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parser_api.py
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parser_api.py
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########################################################################
########################################################################
# Raw Data CSV to Parsed Data CSV Code Section
########################################################################
########################################################################
"""
@Author: Bo Han Zhu
@Date: 1/15/2022
@Description: HyTech custom python parser functions.
@TODO: Dashboard_status is not correct. Need more data to validate bit ordering.
parse_folder --> parse_file --> parse_time
--> parse_message --> parse_ID_XXXXXXXXX
"""
# Imports
import os
import sys
from multipliers import Multipliers
from datetime import datetime
import cantools
import pandas as pd
import csv
DEBUG = False # Set True for option error print statements
def hex_to_decimal(hex, bits, is_signed):
"""
@brief: Helper function to convert a hexadecimal to a decimal. First swaps endianness and then performs twos-complement if needed.
Referenced partially from: https://stackoverflow.com/questions/6727875/hex-string-to-signed-int-in-python-3-2
@input: A string representing the hexadecimal number, how many bits it has, and whether if it is signed or unsigned (True --> signed)
@return: The corresponding decimal value as an integer.
"""
# Swaps to small-endian
value = ""
for i in range(bits // 4):
if i % 2 == 0:
value = hex[i:i+2] + value
value = int(value, 16)
# Checks if needed to perform twos-complement or not; if yes, then performs twos-complement
if is_signed and value & (1 << (bits - 1)):
value -= 1 << bits
return value
def bin_to_bool(bin):
"""
@brief: Helper function to convert a single-digit binary to the string "true" or "false".
@input: 0, 1, "0", or "1"
@return: true if input is 1 or "1", false if 0 or "0", UNRECOGNIZED_BIN if neither
"""
try:
bin = int(bin)
except:
if DEBUG: print("UNFATAL ERROR: Binary conversion to boolean failed, received " + str(bin))
return "UNRECOGNIZED_BIN"
if bin == 0:
return "false"
elif bin == 1:
return "true"
else:
if DEBUG: print("UNFATAL ERROR: Binary conversion to boolean failed, received " + str(bin))
return "UNRECOGNIZED_BIN"
########################################################################
# Custom Parsing Functions Begin
########################################################################
'''
@brief: Each one of these functions parses the message depending on the corresponding header file in code-2022/Libraries/HyTech_CAN.
Must be updated consistently when changes occur in the HyTech Library.
@input: A string of a hexadecimal raw message
@return: A four-element list [message, label[], value[], unit[]]
'''
def parse_ID_FBHNODE1(raw_message):
message="Fbhnode1"
labels=["roll","heading"]
values=[
hex_to_decimal(raw_message[0:8],32,True) / 100,hex_to_decimal(raw_message[8:16],32,True)/100
]
units = ["deg","deg"]
return [message, labels, values, units]
def parse_ID_FBHNODE2(raw_message):
message="Fbhnode2"
labels=["pitch"]
values=[
hex_to_decimal(raw_message[0:8],32,True) / 100
]
units = ["deg"]
return [message, labels, values, units]
def parse_ID_MC_TEMPERATURES1(raw_message):
message = "MC_temperatures_1"
labels = ["module_a_temperature", "module_b_temperature", "module_c_temperature", "gate_driver_board_temperature"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_TEMPERATURES1_MODULE_A_TEMPERATURE.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_TEMPERATURES1_MODULE_B_TEMPERATURE.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_TEMPERATURES1_MODULE_C_TEMPERATURE.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_TEMPERATURES1_GATE_DRIVER_BOARD_TEMPERATURE.value
]
units = ["C", "C", "C", "C"]
return [message, labels, values, units]
def parse_ID_MC_TEMPERATURES2(raw_message):
message = "MC_temperatures_2"
labels = ["control_board_temperature", "rtd_1_temperature", "rtd_2_temperature", "rtd_3_temperature"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_TEMPERATURES2_CONTROL_BOARD_TEMPERATURES.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_TEMPERATURES2_RTD_1_TEMPERATURES.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_TEMPERATURES2_RTD_2_TEMPERATURES.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_TEMPERATURES2_RTD_3_TEMPERATURES.value
]
units = ["C", "C", "C", "C"]
return [message, labels, values, units]
def parse_ID_MC_TEMPERATURES3(raw_message):
message = "MC_temperatures_3"
labels = ["rtd_4_temperatures", "rtd_5_temperature", "motor_temperature", "torque_shudder"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_TEMPERATURES3_RTD_4_TEMPERATURES.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_TEMPERATURES3_RTD_5_TEMPERATURES.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_TEMPERATURES3_MOTOR_TEMPERATURE.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_TEMPERATURES3_TORQUE_SHUDDER.value
]
units = ["C", "C", "C", "Nm"]
return [message, labels, values, units]
def parse_ID_MC_ANALOG_INPUTS_VOLTAGES(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xA8.")
return "UNPARSEABLE"
# message = "MC_analog_input_voltages"
# labels = ["MC_analog_input_1", "MC_analog_input_2", "MC_analog_input_3", "MC_analog_input_4"]
# values = [
# hex_to_decimal(raw_message[0:4], 16, True),
# hex_to_decimal(raw_message[4:8], 16, True),
# hex_to_decimal(raw_message[8:12], 16, True),
# hex_to_decimal(raw_message[12:16], 16, True)
# ]
# units = ["", "", "", ""]
# return [message, labels, values, units]
def parse_ID_MC_DIGITAL_INPUTS_STATUS(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xA4.")
