Python test suite
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3 changed files with 122 additions and 65 deletions
191
python/main.py
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191
python/main.py
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import time
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from enum import Enum
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import serial
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from numpy import uint8
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gps = False
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class OutType(Enum):
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Off = 0x00
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Lane = 0x01
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LongerLane = 0x02
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LeftRoundabout = 0x04
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RightRoundabout = 0x08
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Flag = 0x40
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ArrowOnly = 0x80
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class OutAngle(Enum):
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Down = 0x01
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SharpRight = 0x02
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Right = 0x04
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EasyRight = 0x08
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Straight = 0x10
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EasyLeft = 0x20
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Left = 0x40
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SharpLeft = 0x80
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LeftDown = 0x81
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RightDown = 0x82
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AsDirection = 0x00
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class Unit(Enum):
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Any = 0
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Metres = 1
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Kilometres = 3
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Miles = 5
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Foot = 8
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class Lane(Enum):
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DotsRight = 0x01
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OuterRight = 0x02
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MiddleRight = 0x04
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InnerRight = 0x08
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InnerLeft = 0x10
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MiddleLeft = 0x20
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OuterLeft = 0x40
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DotsLeft = 0x80
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class Controller:
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def __init__(self, device: str = None):
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self.gps = False
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self.debug = device is None
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if not self.debug:
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self.ser = serial.Serial(device, 9600)
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time.sleep(2)
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print(self.ser.read_all())
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def clear(self):
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self.send_hud([0x03, 0, 0, 0, 0x00, 0, 0])
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def _as_dgt(self, n: int) -> int:
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if n == 0:
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return 0
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n %= 10
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return 10 if n == 0 else n
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def set_lines(self, outlines: list, arrows: list):
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self.send_hud([0x02, sum([lane.value for lane in outlines]), sum([lane.value for lane in arrows])])
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def set_direction(self, angle: OutAngle, out: OutType = OutType.Lane, roundabout: OutAngle = OutAngle.AsDirection):
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if angle == OutAngle.LeftDown:
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param_1 = 0x10
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elif angle == OutAngle.RightDown:
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param_1 = 0x20
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else:
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param_1 = out.value
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if out == OutType.RightRoundabout or out == OutType.LeftRoundabout:
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param_2 = angle.value if roundabout == OutAngle.AsDirection else roundabout.value
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else:
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param_2 = 0x00
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param_3 = 0x00 if angle == OutAngle.LeftDown or angle == OutAngle.RightDown else angle.value
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arr = [0x01, param_1, param_2, param_3]
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self.send_hud(arr)
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def set_distance(self, distance, unit: Unit = Unit.Any):
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arr = [0x03, self._as_dgt(distance // 1000), self._as_dgt(distance // 100), self._as_dgt(distance // 10), 0x00,
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self._as_dgt(distance), unit.value]
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self.send_hud(arr)
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def set_speed(self, speed: int, limit: int = 0, acc: bool = False):
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acc_char = 0xff if acc else 0x00
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if not self.gps:
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self.set_distance(speed)
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self.send_hud([0x06, 0, 0, 0, 0, 0, 0, 0, 0, acc_char])
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return
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if limit > 0:
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arr = [0x06, self._as_dgt(speed // 100), self._as_dgt(speed // 10), self._as_dgt(speed), 0xff,
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self._as_dgt(limit // 100), self._as_dgt(limit // 10), self._as_dgt(limit),
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0xff if speed > limit else 0x00, acc_char]
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else:
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arr = [0x06, 0x00, 0x00, 0x00, 0x00, self._as_dgt(speed // 100), self._as_dgt(speed // 10),
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self._as_dgt(speed), 0x00, acc_char]
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self.send_hud(arr)
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def set_time(self, hours: int, minutes: int, traffic: bool = False, flag: bool = False):
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traffic_char = 0xff if traffic else 0x00
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flag_char = 0xff if flag else 0x00
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if hours > 99:
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arr = [0x05, traffic_char, self._as_dgt(hours // 1000), self._as_dgt(hours // 100), 0x00,
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self._as_dgt(hours // 10), self._as_dgt(hours), 0xff, flag_char]
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else:
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arr = [0x05, traffic_char, self._as_dgt(hours // 10), self._as_dgt(hours), 0xff,
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self._as_dgt(minutes // 10), self._as_dgt(minutes), 0x00, flag_char]
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self.send_hud(arr)
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def set_gps(self, state: bool):
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if state:
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self.send_hud([0x07, 0x01])
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self.gps = state
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def set_speed_control(self, on: bool = True):
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self.send_hud([0x04, 0x01 if on else 0x00])
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def set_compass(self, direction: float):
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if direction > 337.5 or direction <= 22.5:
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self.set_direction(OutAngle.Straight, OutType.ArrowOnly)
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elif 22.5 < direction <= 67.5:
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self.set_direction(OutAngle.EasyRight, OutType.ArrowOnly)
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elif 67.5 < direction <= 112.5:
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self.set_direction(OutAngle.Right, OutType.ArrowOnly)
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elif 112.5 < direction <= 157.5:
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self.set_direction(OutAngle.SharpRight, OutType.ArrowOnly)
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elif 157.5 < direction <= 202.5:
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self.set_direction(OutAngle.Down, OutType.ArrowOnly)
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elif 202.5 < direction <= 247.5:
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self.set_direction(OutAngle.SharpLeft, OutType.ArrowOnly)
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elif 247.5 < direction <= 292.5:
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self.set_direction(OutAngle.Left, OutType.ArrowOnly)
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elif 292.5 < direction <= 337.5:
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self.set_direction(OutAngle.EasyLeft, OutType.ArrowOnly)
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self.clear()
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def send_hud(self, buf: list):
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print("buf", buf)
