# -*- coding: utf-8 -*-
import can
import os
import sys
from threading import Thread
import time
os.environ['KIVY_GL_BACKEND'] = 'gl'
os.environ['KIVY_WINDOW'] = 'egl_rpi'
from kivy.app import App
from kivy.properties import NumericProperty
from kivy.properties import BoundedNumericProperty
from kivy.properties import StringProperty
from kivy.uix.label import Label
from kivy.uix.image import Image
from kivy.uix.floatlayout import FloatLayout
from kivy.uix.widget import Widget
from kivy.uix.scatter import Scatter
from kivy.animation import Animation
messageCommands = {
'GET_DOORS_COMMAND': 0x220D,
'GET_OIL_TEMPERATURE' : 0x202F,
'GET_OUTDOOR_TEMPERATURE' : 0x220C,
'GET_INDOOR_TEMPERATURE' : 0x2613,
'GET_COOLANT_TEMPERATURE' : 0xF405,
'GET_SPEED' : 0xF40D,
'GET_RPM' : 0xF40C,
'GET_KM_LEFT': 0x2294,
'GET_FUEL_LEFT': 0x2206,
'GET_TIME': 0x2216
}
bus = can.interface.Bus(channel='can0', bustype='socketcan')
class PropertyState:
def __init__(self, last, current):
self.last = last
self.current = current
def lastIsNotNow(self):
return self.last is not self.current
class CanListener(can.Listener):
def __init__(self, dashboard):
self.dashboard = dashboard
self.speedStates = PropertyState(None,None)
self.rpmStates = PropertyState(None,None)
self.kmLeftStates = PropertyState(None,None)
self.coolantTemperatureStates = PropertyState(None,None)
self.oilTempratureStates = PropertyState(None,None)
self.timeStates = PropertyState(None,None)
self.outDoorTemperatureStates = PropertyState(None,None)
self.doorsStates = PropertyState(None,None)
self.carMinimized = True
def on_message_received(self, message):
messageCommand = message.data[3] | message.data[2] << 8
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_SPEED']:
self.speedStates.current = message.data[4]
if self.speedStates.lastIsNotNow():
self.dashboard.speedometer.text = str(self.speedStates.current)
self.speedStates.last = self.speedStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_RPM']:
self.rpmStates.current = message.data[5] | message.data[4] << 8
if self.rpmStates.lastIsNotNow():
self.dashboard.rpm.value = self.rpmStates.current/4
self.rpmStates.last = self.rpmStates.current
if message.arbitration_id == 0x35B:
self.rpmStates.current = message.data[2] | message.data[1] << 8
if self.rpmStates.lastIsNotNow():
self.dashboard.rpm.value = self.rpmStates.current/4
self.rpmStates.last = self.rpmStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_KM_LEFT']:
self.kmLeftStates.current = message.data[5] | message.data[4] << 8
if self.kmLeftStates.lastIsNotNow():
self.dashboard.kmLeftLabel.text = str(self.kmLeftStates.current)
self.kmLeftStates.last = self.kmLeftStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_COOLANT_TEMPERATURE']:
self.coolantTemperatureStates.current = message.data[4]
if self.coolantTemperatureStates.lastIsNotNow():
self.dashboard.coolantLabel.text = str(self.coolantTemperatureStates.current-81)
self.coolantTemperatureStates.last = self.coolantTemperatureStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_OIL_TEMPERATURE']:
self.oilTempratureStates.current = message.data[4]
if self.oilTempratureStates.lastIsNotNow():
self.dashboard.oilLabel.text = str(self.oilTempratureStates.current-58)
self.oilTempratureStates.last = self.oilTempratureStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_TIME']:
self.timeStates.current = message.data[5] | message.data[4] << 8
if self.timeStates.lastIsNotNow():
self.dashboard.clock.text = str(message.data[4]) + ":" + str(message.data[5])
self.timeStates.last = self.timeStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_OUTDOOR_TEMPERATURE']:
self.outDoorTemperatureStates.current = float(message.data[4])
if self.outDoorTemperatureStates.lastIsNotNow():
self.dashboard.outDoorTemperatureLabel.text = str((self.outDoorTemperatureStates.current - 100)/2)
self.outDoorTemperatureStates.last = self.outDoorTemperatureStates.current
if message.arbitration_id == 0x77E and messageCommand == messageCommands['GET_DOORS_COMMAND']:
self.doorsStates.current = message.data[4]
if self.doorsStates.lastIsNotNow():
self.doorsStates.last = self.doorsStates.current