return "UNPARSEABLE"
# message = "MC_digital_input_status"
# labels = [
# "MC_digital_input_1",
# "MC_digital_input_2",
# "MC_digital_input_3",
# "MC_digital_input_4",
# "MC_digital_input_5",
# "MC_digital_input_6",
# "MC_digital_input_7",
# "MC_digital_input_8"
# ]
# values = [
# raw_message[1],
# raw_message[3],
# raw_message[5],
# raw_message[7],
# raw_message[9],
# raw_message[11],
# raw_message[13],
# raw_message[15]
# ]
# units = ["", "", "", "", "", "", "", ""]
# return [message, labels, values, units]
def parse_ID_MC_MOTOR_POSITION_INFORMATION(raw_message):
message = "MC_motor_position_information"
labels = ["motor_angle", "motor_speed", "elec_output_freq", "delta_resolver_filtered"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_MOTOR_POSITION_INFORMATION_MOTOR_ANGLE.value,
hex_to_decimal(raw_message[4:8], 16, True),
hex_to_decimal(raw_message[8:12], 16, False) / Multipliers.MC_MOTOR_POSITION_INFORMATION_ELEC_OUTPUT_FREQ.value,
hex_to_decimal(raw_message[12:16], 16, True)
]
units = ["deg", "RPM", "Hz", ""]
return [message, labels, values, units]
def parse_ID_MC_CURRENT_INFORMATION(raw_message):
message = "MC_current_information"
labels = ["phase_a_current", "phase_b_current", "phase_c_current", "dc_bus_current"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_CURRENT_INFORMATION_PHASE_A_CURRENT.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_CURRENT_INFORMATION_PHASE_B_CURRENT.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_CURRENT_INFORMATION_PHASE_C_CURRENT.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_CURRENT_INFORMATION_DC_BUS_CURRENT.value
]
units = ["A", "A", "A", "A"]
return [message, labels, values, units]
def parse_ID_MC_VOLTAGE_INFORMATION(raw_message):
message = "MC_voltage_information"
labels = ["dc_bus_voltage", "output_voltage", "Vd_voltage", "Vq_voltage"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_VOLTAGE_INFORMATION_DC_BUS_VOLTAGE.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_VOLTAGE_INFORMATION_OUTPUT_VOLTAGE.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_VOLTAGE_INFORMATION_PHASE_AB_VOLTAGE.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_VOLTAGE_INFORMATION_PHASE_BC_VOLTAGE.value
]
units = ["V", "V", "V", "V"]
return [message, labels, values, units]
def parse_ID_MC_FLUX_INFORMATION(raw_message):
message = "MC_flux_information"
labels = ["Flux_Command", "Flux_Feedback", "Id_Feedback", "Iq_Feedback"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / 10,
hex_to_decimal(raw_message[4:8], 16, True) / 10,
hex_to_decimal(raw_message[8:12], 16, True) / 10,
hex_to_decimal(raw_message[12:16], 16, True) / 10
]
units = ["W", "W", "A", "A"]
return [message, labels, values, units]
def parse_ID_MC_INTERNAL_VOLTAGES(raw_message):
message = "MC_INTERNAL_VOLTAGES"
labels = ["12V_Voltage"]
values = [
hex_to_decimal(raw_message[12:16], 16, True)/100
]
units = ["V"]
return [message, labels, values, units]
def parse_ID_MC_INTERNAL_STATES(raw_message):
message = "MC_internal_states"
labels = [
"vsm_state",
"inverter_state",
# "relay_active_1",
# "relay_active_2",
# "relay_active_3",
# "relay_active_4",
# "relay_active_5",
# "relay_active_6",
"inverter_run_mode",
"inverter_active_discharge_state",
"inverter_command_mode",
"inverter_enable_state",
"inverter_enable_lockout",
"direction_command"
]
##relay_state = hex_to_decimal(raw_message[6:8], 8, False)
# relay_state_1 = bin_to_bool(str(relay_state & 0x01))
# relay_state_2 = bin_to_bool(str((relay_state & 0x02) >> 1))
# relay_state_3 = bin_to_bool(str((relay_state & 0x04) >> 2))
# relay_state_4 = bin_to_bool(str((relay_state & 0x08) >> 3))
# relay_state_5 = bin_to_bool(str((relay_state & 0x10) >> 4))
# relay_state_6 = bin_to_bool(str((relay_state & 0x20) >> 5))
inverter_run_mode_discharge_state = hex_to_decimal(raw_message[8:10], 8, False)
inverter_run_mode = bin_to_bool(str(inverter_run_mode_discharge_state & 1))
inverter_active_discharge_status = bin_to_bool(str(inverter_run_mode_discharge_state >> 5))
inverter_enable = hex_to_decimal(raw_message[12:14], 8, False)
inverter_enable_state = bin_to_bool(str(inverter_enable & 1))
inverter_enable_lockout = bin_to_bool(str((inverter_enable & 0x80) >> 7))
values = [
hex(hex_to_decimal(raw_message[0:4], 16, False)),
