doing some desktop testing

flake.nix

@@ -10,7 +10,7 @@
     mcap.url = "github:RCMast3r/py_mcap_nix";
     foxglove-websocket.url = "github:RCMast3r/py_foxglove_webserver_nix";
     asyncudp.url = "github:RCMast3r/asyncudp_nix";
-    ht_can_pkg_flake.url = "github:hytech-racing/ht_can/41";
+    ht_can_pkg_flake.url = "github:hytech-racing/ht_can/80";
     nix-proto = { url = "github:notalltim/nix-proto"; };
   };
 
@@ -60,7 +60,9 @@
         frontend_pkg = final.callPackage ./frontend.nix { };
       };
 
-
+      # mcap_cli_overlay = final: prev: {
+      #   mcap_cli_pkg = final.callPackage ./mcap_cli.nix { };
+      # };
 
       nix_protos_overlays = nix-proto.generateOverlays'
         {
@@ -100,6 +102,7 @@
         py_foxglove_protobuf_schemas_overlay
         frontend_config_overlay
         frontend_overlay
+        # mcap_cli_overlay 
         ht_can_pkg_flake.overlays.default
         mcap-protobuf.overlays.default
         mcap.overlays.default
@@ -119,6 +122,7 @@
         packages = with pkgs; [
           jq
           py_data_acq_pkg
+          # mcap_cli_pkg 
           py_dbc_proto_gen_pkg
           proto_gen_pkg
           ht_can_pkg
@@ -178,6 +182,7 @@
       };
 
       packages = rec {
+        mcap_cli_pkg = pkgs.mcap_cli_pkg;
         frontend_config_pkg = pkgs.frontend_config_pkg;
         frontend_pkg = pkgs.frontend_pkg.frontend;
         default = pkgs.py_data_acq_pkg;

mcap_cli.nix

@@ -0,0 +1,21 @@
+{ lib, pkgs }:
+
+pkgs.buildGoPackage rec {
+  pname = "mcap_cli";
+  version = "0.0.44";
+  goPackagePath = "github.com/foxglove/mcap";
+  src = pkgs.fetchFromGitHub {
+    owner = "foxglove";
+    repo = "mcap";
+    rev = "releases/mcap-cli/v${version}";
+    hash = "sha256-OAL2z28FhMXlyVzgmLCzHNCpCeK7hIkQB6jd7v3WHHA=";
+  };
+
+  meta = with lib; {
+    description = "mcap commandline interface";
+    homepage = "https://github.com/foxglove/mcap";
+    license = licenses.mit;
+  };
+
+  goDeps = ./mcap_go_deps.nix;
+}

