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can_ids_generator.py
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import semver
import os
from can import Can
SEMVER_FILENAME = ".semver"
if os.path.exists(SEMVER_FILENAME):
content = open(SEMVER_FILENAME, "r").readline()
version = semver.VersionInfo.parse(content)
else:
raise FileNotFoundError(
f"File {SEMVER_FILENAME} not found. It should contain the version in semver standard.")
can = Can(version=f"{version}", bitrate=500e3)
################################################################################
### MODULE: GENERIC
module_generic = can.Module(
name="generic",
signature=0,
description="Modulo generico para facilitar implementacoes genericas"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=50,
frequency=0,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: GENERIC
topic_generic = can.Topic(
msg="generic",
id=51,
frequency=0,
description="Generic topic"
)
module_generic.add_topic(topic_state)
module_generic.add_topic(topic_generic)
can.add_module(module_generic)
################################################################################
### MODULE: MIC19
module_mic19 = can.Module(
name="mic19",
signature=240,
description="Modulo de Interface de Controle"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=30,
description="Module state report",
frequency = 5,
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: MOTOR
topic_motor = can.Topic(
msg="motor",
id=31,
description="Motor controller parameters",
frequency = 50
)
topic_motor.describe_byte(
name="motor",
byte=1,
description="Motor state",
btype="bitfield",
units=""
)
topic_motor.describe_bit(
name="motor on",
byte=1,
bit=0
)
topic_motor.describe_bit(
name="dms on",
byte=1,
bit=1
)
topic_motor.describe_bit(
name="reverse",
byte=1,
bit=2
)
topic_motor.describe_byte(
name="D",
byte=2,
description="Motor Duty Cycle",
btype="uint8_t",
units="%"
)
topic_motor.describe_byte(
name="I",
byte=3,
description="Motor Soft Start",
btype="uint8_t",
units="%"
)
#### TOPIC: PUMPS
topic_pumps = can.Topic(
msg="pumps",
id=41,
frequency = 4,
description="Pumps controller parameters",
)
topic_pumps.describe_byte(
name="pumps",
byte=1,
description="Pumps state",
btype="bitfield",
units=""
)
topic_pumps.describe_bit(
name="pump1",
byte=1,
bit=0
)
topic_pumps.describe_bit(
name="pump2",
byte=1,
bit=1
)
topic_pumps.describe_bit(
name="pump3",
byte=1,
bit=2
)
#### TOPIC: MPPTS
topic_mppts = can.Topic(
msg="mppts",
id=200,
frequency = 4,
description="Mppts controller parameters",
)
topic_mppts.describe_byte(
name="mppts on",
byte=1,
description="MPPTs state",
btype="bitfield",
units=""
)
topic_mppts.describe_bit(
name="mppts on",
byte=1,
bit=0
)
topic_mppts.describe_byte(
name="POT",
byte=2,
description="MPPTs maximum power limitation",
btype="uint8_t",
units="%"
)
#### TOPIC: MCS
topic_mcs = can.Topic(
msg="mcs",
id=32,
frequency = 50,
description="MCS controller parameters",
)
topic_mcs.describe_byte(
name="boat on",
byte=1,
description="Boat state",
btype="bitfield",
units=""
)
topic_mcs.describe_bit(
name="boat on",
byte=1,
bit=0
)
#### TOPIC: MDE
topic_mde = can.Topic(
msg="mde",
id=33,
frequency = 50,
description="Steereing wheel controls",
)
topic_mde.describe_byte(
name="position_l",
byte=1,
description="Steering wheel position, byte LOW",
btype="uint16_t",
units="°/100"
)
topic_mde.describe_byte(
name="position_h",
byte=2,
description="Steering wheel position, byte HIGH",
btype="uint16_t",
units="°/100"
)
module_mic19.add_topic(topic_state)
module_mic19.add_topic(topic_motor)
module_mic19.add_topic(topic_pumps)
module_mic19.add_topic(topic_mppts)
module_mic19.add_topic(topic_mcs)
module_mic19.add_topic(topic_mde)
can.add_module(module_mic19)
################################################################################
### MODULE: MDE22
module_mde22 = can.Module(
name="mde22",
signature=170,
description="Modulo da Direção Elétrica"
)
### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=100,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
# TOPIC: STEERING MODULE MEASUREMENTS
topic_measurements = can.Topic(
msg="steeringbat_measurements",
id=201,
frequency=10,
description="Auxiliar Battery Voltage"
)
topic_measurements.describe_byte(
name="batvoltage_l",
byte=1,
description="Battery Voltage, byte low",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="batvoltage_h",
byte=2,
description="Battery Voltage, byte high",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="position_l",
byte=3,
description="Tail Poisition, byte low",
btype="uint16_t",
units="°/100"
)
topic_measurements.describe_byte(
name="position_h",
byte=4,
description="Tail Poisition, byte high",
btype="uint16_t",