hex(int(raw_message[4:6], 16)),
# relay_state_1,
# relay_state_2,
# relay_state_3,
# relay_state_4,
# relay_state_5,
# relay_state_6,
inverter_run_mode,
inverter_active_discharge_status,
hex(int(raw_message[10:12], 16)),
inverter_enable_state,
inverter_enable_lockout,
hex(hex_to_decimal(raw_message[14:16], 16, False))
]
units = ["", "", "", "", "", "", "",""]
return [message, labels, values, units]
def parse_ID_MC_FAULT_CODES(raw_message):
post_fault_lo = hex_to_decimal(raw_message[0:4], 16, False)
post_fault_hi = hex_to_decimal(raw_message[4:8], 16, False)
run_fault_lo = hex_to_decimal(raw_message[8:12], 16, False)
run_fault_hi = hex_to_decimal(raw_message[12:16], 16, False)
if((run_fault_hi>0) or (run_fault_lo>0)):
message = "MC_fault_codes"
values=[]
labels=[]
labels = [
"run_fault_lo",
"run_lo_motor_overspeed_fault",
"run_lo_overcurrent_fault",
"run_lo_overvoltage_fault",
"run_lo_inverter_overtemperature_fault",
"run_lo_direction_command_fault",
"run_lo_inverter_response_timeout_fault",
"run_lo_hardware_gate_desaturation_fault",
"run_lo_hardware_overcurrent_fault",
"run_lo_undervoltage_fault",
"run_lo_can_command_message_lost_fault",
"run_lo_motor_overtemperature_fault",
"run_lo_reserved1",
"run_lo_reserved2",
"run_lo_reserved3",
"run_fault_hi",
"run_hi_module_a_overtemperature_fault",
"run_hi_module_b_overtemperature_fault",
"run_hi_module_c_overtemperature_fault",
"run_hi_pcb_overtemperature_fault",
"run_hi_gate_drive_board_1_overtemperature_fault",
"run_hi_gate_drive_board_2_overtemperature_fault",
"run_hi_gate_drive_board_3_overtemperature_fault",
"run_hi_current_sensor_fault",
"run_hi_resolver_not_connected",
"run_hi_inverter_discharge_active"
]
values = [
hex(hex_to_decimal(raw_message[8:12], 16, False)),
str(run_fault_lo & 0x0001),
bin_to_bool(str((run_fault_lo & 0x0002) >> 1)),
bin_to_bool(str((run_fault_lo & 0x0004) >> 2)),
bin_to_bool(str((run_fault_lo & 0x0008) >> 3)),
bin_to_bool(str((run_fault_lo & 0x0040) >> 6)),
bin_to_bool(str((run_fault_lo & 0x0080) >> 7)),
bin_to_bool(str((run_fault_lo & 0x0100) >> 8)),
bin_to_bool(str((run_fault_lo & 0x0200) >> 9)),
bin_to_bool(str((run_fault_lo & 0x0400) >> 10)),
bin_to_bool(str((run_fault_lo & 0x0800) >> 11)),
bin_to_bool(str((run_fault_lo & 0x1000) >> 12)),
bin_to_bool(str((run_fault_lo & 0x2000) >> 13)),
bin_to_bool(str((run_fault_lo & 0x4000) >> 14)),
bin_to_bool(str((run_fault_lo & 0x8000) >> 15)),
hex(hex_to_decimal(raw_message[12:16], 16, False)),
bin_to_bool(str((run_fault_hi & 0x0004) >> 2)),
bin_to_bool(str((run_fault_hi & 0x0008) >> 3)),
bin_to_bool(str((run_fault_hi & 0x0010) >> 4)),
bin_to_bool(str((run_fault_hi & 0x0020) >> 5)),
bin_to_bool(str((run_fault_hi & 0x0040) >> 6)),
bin_to_bool(str((run_fault_hi & 0x0080) >> 7)),
bin_to_bool(str((run_fault_hi & 0x0100) >> 8)),
bin_to_bool(str((run_fault_hi & 0x0200) >> 9)),
bin_to_bool(str((run_fault_hi & 0x4000) >> 14)),
bin_to_bool(str((run_fault_hi & 0x8000) >> 15))
]
units = []
for i in range(len(labels)):
units.append("")
return [message, labels, values, units]
else:
return "UNPARSEABLE"
def parse_ID_MC_TORQUE_TIMER_INFORMATION(raw_message):
message = "MC_torque_timer_information"
labels = ["commanded_torque", "torque_feedback", "rms_uptime"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_TORQUE_TIMER_INFORMATION_COMMANDED_TORQUE.value,
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.MC_TORQUE_TIMER_INFORMATION_TORQUE_FEEDBACK.value,
hex_to_decimal(raw_message[8:16], 32, False) / Multipliers.MC_TORQUE_TIMER_INFORMATION_RMS_UPTIME.value
]
units = ["Nm", "Nm", "s"]
return [message, labels, values, units]
def parse_ID_MC_FLUX_WEAKENING_OUTPUT(raw_message):
message = "MC_flux_weakening_output"
labels = ["modulation_index", "flux_weakening_output", "id_command", "iq_command"]
values = [
hex(hex_to_decimal(raw_message[0:4], 16, False)),
hex(hex_to_decimal(raw_message[4:8], 16, False)),
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MC_FLUX_WEAKENING_OUTPUT_ID_COMMAND.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.MC_FLUX_WEAKENING_OUTPUT_IQ_COMMAND.value
]
units = ["", "", "", ""]
return [message, labels, values, units]
def parse_ID_MC_FIRMWARE_INFORMATION(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xA8.")