self.dashboard.car.doorsStates=message.data[4]
# all doors closed -> minimize car
if self.doorsStates.current == 0x55:
self.dashboard.minimizeCar()
self.carMinimized = True
else:
if self.carMinimized:
self.dashboard.maximizeCar()
self.carMinimized = False
class Dashboard(FloatLayout):
def __init__(self,**kwargs):
super(Dashboard,self).__init__(**kwargs)
# Background
self.backgroundImage = Image(source='bg.png')
self.add_widget(self.backgroundImage)
# RPM
self.rpm = Gauge(file_gauge = "gauge512.png", unit = 0.023, value=0, size_gauge=512, pos=(0,0))
self.add_widget(self.rpm)
self.rpm.value = -200
# Speedometer
self.speedometer = Label(text='0', font_size=80, font_name='hemi_head_bd_it.ttf', pos=(0,-15))
self.add_widget(self.speedometer)
# KM LEFT
self.kmLeftLabel = Label(text='000', font_name='Avenir.ttc', halign="right", text_size=self.size, font_size=25, pos=(278,233))
self.add_widget(self.kmLeftLabel)
# COOLANT TEMPEARATURE
self.coolantLabel = Label(text='00', font_name='hemi_head_bd_it.ttf', halign="right", text_size=self.size, font_size=27, pos=(295,-168))
self.add_widget(self.coolantLabel)
# OIL TEMPERATURE
self.oilLabel = Label(text='00', font_name='hemi_head_bd_it.ttf', halign="right", text_size=self.size, font_size=27, pos=(-385,-168))
self.add_widget(self.oilLabel)
# CLOCK
self.clock = Label(text='00:00', font_name='Avenir.ttc', font_size=27, pos=(-116,-202))
self.add_widget(self.clock)
# OUTDOOR TEMPERATURE
self.outDoorTemperatureLabel = Label(text='00.0', font_name='Avenir.ttc', halign="right", text_size=self.size, font_size=27, pos=(76,-169))
self.add_widget(self.outDoorTemperatureLabel)
# CAR DOORS
self.car = Car(pos=(257,84))
self.add_widget(self.car)
def minimizeCar(self, *args):
print("min")
anim = Animation(scale=0.5, opacity = 0, x = 400, y = 240, t='linear', duration=0.5)
anim.start(self.car)
animRpm = Animation(scale=1, opacity = 1, x = 80, y = -5, t='linear', duration=0.5)
animRpm.start(self.rpm)
def maximizeCar(self, *args):
print("max")
anim = Animation(scale=1, opacity = 1, x=257, y=84, t='linear', duration=0.5)
anim.start(self.car)
animRpm = Animation(scale=0.5, opacity = 0, x = 80, y = -5, t='linear', duration=0.5)
animRpm.start(self.rpm)
class Car(Scatter):
carImage = StringProperty("car362/car.png")
driverDoorClosedImage = StringProperty("car362/driverClosedDoor.png")
driverDoorOpenedImage = StringProperty("car362/driverOpenedDoor.png")
passangerDoorClosedImage = StringProperty("car362/passangerClosedDoor.png")
passangerDoorOpenedImage = StringProperty("car362/passangerOpenedDoor.png")
leftDoorClosedImage = StringProperty("car362/leftClosedDoor.png")
leftDoorOpenedImage = StringProperty("car362/leftOpenedDoor.png")
rightDoorClosedImage = StringProperty("car362/rightClosedDoor.png")
rightDoorOpenedImage = StringProperty("car362/rightOpenedDoor.png")
doorsStates = NumericProperty(0)
size = (286, 362)
def __init__(self, **kwargs):
super(Car, self).__init__(**kwargs)
_car = Image(source=self.carImage, size=self.size)
self.driverDoorOpened = Image(source=self.driverDoorOpenedImage, size=self.size)
self.passangerDoorOpened = Image(source=self.passangerDoorOpenedImage, size=self.size)
self.leftDoorOpened = Image(source=self.leftDoorOpenedImage, size=self.size)
self.rightDoorOpened = Image(source=self.rightDoorOpenedImage, size=self.size)
self.driverDoorClosed = Image(source=self.driverDoorClosedImage, size=self.size)
self.passangerDoorClosed = Image(source=self.passangerDoorClosedImage, size=self.size)
self.leftDoorClosed = Image(source=self.leftDoorClosedImage, size=self.size)
self.rightDoorClosed = Image(source=self.rightDoorClosedImage, size=self.size)
self.add_widget(_car)
self.add_widget(self.driverDoorOpened)
self.add_widget(self.passangerDoorOpened)
self.add_widget(self.leftDoorOpened)
self.add_widget(self.rightDoorOpened)
self.bind(doorsStates=self._update)
def _update(self, *args):
driverDoorStates = self.doorsStates&1
passangerDoorStates = self.doorsStates&4
leftDoorStates = self.doorsStates&16
rightDoorStates = self.doorsStates&64
if driverDoorStates != 0:
try:
self.remove_widget(self.driverDoorOpened)