mcap_go_deps.nix

@@ -0,0 +1,84 @@
+[
+  #   # goDeps is a list of Go dependencies.
+  {
+    # goPackagePath specifies Go package import path.
+    goPackagePath = "github.com/spf13/cobra";
+    fetch = {
+      # `fetch type` that needs to be used to get package source.
+      # If `git` is used there should be `url`, `rev` and `hash` defined next to it.
+      type = "git";
+      url = "https://github.com/spf13/cobra";
+      rev = "5a1acea3210649f3d70002818ec04b09f6347062";
+      sha256= "sha256-i0y1wnj7gfKlsU9cC9Bhj7v6lZBph4Ooa3fcWR4s6YE=";
+    };
+  }
+  {
+    # goPackagePath specifies Go package import path.
+    goPackagePath = "github.com/spf13/pflag";
+    fetch = {
+      # `fetch type` that needs to be used to get package source.
+      # If `git` is used there should be `url`, `rev` and `hash` defined next to it.
+      type = "git";
+      url = "https://github.com/spf13/pflag";
+      rev = "d5e0c0615acee7028e1e2740a11102313be88de1";
+      sha256= "sha256-g5g7TLXxTNlFA48alv5SKUW+YvoLJyV87Bu+Wn3YvC0=";
+    };
+  }
+  {
+    # goPackagePath specifies Go package import path.
+    goPackagePath = "github.com/spf13/viper";
+    fetch = {
+      # `fetch type` that needs to be used to get package source.
+      # If `git` is used there should be `url`, `rev` and `hash` defined next to it.
+      type = "git";
+      url = "https://github.com/spf13/viper";
+      rev = "v1.18.2";
+      sha256= "sha256-MXYbK6w1LEaoZ2/L/STF3WU1tbK+7NwGVxUCLKPkwks=";
+    };
+  }
+  # {
+  #   goPackagePath = "google.golang.org/protobuf/encoding/protojson";
+  #   fetch = {
+  #     type = "git";
+  #     url = "https://google.golang.org/protobuf/encoding/protojson";
+  #     rev = "784ddc588536785e7299f7272f39101f7faccc3f";
+  #     hash = "sha256-Uo89zjE+v3R7zzOq/gbQOHj3SMYt2W1nDHS7RCUin3M=";
+  #   };
+  # }
+  # {
+  #   goPackagePath = "google.golang.org/protobuf/reflect/protodesc";
+  #   fetch = {
+  #     type = "git";
+  #     url = "https://google.golang.org/protobuf/reflect/protodesc";
+  #     rev = "784ddc588536785e7299f7272f39101f7faccc3f";
+  #     hash = "sha256-Uo89zjE+v3R7zzOq/gbQOHj3SMYt2W1nDHS7RCUin3M=";
+  #   };
+  # }
+  # {
+  #   goPackagePath = "google.golang.org/protobuf/reflect/protoreflect";
+  #   fetch = {
+  #     type = "git";
+  #     url = "https://google.golang.org/protobuf/reflect/protoreflect";
+  #     rev = "784ddc588536785e7299f7272f39101f7faccc3f";
+  #     hash = "sha256-Uo89zjE+v3R7zzOq/gbQOHj3SMYt2W1nDHS7RCUin3M=";
+  #   };
+  # }
+  # {
+  #   goPackagePath = "google.golang.org/protobuf/types/descriptorpb";
+  #   fetch = {
+  #     type = "git";
+  #     url = "https://google.golang.org/protobuf/types/descriptorpb";
+  #     rev = "784ddc588536785e7299f7272f39101f7faccc3f";
+  #     hash = "sha256-Uo89zjE+v3R7zzOq/gbQOHj3SMYt2W1nDHS7RCUin3M=";
+  #   };
+  # }
+  # {
+  #   goPackagePath = "google.golang.org/protobuf/types/dynamicpb";
+  #   fetch = {
+  #     type = "git";
+  #     url = "https://google.golang.org/protobuf/types/dynamicpb";
+  #     rev = "784ddc588536785e7299f7272f39101f7faccc3f";
+  #     hash = "sha256-Uo89zjE+v3R7zzOq/gbQOHj3SMYt2W1nDHS7RCUin3M=";
+  #   };
+  # }
+]

py_data_acq/broadcast-test.py

@@ -2,11 +2,12 @@
 import socket
 import time
 import can
+from py_data_acq.common import protobuf_helpers
 from can.interfaces.udp_multicast import UdpMulticastBus
 import cantools
 from pprint import pprint
-import os
-
+import os, sys
+from mcap_protobuf.reader import read_protobuf_messages
 from hytech_np_proto_py import hytech_pb2
 