return "UNPARSEABLE"
# message = "MC_firmware_information"
# labels = ["eeprom_version_project_code", "software_version", "date_code_mmdd", "date_code_yyyy"]
# values = [
# hex_to_decimal(raw_message[0:4], 16, False),
# hex_to_decimal(raw_message[4:8], 16, False),
# hex_to_decimal(raw_message[8:12], 16, False),
# hex_to_decimal(raw_message[12:16], 16, False)
# ]
# units = ["", "", "", ""]
# return [message, labels, values, units]
def parse_ID_MC_DIAGNOSTIC_DATA(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xAF.")
return "UNPARSEABLE"
def parse_ID_MC_COMMAND_MESSAGE(raw_message):
message = "MC_command_message"
labels = ["requested_torque","inverter_enable"]
##labels = ["requested_torque", "angular_velocity", "direction", "inverter_enable", "discharge_enable", "command_torque_limit"]
values = [
hex_to_decimal(raw_message[0:4], 16, True) / Multipliers.MC_COMMAND_MESSAGE_REQUESTED_TORQUE.value,
##hex_to_decimal(raw_message[4:8], 16, True),
##hex(int(raw_message[9], 16)),
hex_to_decimal(raw_message[10], 4, False),
##hex_to_decimal(raw_message[11], 4, False),
##hex_to_decimal(raw_message[12:16], 16, True)
]
units = ["Nm", ""]
return [message, labels, values, units]
def parse_ID_MC_READ_WRITE_PARAMETER_COMMAND(raw_message):
message = "MC_read_write_parameter_command"
labels = ["parameter_address", "rw_command", "reserved1", "data"]
values = [
hex(int(hex_to_decimal(raw_message[0:4], 16, False))),
hex(int(raw_message[5])),
hex_to_decimal(raw_message[6:8], 8, False),
hex(int(hex_to_decimal(raw_message[8:16], 32, False)))
]
units = ["", "", "", ""]
return [message, labels, values, units]
def parse_ID_MC_READ_WRITE_PARAMETER_RESPONSE(raw_message):
message = "MC_read_write_parameter_response"
labels = ["parameter_address", "write_success", "reserved1", "data"]
values = [
hex(int(hex_to_decimal(raw_message[0:4], 16, False))),
hex(int(raw_message[5])),
hex_to_decimal(raw_message[6:8], 8, False),
hex(int(hex_to_decimal(raw_message[8:16], 32, False)))
]
units = ["", "", "", ""]
return [message, labels, values, units]
def parse_ID_MCU_STATUS(raw_message):
message = "MCU_status"
labels = [
"imd_ok_high",
"shutdown_b_above_threshold",
"bms_ok_high",
"shutdown_c_above_threshold",
"bspd_ok_high",
"shutdown_d_above_threshold",
"software_ok_high",
"shutdown_e_above_threshold",
"no_accel_implausibility",
"no_brake_implausibility",
"brake_pedal_active",
"bspd_current_high",
"bspd_brake_high",
"no_accel_brake_implausibility",
"mcu_state",
"inverter_powered",
"energy_meter_present",
"activate_buzzer",
"software_is_ok",
"launch_ctrl_active",
"max_torque",
"torque_mode",
"distance_travelled"
]
temp_bin_rep = bin(hex_to_decimal(raw_message[2:4], 8, False))[2:].zfill(8) + bin(hex_to_decimal(raw_message[4:6], 8, False))[2:].zfill(8) + bin(hex_to_decimal(raw_message[6:8], 8, False))[2:].zfill(8)
# Change bin rep to small endian
bin_rep = ""
for i in range(len(temp_bin_rep)):
if i % 8 == 0:
bin_rep = bin_rep + temp_bin_rep[i+7] + temp_bin_rep[i+6] + temp_bin_rep[i+5] + temp_bin_rep[4] + temp_bin_rep[i+3] + temp_bin_rep[i+2] + temp_bin_rep[i+1] + temp_bin_rep[i]
def binary_to_MCU_STATE(bin_rep):
# Back to Big Endian
bin_rep = bin_rep[2] + bin_rep[1] + bin_rep[0]
if bin_rep == "000": return "STARTUP"
if bin_rep == "001": return "TRACTIVE_SYSTEM_NOT_ACTIVE"
if bin_rep == "010": return "TRACTIVE_SYSTEM_ACTIVE"
if bin_rep == "011": return "ENABLING_INVERTER"
if bin_rep == "100": return "WAITING_READY_TO_DRIVE_SOUND"
if bin_rep == "101": return "READY_TO_DRIVE"
# Should never get here
if DEBUG: print("UNFATAL ERROR: Unrecognized MCU state: " + bin_rep)
return "UNRECOGNIZED_STATE"
values = []
for i in range(24):
if i == 8 or i == 9: # torque_mode 2-bits are never used
continue
elif i == 16: # convert binary to MCU state
values.append(binary_to_MCU_STATE(bin_rep[16:19]))
elif i == 17 or i == 18: # no need to do anything here because i == 16 takes care of them
continue
else:
values.append(bin_to_bool(bin_rep[i]))
values.append(hex_to_decimal(raw_message[8:10], 8, False))
values.append(hex_to_decimal(raw_message[10:12], 8, False))