self.add_widget(self.driverDoorClosed)
except:
pass
else:
try:
self.remove_widget(self.driverDoorClosed)
self.add_widget(self.driverDoorOpened)
except:
pass
if passangerDoorStates != 0:
try:
self.remove_widget(self.passangerDoorOpened)
self.add_widget(self.passangerDoorClosed)
except:
pass
else:
try:
self.remove_widget(self.passangerDoorClosed)
self.add_widget(self.passangerDoorOpened)
except:
pass
if leftDoorStates != 0:
try:
self.remove_widget(self.leftDoorOpened)
self.add_widget(self.leftDoorClosed)
except:
pass
else:
try:
self.remove_widget(self.leftDoorClosed)
self.add_widget(self.leftDoorOpened)
except:
pass
if rightDoorStates != 0:
try:
self.remove_widget(self.rightDoorOpened)
self.add_widget(self.rightDoorClosed)
except:
pass
else:
try:
self.remove_widget(self.rightDoorClosed)
self.add_widget(self.rightDoorOpened)
except:
pass
class Gauge(Scatter):
unit = NumericProperty(1.125)
zero = NumericProperty(116)
value = NumericProperty(10) #BoundedNumericProperty(0, min=0, max=360, errorvalue=0)
size_gauge = BoundedNumericProperty(512, min=128, max=512, errorvalue=128)
size_text = NumericProperty(10)
file_gauge = StringProperty("")
def __init__(self, **kwargs):
super(Gauge, self).__init__(**kwargs)
self._gauge = Scatter(
size=(self.size_gauge, self.size_gauge),
do_rotation=False,
do_scale=False,
do_translation=False
)
_img_gauge = Image(source=self.file_gauge, size=(self.size_gauge, self.size_gauge))
self._needle = Scatter(
size=(self.size_gauge, self.size_gauge),
do_rotation=False,
do_scale=False,
do_translation=False
)
_img_needle = Image(source="arrow512.png", size=(self.size_gauge, self.size_gauge))
self._gauge.add_widget(_img_gauge)
self._needle.add_widget(_img_needle)
self.add_widget(self._gauge)
self.add_widget(self._needle)
self.bind(pos=self._update)
self.bind(size=self._update)
self.bind(value=self._turn)
def _update(self, *args):
self._gauge.pos = self.pos
self._needle.pos = (self.x, self.y)
self._needle.center = self._gauge.center
def _turn(self, *args):
self._needle.center_x = self._gauge.center_x
self._needle.center_y = self._gauge.center_y
a = Animation(rotation=-self.value*self.unit + self.zero, t='in_out_quad',duration=0.05)
a.start(self._needle)
class requestsLoop(Thread):
def __init__(self):
Thread.__init__(self)
self.daemon = True
self.start()
canCommands = [
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_DOORS_COMMAND'] >> 8, messageCommands['GET_DOORS_COMMAND'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_SPEED'] >> 8, messageCommands['GET_SPEED'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_KM_LEFT'] >> 8, messageCommands['GET_KM_LEFT'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_RPM'] >> 8, messageCommands['GET_RPM'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_OIL_TEMPERATURE'] >> 8, messageCommands['GET_OIL_TEMPERATURE'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_FUEL_LEFT'] >> 8, messageCommands['GET_FUEL_LEFT'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_OUTDOOR_TEMPERATURE'] >> 8, messageCommands['GET_OUTDOOR_TEMPERATURE'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x746, data=[0x03, 0x22, messageCommands['GET_INDOOR_TEMPERATURE'] >> 8, messageCommands['GET_INDOOR_TEMPERATURE'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_COOLANT_TEMPERATURE'] >> 8, messageCommands['GET_COOLANT_TEMPERATURE'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False),
can.Message(arbitration_id=0x714, data=[0x03, 0x22, messageCommands['GET_TIME'] >> 8, messageCommands['GET_TIME'] & 0xff, 0x55, 0x55, 0x55, 0x55], extended_id=False)
]
def run(self):
while True:
for command in self.canCommands:
bus.send(command)
time.sleep(0.005)
class BoxApp(App):
def build(self):
dashboard = Dashboard();
listener = CanListener(dashboard)
can.Notifier(bus, [listener])
return dashboard
if __name__ == "__main__":
# Send requests
requestsLoop()
_old_excepthook = sys.excepthook
def myexcepthook(exctype, value, traceback):
if exctype == KeyboardInterrupt:
print "Handler code goes here"
else:
_old_excepthook(exctype, value, traceback)
sys.excepthook = myexcepthook
# Show dashboard
BoxApp().run()