 # Define the IP and port for the UDP socket
@@ -17,26 +18,18 @@ def main():
     full_path = os.path.join(path_to_dbc, "hytech.dbc") 
     # Serialize the message to bytes
     db = cantools.database.load_file(full_path)
-
-    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
-    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
-    data = msg.encode({'torque_command': 100})
-
-    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
-
-    rpm_set = 100
     while(1):
         try:
-            rpm_set= rpm_set+1
-            bus1.send(msg)
-            rpm_data = rpm.encode({'negative_torque_limit': 1, 'positive_torque_limit': 1, 'speed_setpoint_rpm': rpm_set, 'remove_error': 1, 'driver_enable': 1, 'hv_enable': 1, 'inverter_enable': 1})
-            rpm_msg = can.Message(arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data)
-            bus1.send(rpm_msg)
-
-            print("Message sent on {}".format(bus1.channel_info))
+            for msg in read_protobuf_messages(sys.argv[1], log_time_order=True):
+                # print(f"{msg.topic}: {msg.proto_msg}")
+                # print(msg.topic[:-5])
+                can_msg, can_msg_data = protobuf_helpers.pack_cantools_msg(msg.proto_msg, msg.topic[:-5], db)
+                msg_out = can.Message(arbitration_id=can_msg.frame_id, is_extended_id=False, data=can_msg_data)
+                bus1.send(msg_out)
+                # time.sleep(0.00001)
+                # print("Message sent on {}".format(bus1.channel_info))
         except can.CanError:
             print("Message NOT sent!  Please verify can0 is working first")
-        time.sleep(0.1)
 
 if __name__ == "__main__":
     main()

py_data_acq/py_data_acq/can_interface/can_interface.py

@@ -22,6 +22,7 @@ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message
             await queue.put(data)
             await q2.put(data)
         except Exception as e:
+            print("uh")
             pass
 
     # Don't forget to stop the notifier to clean up resources.

py_data_acq/py_data_acq/common/protobuf_helpers.py

@@ -25,7 +25,7 @@ def pack_protobuf_msg(cantools_dict: dict, msg_name: str, message_classes):
         pb_msg = message_classes[msg_name]()
     for key in cantools_dict.keys():
         if(type(cantools_dict[key]) is namedsignalvalue.NamedSignalValue):
-            print(msg_name)
+            # print(msg_name)
             setattr(pb_msg, key, str(cantools_dict[key].value))
         else:
             setattr(pb_msg, key, cantools_dict[key])
@@ -43,10 +43,18 @@ def pack_cantools_msg(pb_msg_in, msg_name: str, cantools_db):
 
     # 2. populate dict with values 
     msg_dict = {}
-    for sig in msg_sigs:
-        print(sig)
-        msg_dict[sig.name] = getattr(pb_msg_in, sig.name)
-
+    # print("message signals: ", msg_sigs)
 
+    for sig in msg_sigs:
+        # print("sig name ", sig.name)
+        # print(dir(pb_msg_in))
+        if(sig.choices is not None):
+            msg_dict[sig.name] = int(getattr(pb_msg_in, sig.name))
+        else:
+            # print(dir(pb_msg_in))
+            # print(getattr(pb_msg_in, sig.name))
+            msg_dict[sig.name] = getattr(pb_msg_in, sig.name)
+    # print(msg_out)
+
     out_data = msg_out.encode(msg_dict)
     return msg_out, out_data

py_data_acq/runner.py

@@ -178,8 +178,8 @@ async def run(logger):
     # and schema in the foxglove websocket server.
 
     # await asyncio.gather(receiver_task, fx_task, mcap_task, srv_task, vn_receiver_task)
-    await asyncio.gather(receiver_task, fx_task, mcap_task, srv_task)
-    # await asyncio.gather(srv_task, mcap_task, receiver_task)
+    # await asyncio.gather(receiver_task)
+    await asyncio.gather(srv_task, mcap_task, receiver_task)
 
 
 if __name__ == "__main__":

test_mcap.py

@@ -3,7 +3,7 @@
 from mcap_protobuf.reader import read_protobuf_messages
 
 def main():
-    for msg in read_protobuf_messages(sys.argv[1], log_time_order=False):
+    for msg in read_protobuf_messages(sys.argv[1], log_time_order=True):
         print(f"{msg.topic}: {msg.proto_msg}")
 
 if __name__ == "__main__":