values.append(hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.MCU_STATUS_DISTANCE_TRAVELLED.value)
units = []
for i in range(len(labels) - 3):
units.append("")
units.append("Nm")
units.append("")
units.append("m")
return [message, labels, values, units]
def parse_ID_MCU_PEDAL_READINGS(raw_message):
message = "MCU_pedal_readings"
labels = ["accelerator_pedal_1", "accelerator_pedal_2", "brake_transducer_1", "steering_sensor"]
accelerator_1 = round(hex_to_decimal(raw_message[0:4], 16, False))
accelerator_2 = round(hex_to_decimal(raw_message[4:8], 16, False))
brake_1 = round(hex_to_decimal(raw_message[8:12], 16, False))
brake_2 = round(hex_to_decimal(raw_message[12:16], 16, False))
# If the linear regression occasionally results in a negative value, set it to 0.0
if accelerator_1 < 0.0:
accelerator_1 = 0.0
if accelerator_2 < 0.0:
accelerator_2 = 0.0
values = [
accelerator_1,
accelerator_2,
brake_1,
brake_2
]
units = ["%", "%", "%", "%"]
return [message, labels, values, units]
def parse_ID_MCU_ANALOG_READINGS(raw_message):
message = "MCU_analog_readings"
labels = ["ecu_current", "cooling_current", "temperature", "glv_battery_voltage"]
values = [
hex_to_decimal(raw_message[0:4], 16, False) / Multipliers.MCU_ANALOG_READINGS_ECU_CURRENT.value,
hex_to_decimal(raw_message[4:8], 16, False) / Multipliers.MCU_ANALOG_READINGS_COOLING_CURRENT.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.MCU_ANALOG_READINGS_TEMPERATURE.value,
hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.MCU_ANALOG_READINGS_GLV_BATTERY_VOLTAGE.value
]
units = ["A", "A", "C", "V"]
return [message, labels, values, units]
def parse_ID_BMS_ONBOARD_TEMPERATURES(raw_message):
message = "BMS_onboard_temperatures"
labels = ["average_temperature", "low_temperature", "high_temperature"]
values = [
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.BMS_ONBOARD_TEMPERATURES_AVERAGE_TEMPERATURE.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.BMS_ONBOARD_TEMPERATURES_LOW_TEMPERATURE.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.BMS_ONBOARD_TEMPERATURES_HIGH_TEMPERATURE.value
]
units = ["C", "C", "C"]
return [message, labels, values, units]
def parse_ID_BMS_ONBOARD_DETAILED_TEMPERATURES(raw_message):
message = "BMS_onboard_detailed_temperatures"
ic_id = str(hex_to_decimal(raw_message[0:2], 8, False))
labels = ["IC_" + ic_id + "_temperature_0", "IC_" + ic_id + "_temperature_1"]
values = [
hex_to_decimal(raw_message[2:6], 16, True) / Multipliers.BMS_ONBOARD_DETAILED_TEMPERATURES_TEMPERATURE_0.value,
hex_to_decimal(raw_message[6:10], 16, True) / Multipliers.BMS_ONBOARD_DETAILED_TEMPERATURES_TEMPERATURE_1.value
]
units = ["C", "C"]
return [message, labels, values, units]
def parse_ID_BMS_VOLTAGES(raw_message):
message = "BMS_voltages"
labels = ["BMS_voltage_average", "BMS_voltage_low", "BMS_voltage_high", "BMS_voltage_total"]
values = [
hex_to_decimal(raw_message[0:4], 16, False) / Multipliers.BMS_VOLTAGES_BMS_VOLTAGE_AVERAGE.value,
hex_to_decimal(raw_message[4:8], 16, False) / Multipliers.BMS_VOLTAGES_BMS_VOLTAGE_LOW.value,
hex_to_decimal(raw_message[8:12], 16, False) / Multipliers.BMS_VOLTAGES_BMS_VOLTAGE_HIGH.value,
hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.BMS_VOLTAGES_BMS_VOLTAGE_TOTAL.value
]
units = ["V", "V", "V", "V"]
return [message, labels, values, units]
def parse_ID_BMS_DETAILED_VOLTAGES(raw_message):
message = "BMS_detailed_voltages"
ic_id = raw_message[3]
group_id = int(raw_message[2], 16)
labels = ""
if group_id == 0:
labels = ["IC_" + ic_id + "_CELL_0", "IC_" + ic_id + "_CELL_1", "IC_" + ic_id + "_CELL_2"]
elif group_id == 1:
labels = ["IC_" + ic_id + "_CELL_3", "IC_" + ic_id + "_CELL_4", "IC_" + ic_id + "_CELL_5"]
elif group_id == 2:
labels = ["IC_" + ic_id + "_CELL_6", "IC_" + ic_id + "_CELL_7", "IC_" + ic_id + "_CELL_8"]
elif group_id == 3 and int(ic_id, 16) % 2 == 0:
labels = ["IC_" + ic_id + "_CELL_9", "IC_" + ic_id + "_CELL_10", "IC_" + ic_id + "_CELL_11"]
else:
if DEBUG: print("UNFATAL ERROR: BMS detailed voltage group " + str(group_id) + " is invalid.")
