76 lines
3.8 KiB
Python
76 lines
3.8 KiB
Python
import kx
|
|
import can
|
|
import protocol_kx
|
|
|
|
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(255, can0, Init_Struct)
|
|
KXLOX.send_test_source_enable(0)
|
|
KXLOX.send_test_source_enable(1)
|
|
KXLOX.send_receive_cmd()
|
|
|