Daqboard.py

# Peter Ferland 02.07.2019
# AERO Data Acquisition Project

# Purpose: Grab information off the CAN BUS, format it nicely and save it to a .csv file
# Information Sources: Rinehart Motor Controller, EMUS BMS, Temp Monitor Board
# Information Sources: Steering Position, Wheel Speed, Throttle Position, Brake Pressure, Damper Position

from Canpak import Canpak
import csv
from CanError import CanError
from CanDevice import CanDevice

class Daqboard(CanDevice):

    def __init__(self, filename, deviceName: str):
        super().__init__(filename,deviceName)
        # pre allocate a list of 80 elements to hold 80 cell voltages
        self.leftdataDict = {"wheel_speed":0,"damper_pos":0}
        self.rightdataDict = {"wheel_speed":0,"damper_pos":0}
    
    # Purpose: Process Individual Cell Voltage Data From the EMUS
    # Input:
    #   data - byte array of hex data (bytes 4-7 are unused)
    #   ID - CAN ID, used to determine which cell voltages to update
    def processData(self,data):
        # Protection Flags (LSB) (byte 0)
        # Byte 0 is left wheel speed data
        self.leftdataDict["wheel_speed"] = int(data[0])
        # Byte 1 is right wheel speed data
        self.rightdataDict["wheel_speed"] = int(data[1])
        # Byte 2 is left damper data
        self.leftdataDict["damper_pos"] = super().concatBytes(data[3],data[2])/10
        # Byte 3 is right damper data
        self.rightdataDict["damper_pos"] = super().concatBytes(data[5],data[4])/10

    # Purpose: Determine which message was sent by the rinehart, perform appropriate data processing
    # and return the updated emus data dictionaries
    # Input: Frame - A tuple containing 3 hex values (ID,DLC,DATA)
    # Output: dataList - a dictionary of dictionaries of the following format

    # {"rinehart":{"DataID1": DataValue1, "DataID2": DataValue2, ...}}
    def checkBroadcast(self,frame):
        # check if the data supplied is a Daqboard message, if so continue processing
        processedData = super().process(frame)
        # if process returns a boolean we know this isn't rinehart data, exit without returning data
        if isinstance(processedData, bool):
            return self.leftdataDict,self.rightdataDict
        
        if processedData[0] == "DATA":
            self.processData(processedData[1])
            return self.leftdataDict,self.rightdataDict