return "UNPARSEABLE"
values = [
hex_to_decimal(raw_message[4:8], 16, False) / Multipliers.BMS_DETAILED_VOLTAGES_VOLTAGE_0.value,
hex_to_decimal(raw_message[8:12], 16, False) / Multipliers.BMS_DETAILED_VOLTAGES_VOLTAGE_1.value,
hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.BMS_DETAILED_VOLTAGES_VOLTAGE_2.value
]
units = ["V", "V", "V"]
return [message, labels, values, units]
def parse_ID_BMS_TEMPERATURES(raw_message):
message = "BMS_temperatures"
labels = ["BMS_average_temperature", "BMS_low_temperature", "BMS_high_temperature"]
values = [
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.BMS_TEMPERATURES_BMS_AVERAGE_TEMPERATURE.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.BMS_TEMPERATURES_BMS_LOW_TEMPERATURE.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.BMS_TEMPERATURES_BMS_HIGH_TEMPERATURE.value
]
units = ["C", "C", "C"]
return [message, labels, values, units]
def parse_ID_BMS_DETAILED_TEMPERATURES(raw_message):
message = "BMS_detailed_temperatures"
ic_id = raw_message[3]
group_id = int(raw_message[2], 16)
# Different parsing if IC_ID is even or old
# If IC_ID is even, GPIO 5 is humidity; if IC_ID is odd, GPIO 5 is temperature
isEven = False
if int(ic_id, 16) % 2 == 0: isEven = True
labels = ""
if isEven:
if group_id == 0:
labels = ["IC_" + ic_id + "_therm_0", "IC_" + ic_id + "_therm_1", "IC_" + ic_id + "_therm_2"]
elif group_id == 1:
labels = ["IC_" + ic_id + "_therm_3", "IC_" + ic_id + "_humidity", "IC_" + ic_id + "_Vref"]
else:
if DEBUG: print("UNFATAL ERROR: BMS detailed temperature group " + str(group_id) + " is invalid.")
return "UNPARSEABLE"
else:
if group_id == 0:
labels = ["IC_" + ic_id + "_therm_0", "IC_" + ic_id + "_therm_1", "IC_" + ic_id + "_therm_2"]
elif group_id == 1:
labels = ["IC_" + ic_id + "_therm_3", "IC_" + ic_id + "_temperature", "IC_" + ic_id + "_Vref"]
else:
if DEBUG: print("UNFATAL ERROR: BMS detailed temperature group " + str(group_id) + " is invalid.")
return "UNPARSEABLE"
values = [
hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.BMS_DETAILED_TEMPERATURES_THERM_0.value,
hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.BMS_DETAILED_TEMPERATURES_THERM_1.value,
hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.BMS_DETAILED_TEMPERATURES_THERM_2.value
]
units = []
if group_id == 0: units = ["C", "C", "C"]
else:
if isEven: units = ["C", "%", "V"]
else: units = ["C", "C", "V"]
return [message, labels, values, units]
def parse_ID_BMS_STATUS(raw_message):
message = "BMS_status"
labels = [
"BMS_state",
"BMS_error_flags",
"BMS_overvoltage",
"BMS_undervoltage",
"BMS_total_voltage_high",
"BMS_discharge_overcurrent",
"BMS_charge_overcurrent",
"BMS_discharge_overtemp",
"BMS_charge_overtemp",
"BMS_undertemp",
"BMS_onboard_overtemp",
"BMS_current",
"BMS_flags",
"BMS_shutdown_g_above_threshold",
"BMS_shutdown_h_above_threshold"
]
error_flags = hex_to_decimal(raw_message[6:10], 16, False)
flags = hex_to_decimal(raw_message[14:16], 8, False)
values = [
hex(int(raw_message[4:6], 16)),
hex(error_flags),
bin_to_bool(error_flags & 0x1),
bin_to_bool((error_flags & 0x2) >> 1),
bin_to_bool((error_flags & 0x4) >> 2),
bin_to_bool((error_flags & 0x8) >> 3),
bin_to_bool((error_flags & 0x10) >> 4),
bin_to_bool((error_flags & 0x20) >> 5),
bin_to_bool((error_flags & 0x40) >> 6),
bin_to_bool((error_flags & 0x80) >> 7),
bin_to_bool((error_flags & 0x100) >> 8),
hex_to_decimal(raw_message[10:14], 16, True) / Multipliers.BMS_STATUS_BMS_CURRENT.value,
hex(int(raw_message[14:16], 16)),
bin_to_bool(flags & 0x1),
bin_to_bool((flags & 0x2) >> 1)
]
units = []
for i in range(len(labels)):
if i == len(labels) - 4:
units.append("A")
else:
units.append("")
return [message, labels, values, units]
def parse_ID_FH_WATCHDOG_TEST(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xDC.")
return "UNPARSEABLE"
def parse_ID_CCU_STATUS(raw_message):
message = "CCU_status"
labels = ["charger_enabled"]
values = [int(raw_message[14:16], 16)]
units = [""]
return [message, labels, values, units]
def parse_ID_BMS_BALANCING_STATUS(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xDE.")
return "UNPARSEABLE"
def parse_ID_BMS_READ_WRITE_PARAMETER_COMMAND(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xE0.")
return "UNPARSEABLE"
def parse_ID_BMS_PARAMETER_RESPONSE(raw_message):
if DEBUG: print("UNFATAL ERROR: Do not know how to parse CAN ID 0xE1.")