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n = len(buf)
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chars = []
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crc = uint8(0xeb + n + n)
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chars.append(0x10)
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chars.append(0x7b)
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chars.append(n + 6)
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if n == 0xa:
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chars.append(0x10)
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chars.append(n)
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chars.append(0x00)
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chars.append(0x00)
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chars.append(0x00)
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chars.append(0x55)
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chars.append(0x15)
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for char in buf:
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crc = uint8(crc + char)
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chars.append(char)
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if char == 0x10:
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chars.append(0x10)
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chars.append((-crc) & 0xff)
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chars.append(0x10)
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chars.append(0x03)
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self.send_packet(chars)
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def send_packet(self, buff):
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encoded = [bytes(chr(char), 'raw_unicode_escape') for char in buff]
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if self.debug:
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print("raw", buff)
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print("enc", encoded)
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else:
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for char in buff:
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self.ser.write(bytes(chr(char), 'raw_unicode_escape'))
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time.sleep(0.2)
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print(self.ser.read_all())
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if __name__ == '__main__':
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import sys
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device = sys.argv[1] if len(sys.argv) > 1 else None
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c = Controller(device)
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103
python/test.py
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103
python/test.py
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@ -0,0 +1,103 @@
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from main import *
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from time import sleep
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interval = 0.2
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def suite(controller: Controller):
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lines(controller)
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direction(controller)
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distance(controller)
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speed(controller)
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time(controller)
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control(controller)
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def lines(controller: Controller):
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controller.set_lines([Lane.DotsLeft], [])
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controller.set_lines([Lane.OuterRight], [Lane.OuterLeft])
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controller.set_lines([Lane.MiddleRight], [Lane.MiddleLeft])
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controller.set_lines([Lane.InnerRight], [Lane.InnerLeft])
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controller.set_lines([Lane.InnerLeft], [Lane.InnerRight])
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controller.set_lines([Lane.MiddleLeft], [Lane.MiddleRight])
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controller.set_lines([Lane.OuterLeft], [Lane.OuterRight])
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controller.set_lines(
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[Lane.DotsRight],
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[Lane.OuterRight, Lane.MiddleRight, Lane.InnerRight, Lane.InnerLeft, Lane.MiddleLeft, Lane.OuterLeft]
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)
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controller.set_lines([], [])
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def direction(controller: Controller):
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controller.set_direction(OutAngle.RightDown)
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controller.set_direction(OutAngle.SharpRight)
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controller.set_direction(OutAngle.Right)
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controller.set_direction(OutAngle.EasyRight)
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controller.set_direction(OutAngle.Straight)
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controller.set_direction(OutAngle.EasyLeft)
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controller.set_direction(OutAngle.Left)
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controller.set_direction(OutAngle.SharpLeft)
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controller.set_direction(OutAngle.LeftDown)
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controller.set_direction(OutAngle.Down)
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controller.set_direction(OutAngle.SharpRight, OutType.LongerLane)
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controller.set_direction(OutAngle.Right, OutType.LongerLane)
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controller.set_direction(OutAngle.EasyRight, OutType.LongerLane)
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controller.set_direction(OutAngle.Straight, OutType.LongerLane)
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controller.set_direction(OutAngle.EasyLeft, OutType.LongerLane)
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controller.set_direction(OutAngle.Left, OutType.LongerLane)
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controller.set_direction(OutAngle.SharpLeft, OutType.LongerLane)
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controller.set_direction(OutAngle.SharpRight, OutType.RightRoundabout)
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controller.set_direction(OutAngle.Right, OutType.RightRoundabout)
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controller.set_direction(OutAngle.EasyRight, OutType.RightRoundabout)
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controller.set_direction(OutAngle.Straight, OutType.RightRoundabout)
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controller.set_direction(OutAngle.EasyLeft, OutType.RightRoundabout)
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controller.set_direction(OutAngle.Left, OutType.RightRoundabout)
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controller.set_direction(OutAngle.SharpLeft, OutType.RightRoundabout)
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controller.set_direction(OutAngle.Left, OutType.Flag)
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controller.set_direction(OutAngle.Right, OutType.Flag)
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def distance(controller: Controller):
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controller.set_distance(999)
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controller.set_distance(999, Unit.Kilometres)
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controller.set_distance(999, Unit.Metres)
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controller.set_distance(999, Unit.Foot)
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controller.set_distance(999, Unit.Miles)
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pass
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def speed(controller: Controller):
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controller.set_gps(True)
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controller.set_speed(50)
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controller.set_speed(50, 100)
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controller.set_speed(150, 100)
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controller.set_speed(50, 100, True)
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pass
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def time(controller: Controller):
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controller.set_time(22, 22)
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controller.set_time(22, 22, traffic=True)
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controller.set_time(22, 22, flag=True)
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pass
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def control(controller: Controller):
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controller.set_speed_control()
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controller.set_speed_control(False)
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def compass(controller: Controller):
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controller.set_compass(22.5)
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controller.set_compass(67.5)
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controller.set_compass(112.5)
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controller.set_compass(157.5)
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controller.set_compass(202.5)
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controller.set_compass(247.5)
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controller.set_compass(292.5)
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controller.set_compass(337.5)
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pass
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if __name__ == '__main__':
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instance = Controller('/dev/rfcomm0')
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