zeros(protocol_kx.KX_K_COUNT)
@@ -21,21 +23,55 @@ class KX:
 
     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")
+
 
 
     def sendK(self):
-        msg = protocol_kx.CANMsgK(self.sbl_id, 0, protocol_kx.KX_FLAG_SEND, K[0])
         i = 0
         for element in K:
-            msg.k = element
+            ba = bytearray(struct.pack("f", element))
-            msg.index = i
+            messageK = can.Message(arbitration_id=0x2BB, data=[self.sbl_id, i, 0,
-            i = i + 1
+                                                             protocol_kx.KX_FLAG_SEND, ba[0], ba[1], ba[2], ba[3]], is_extended_id=False)
-            messageK = can.Message(protocol_kx.KX_FLAG_SEND, data=msg, 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")
+            i = i + 1
+
 
 
     def writeToFlashK(self):
         msg = protocol_kx.CANMsgK(self.sbl_id, 0, protocol_kx.KX_FLAG_WRITE_REQ, K)
-        messageK = can.Message(protocol_kx.KX_FLAG_READ, data=msg, is_extended_id=False)
+        messageK = can.Message(arbitration_id=0x2BB, data=[self.sbl_id, 0, 0,
+                                                             protocol_kx.KX_FLAG_WRITE_REQ], 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, x, y, xVel, yVel):
+        resetMsg = can.Message(
+            arbitration_id=0xA,
+            data=[
+                0x53,
+                0xFF,
+                struct.pack('b', int(x))[0],
+                struct.pack('B', int(y))[0],
+                struct.pack('b', int(xVel))[0],
+                struct.pack('b', int(yVel))[0],
+                0x68,
+                0xA4
+            ],
+            is_extended_id=False
+        )
+        self.can0.send(resetMsg)

main.py

@@ -1,13 +1,15 @@
 import kx
 import can
 import protocol_kx
+import struct
 import os
+import time
 
 
 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.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)
@@ -18,5 +20,6 @@ KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450)
 KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 1)
 KXLOX.sendK()
 KXLOX.writeToFlashK()
-os.wait(100)
+time.sleep(0.1)
 KXLOX.reset()
+