return "UNPARSEABLE"
def parse_ID_BMS_COULOMB_COUNTS(raw_message):
message = "BMS_coulomb_counts"
labels = ["BMS_total_charge", "BMS_total_discharge"]
values = [
hex_to_decimal(raw_message[0:8], 32, False) / Multipliers.BMS_COULOMB_COUNTS_BMS_TOTAL_CHARGE.value,
hex_to_decimal(raw_message[8:16], 32, False) / Multipliers.BMS_COULOMB_COUNTS_BMS_TOTAL_DISCHARGE.value
]
units = ["Ah", "Ah"]
return [message, labels, values, units]
def parse_ID_MCU_GPS_READINGS(raw_message):
message = "MCU_GPS_readings"
labels = ["latitude", "longitude"]
values = [
hex_to_decimal(raw_message[0:8], 32, True) / Multipliers.MCU_GPS_READINGS_LATITUDE.value,
hex_to_decimal(raw_message[8:16], 32, True) / Multipliers.MCU_GPS_READINGS_LONGITUDE.value
]
units = ["deg", "deg"]
return [message, labels, values, units]
def parse_ID_MCU_WHEEL_SPEED(raw_message):
message = "MCU_wheel_speed"
labels = ["rpm_front_left", "rpm_front_right"]
values = [
hex_to_decimal(raw_message[0:8], 32, False)/100,
hex_to_decimal(raw_message[8:16], 32, False)/100
]
units = ["rpm", "rpm"]
return [message, labels, values, units]
# @TODO: FIX THIS with more data
def parse_ID_DASHBOARD_STATUS(raw_message):
message = "Dashboard_status"
labels = [
"start_btn",
"buzzer_active",
"ssok_above_threshold",
"shutdown_h_above_threshold",
"mark_btn",
"mode_btn",
"mc_cycle_btn",
"launch_ctrl_btn",
"ams_led",
"imd_led",
"mode_led",
"mc_error_led",
"start_led",
"launch_control_led"
]
raw_message = raw_message[8:] # Strip first 8 padded zeros
bin_rep = bin(int(raw_message, 16))[2:].zfill(32)
def blink_modes(bin_rep):
bin_rep = int(bin(bin_rep)[2:].zfill(2)[1] + bin(bin_rep)[2:].zfill(2)[0], 2) # Back to big-endian
if bin_rep == 0: return "off"
elif bin_rep == 1: return "on"
elif bin_rep == 2: return "fast"
elif bin_rep == 3: return "slow"
else:
if DEBUG: print("UNFATAL ERROR: Unrecognizable blink mode " + str(bin_rep))
return "UNRECOGNIZED_BLINK"
led_flags = (bin_rep[30:32] + bin_rep[28:30] + bin_rep[26:28] + bin_rep[24:26])[::-1] + (bin_rep[22:24] + bin_rep[20:22] + bin_rep[18:20] + bin_rep[16:18])[::-1]
values = [
bin_to_bool(bin_rep[7]), # Endianness changed
bin_to_bool(bin_rep[6]),
bin_to_bool(bin_rep[5]),
bin_to_bool(bin_rep[4]),
bin_to_bool(bin_rep[15]),
bin_to_bool(bin_rep[14]),
bin_to_bool(bin_rep[13]),
bin_to_bool(bin_rep[12]),
blink_modes(int(led_flags, 2) & 0x0003),
blink_modes((int(led_flags, 2) & 0x000C) >> 2),
blink_modes((int(led_flags, 2) & 0x0030) >> 4),
blink_modes((int(led_flags, 2) & 0x00C0) >> 6),
blink_modes((int(led_flags, 2) & 0x0300) >> 8),
blink_modes((int(led_flags, 2) & 0x0C00) >> 10)
]
units = []
for i in range(len(labels)):
units.append("")
return [message, labels, values, units]
def parse_ID_SAB_READINGS_FRONT(raw_message):
message = "SAB_readings_front"
labels = ["fl_susp_lin_pot", "fr_susp_lin_pot"]
values = [
hex_to_decimal(raw_message[8:12], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value,
hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value
]
units = ["mm", "mm"]
return [message, labels, values, units]
def parse_ID_SAB_READINGS_REAR(raw_message):
message = "SAB_readings_rear"
labels = ["cooling_loop_fluid_temp", "amb_air_temp", "bl_susp_lin_pot", "br_susp_lin_pot"]
values = [
hex_to_decimal(raw_message[0:4], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value,
hex_to_decimal(raw_message[4:8], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value,
hex_to_decimal(raw_message[8:12], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value,
hex_to_decimal(raw_message[12:16], 16, False) / Multipliers.SAB_READINGS_NON_GPS.value
]
units = ["C", "C", "mm", "mm"]
return [message, labels, values, units]
def parse_ID_SAB_READINGS_GPS(raw_message):
message = "SAB_readings_gps"
labels = ["gps_latitude", "gps_longitude"]
values = [
hex_to_decimal(raw_message[0:8], 32, True) / Multipliers.SAB_READINGS_GPS.value,
hex_to_decimal(raw_message[8:16], 32, True) / Multipliers.SAB_READINGS_GPS.value
]
units = ["deg", "deg"]
return [message, labels, values, units]
def parse_ID_EM_MEASUREMENT(raw_message):
message = "EM_measurement"
labels = ["current", "voltage"]
def twos_comp(value):
bits = 32
if value & (1 << (bits - 1)):
value -= 1 << bits
return value
bin_rep = bin(int(raw_message, 16))
bin_rep = bin_rep[2:].zfill(64)
current = round(twos_comp(int(bin_rep[7:39], 2)) / Multipliers.EM_MEASUREMENTS_CURRENT.value, 2)
voltage = round(twos_comp(int(bin_rep[39:71], 2)) / Multipliers.EM_MEASUREMENTS_VOLTAGE.value, 2)
