Threading protos

.gitignore

@@ -108,3 +108,6 @@ venv.bak/
 
 # Test config files
 *.json
+
+# Test snippets
+test*.py

car/motion.py

@@ -7,18 +7,21 @@
 from scipy.integrate import solve_ivp
 from scipy.interpolate import interp1d
 import json
+import struct
+
 
 class motionParam(object):
     def __init__(self, value):
-        self.__value=value
+        self.__value = value
 
     @property
     def val(self):
         return self.__value
-    
+
     @property
     def export(self):
-        return (self.__class__.__name__,self.val)
+        return (self.__class__.__name__, self.val)
+
 
 class track(motionParam):
 
@@ -86,10 +89,10 @@ class constants():
 
     def __init__(self):
         self.__constDict = dict()
-       
+
     def get(self, param):
         return self.__constDict[param].val
-    
+
     def ret(self, param):
         return self.__constDict[param]
 
@@ -99,19 +102,18 @@ def toJSON(self, file=None):
         else:
             return json.dumps(self.__constDict, default=lambda x: x.export, indent=4)
 
-    def fromJSON (self, js):
-        if isinstance(js,str):
-            data=json.loads(js)
+    def fromJSON(self, js):
+        if isinstance(js, str):
+            data = json.loads(js)
         else:
-            data=json.load(js)
+            data = json.load(js)
+
+        temp = dict()
+        for key, [valClass, val] in data.items():
+            temp[key] = globals()[valClass](val)
 
-
-        temp=dict()
-        for key, [valClass,val] in data.items():
-            temp[key]=globals()[valClass](val)
+        self.__constDict = temp
 
-        self.__constDict=temp
-
 
 class motion:
     """Car motion class
@@ -148,6 +150,11 @@ def getSimDistance(self):
         """
         return self.__state[0]
 
+    def getCanBytes(self):
+        distance = int(self.getSimDistance())
+        speed = int(self.getSimSpeed()*360)
+        return speed.to_bytes(2,'little')+distance.to_bytes(2,'little')
+
     def getSimSpeed(self):
         """Returns actual vehicle speed
 

gui/mainWindow.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'gui\mainWindow.ui'
+# Form implementation generated from reading ui file 'mainWindow.ui'
 #
 # Created by: PyQt5 UI code generator 5.13.0
 #

main.py

@@ -10,8 +10,22 @@
 import gui
 import car
 
+import time
+
 _translate = QCoreApplication.translate
 
+class SimulationTicker(QThread):
+
+    signal = pyqtSignal()
+
+    def __init__(self):
+        super().__init__()
+
+    def run(self):
+        while not self.isInterruptionRequested():
+            self.signal.emit()
+            self.sleep(1)
+
 
 class Simulator(QtWidgets.QMainWindow, gui.Ui_MainWindow):
     def __init__(self):
@@ -24,7 +38,7 @@ def __init__(self):
 
         self.setupUi(self)
         self.populateFields()
-        self.engineField.setText("0")
+        self.engineField.setText("1")
 
         for file in os.listdir(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'lang')):
             if file.startswith('carSim_') and file.endswith('.qm'):
@@ -48,12 +62,21 @@ def on_makeStepButton_clicked(self):
         try:
             self.__car.setThrottle(self.engineField.text())
             self.__car.makeStep()
+            motionMessage=can.Message(arbitration_id=0x18,is_extended_id=False,data=self.__car.getCanBytes()[:])
+            #print(motionMessage)
+            self.__canbus.send(motionMessage)
         except Exception as e:
             QtWidgets.QMessageBox.critical(
                 self, _translate("Dialog", "Error"), str(e))
 
         self.populateFields()
 
+    def populateFields(self):
+        self.timeField.setText(f"{self.__car.getSimTime():.2f}")
+        self.positionField.setText(f"{self.__car.getSimDistance():.2f}")
+        self.speedField.setText(f"{self.__car.getSimSpeed():.2f}")
+        self.fuelField.setText(f"{self.__car.getSimFuel():.2f}")
+
     @pyqtSlot()
     def on_actionAbout_triggered(self):
         self.AboutDialog = QtWidgets.QDialog()
@@ -62,12 +85,6 @@ def on_actionAbout_triggered(self):
         self.AboutDialog.setAttribute(Qt.WA_DeleteOnClose)
         self.AboutDialog.exec_()
 
-    def populateFields(self):
-        self.timeField.setText(f"{self.__car.getSimTime():.2f}")
-        self.positionField.setText(f"{self.__car.getSimDistance():.2f}")
-        self.speedField.setText(f"{self.__car.getSimSpeed():.2f}")
-        self.fuelField.setText(f"{self.__car.getSimFuel():.2f}")
-
     @pyqtSlot()
     def on_actionExport_Settings_triggered(self):
         filename, _ = QtWidgets.QFileDialog.getSaveFileName(
@@ -89,6 +106,7 @@ def on_actionImport_Settings_triggered(self):
     @pyqtSlot()
     def on_refreshAvailablePorts_clicked(self):
         ports = serial.tools.list_ports.comports()
+        self.availablePorts.clear()
         for port, desc, hwid in sorted(ports):
             self.availablePorts.addItem(desc,port)
 
@@ -98,25 +116,29 @@ def on_refreshAvailablePorts_clicked(self):
     def on_connectPort_clicked(self, state):
         if state:
             try:
-                self.__canbus = can.interface.Bus(bustype=self.canInterfaceTypes.currentText(), channel=self.availablePorts.currentData())
-                tx_msg = can.Message(arbitration_id=0x01, data=[
-                                 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88], is_extended_id=False)
-                self.__canbus.send(tx_msg)
-                self.__canbusNotifier=can.Notifier(self.__canbus,[car.canFrameAppender(self.canReceived.appendPlainText)])
+                self.__canbus = can.ThreadSafeBus(interface=self.canInterfaceTypes.currentText(), channel=self.availablePorts.currentData())
+                self.__canbusNotifier=can.Notifier(self.__canbus,[car.canFrameAppender(self.canReceived.appendPlainText)],None)
             except Exception as e:
                 self.connectPort.setChecked(False)
                 QtWidgets.QMessageBox.critical(self, _translate("Dialog", "Error"), str(e))
             else:
                 self.connectPort.setText(_translate("MainWindow", "Disconnect"))
                 self.canInterfaceTypes.setEnabled(False)
                 self.availablePorts.setEnabled(False)
+                self.refreshAvailablePorts.setEnabled(False)
+                self.__tickerThread=SimulationTicker()
+                self.__tickerThread.signal.connect(self.on_makeStepButton_clicked)
+                self.__tickerThread.start()
 
         else:
             self.connectPort.setText(_translate("MainWindow", "Connect"))
-            self.__canbusNotifier.stop()
+            self.__tickerThread.requestInterruption()
+            self.__tickerThread.wait()
+            #self.__canbusNotifier.stop(0)
             self.__canbus.shutdown()
             self.canInterfaceTypes.setEnabled(True)
             self.availablePorts.setEnabled(True)
+            self.refreshAvailablePorts.setEnabled(True)
 
 
 if __name__ == "__main__":