values = [current, voltage]
units = ["A", "V"]
return [message, labels, values, units]
def parse_ID_EM_STATUS(raw_message):
message = "EM_status"
labels = ["voltage_gain", "current_gain", "overvoltage", "overpower", "logging"]
raw_message = raw_message[8:]
bin_rep = bin(int(raw_message, 16))
bin_rep = bin_rep[2:].zfill(32)
voltage_gain = int(bin_rep[0:4], 2)
current_gain = int(bin_rep[4:8], 2)
if voltage_gain == 0:
voltage_gain = "x1"
elif voltage_gain == 1:
voltage_gain = "x2"
elif voltage_gain == 2:
voltage_gain = "x4"
elif voltage_gain == 3:
voltage_gain = "x8"
elif voltage_gain == 4:
voltage_gain = "x16"
elif voltage_gain == 5:
voltage_gain = "x32"
else:
if DEBUG: print("UNFATAL ERROR: Unknown Energy Meter voltage gain: " + str(voltage_gain))
voltage_gain = "N/A"
if current_gain == 0:
current_gain = "x1"
elif current_gain == 1:
current_gain = "x2"
elif current_gain == 2:
current_gain = "x4"
elif current_gain == 3:
current_gain = "x8"
elif current_gain == 4:
current_gain = "x16"
elif current_gain == 5:
current_gain = "x32"
else:
if DEBUG: print("UNFATAL ERROR: Unknown Energy Meter current gain: " + str(current_gain))
current_gain = "N/A"
values = [
voltage_gain,
current_gain,
bin_to_bool(bin_rep[8]),
bin_to_bool(bin_rep[9]),
bin_to_bool(bin_rep[10])
]
units = ["gain", "gain", "", "", ""]
return [message, labels, values, units]
def parse_ID_IMU_ACCELEROMETER(raw_message):
message = "IMU_accelerometer"
labels = ["lat_accel", "long_accel", "vert_accel"]
values = [
round(hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.IMU_ACCELEROMETER_ALL.value, 4),
round(hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.IMU_ACCELEROMETER_ALL.value, 4),
round(hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.IMU_ACCELEROMETER_ALL.value, 4)
]
units = ["m/s/s", "m/s/s", "m/s/s"]
return [message, labels, values, units]
def parse_ID_IMU_GYROSCOPE(raw_message):
message = "IMU_gyroscope"
labels = ["yaw", "pitch", "roll"]
values = [
round(hex_to_decimal(raw_message[4:8], 16, True) / Multipliers.IMU_GYROSCOPE_ALL.value, 4),
round(hex_to_decimal(raw_message[8:12], 16, True) / Multipliers.IMU_GYROSCOPE_ALL.value, 4),
round(hex_to_decimal(raw_message[12:16], 16, True) / Multipliers.IMU_GYROSCOPE_ALL.value, 4)
]
units = ["deg/s", "deg/s", "deg/s"]
return [message, labels, values, units]
#orion BMS shit i added
def parse_ID_ORIONBMS_MESSAGE1(raw_message):
message= "Orion BMS1"
labels=["DCL","hightemp", "lowtemp"]
values=[
round(hex_to_decimal(raw_message[0:4],16,False)),
round(hex_to_decimal(raw_message[8:10],8,True)),
round(hex_to_decimal(raw_message[10:12],8,True)),
]
units=["A","C","C"]
return [message,labels,values,units]
def parse_ID_ORIONBMS_MESSAGE2(raw_message):
message= "Orion BMS2"
labels=["PackCurrent","PackInstVolt", "PackOpenVolt", "PackSummedVolt"]
values=[
round(hex_to_decimal(raw_message[0:4],16,True)),
round(hex_to_decimal(raw_message[4:8],16,True))/10,
round(hex_to_decimal(raw_message[8:12],16,True))/10,
round(hex_to_decimal(raw_message[12:16],16,True))/100
]
units=["Amps","Volts","Volts","Volts"]
return [message,labels,values,units]
def parse_ID_PRECHARGE(raw_message):
message= "Precharge"
labels=["State","AccVoltage", "TSVoltage"]
state = hex_to_decimal(raw_message[0:2],8,False)
accV = hex_to_decimal(raw_message[2:4],8,False) + hex_to_decimal(raw_message[4:6],8,False)*100
tsV = hex_to_decimal(raw_message[6:8],8,False) + hex_to_decimal(raw_message[8:10],8,False)*100
values=[
state,
accV,
tsV
]
units=["State","V","V"]
return [message,labels,values,units]
def parse_ID_SHONK_POTS(raw_message):
message= "Shock_Pots"
labels=["Shonk_FL","Shonk_FR", "Shonk_RL","Shonk_RR"]
values=[
round(hex_to_decimal(raw_message[0:4],16,False)),
round(hex_to_decimal(raw_message[4:8],16,False)),
round(hex_to_decimal(raw_message[8:12],16,False)),
round(hex_to_decimal(raw_message[12:16],16,False))
]
units=["","","",""]
return [message,labels,values,units]
def parse_ID_ACU_TEMP_SENSORS(raw_message):
message= "Energus_Voltages"
board_id = round(hex_to_decimal(raw_message[0:2],8,False))
if(board_id == 0):
labels=["Cell_0","Cell_12", "Cell_24","Cell_36","Cell_48"]
elif(board_id == 1):
labels=["Cell_1","Cell_13", "Cell_25","Cell_37","Cell_49"]
elif(board_id == 2):
labels=["Cell_2","Cell_14", "Cell_26","Cell_38","Cell_50"]
elif(board_id == 3):
labels=["Cell_3","Cell_15", "Cell_27","Cell_39","Cell_51"]
elif(board_id == 4):