units="°/100"
)
topic_measurements.describe_byte(
name="batcurrent_l",
byte=5,
description="Battery Current, byte low",
btype="uint16_t",
units="A/100"
)
topic_measurements.describe_byte(
name="batcurrent_h",
byte=6,
description="Battery Current, byte high",
btype="uint16_t",
units="A/100"
)
module_mde22.add_topic(topic_state)
module_mde22.add_topic(topic_measurements)
can.add_module(module_mde22)
################################################################################
### MODULE: MVC19
module_mvc19 = can.Module(
name="mvc19",
signature=210,
description="Modulo de voltimetro"
)
### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=101,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
module_mvc19.add_topic(topic_state)
can.add_multiple_modules(module_mvc19, 2)
################################################################################
### MODULE: MCC23
module_mcc23 = can.Module(
name="mcc23",
signature=225,
description="Modulo controlador de carga"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=103,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="control",
byte=2,
description="Control flags for operating point",
btype="bitfield",
units=""
)
topic_state.describe_bit(
name="enable",
byte=2,
bit=0
)
topic_state.describe_bit(
name="vi_safe_range",
byte=2,
bit=1
)
topic_state.describe_bit(
name="vo_safe_range",
byte=2,
bit=2
)
topic_state.describe_bit(
name="vi_stable",
byte=2,
bit=3
)
topic_state.describe_bit(
name="dt_safe_range",
byte=2,
bit=4
)
### TOPIC: MEASUREMENTS
topic_measurements = can.Topic(
msg="measurements",
id=202,
frequency=10,
description="All measurements from the converter"
)
topic_measurements.describe_byte(
name="output_voltage_l",
byte=1,
description="Average output voltage, byte low",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="output_voltage_h",
byte=2,
description="Average output voltage, byte high",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="input_current_l",
byte=3,
description="Average input current, byte low",
btype="uint16_t",
units="A/100"
)
topic_measurements.describe_byte(
name="input_current_h",
byte=4,
description="Average input current, byte high",
btype="uint16_t",
units="A/100"
)
topic_measurements.describe_byte(
name="input_voltage_l",
byte=5,
description="Average input voltage, byte low",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="input_voltage_h",
byte=6,
description="Average input voltage, byte high",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="dt",
byte=7,
description="converter's duty cycle",
btype="uint8_t",
units="%/255"
)
### TOPIC: AUXILIARY MEASUREMENTS
topic_aux_measurements = can.Topic(
msg="aux_measurements",
id=225,
frequency=10,
description="Auxiliary measurements from the converter"
)
topic_aux_measurements.describe_byte(
name="output_current_l",
byte=1,
description="Average output current, byte low",
btype="uint16_t",
units="A/100"
)
topic_aux_measurements.describe_byte(
name="output_current_h",
byte=2,
description="Average output current, byte high",
btype="uint16_t",
units="A/100"
)
topic_aux_measurements.describe_byte(
name="mosfet_temp",
byte=3,
description="MOSFET temperature",
btype="uint8_t",
units="°C"
)
topic_aux_measurements.describe_byte(
name="diode_temp",
byte=4,
description="Diode temperature",
btype="uint8_t",
units="°C"
)
topic_aux_measurements.describe_byte(
name="room_temp",
byte=5,
description="Room temperature",
btype="uint8_t",
units="°C"
)
module_mcc23.add_topic(topic_state)
module_mcc23.add_topic(topic_measurements)
module_mcc23.add_topic(topic_aux_measurements)
can.add_multiple_modules(module_mcc23, 9)
################################################################################
### MODULE: MCB19
module_mcb19 = can.Module(
name="mcb19",
signature=220,
description="Modulo de carregamento das baterias auxiliares"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=118,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="control",
byte=2,
description="Control flags for operating point",
btype="bitfield",
units=""
)
topic_state.describe_bit(
name="enable",
byte=2,
bit=0
)
topic_state.describe_bit(
name="vi_safe_range",
byte=2,
bit=1
)
topic_state.describe_bit(
name="vo_safe_range",
byte=2,
bit=2
)
topic_state.describe_bit(
name="vi_stable",
byte=2,
bit=3
)
topic_state.describe_bit(
name="dt_safe_range",
byte=2,
bit=4
)
### TOPIC: MEASUREMENTS
topic_measurements = can.Topic(
msg="measurements",
id=222,
frequency=10,
description="All measurements from the converter"
)
topic_measurements.describe_byte(
name="output_voltage_l",
byte=1,
description="Average output voltage, byte low",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="output_voltage_h",
byte=2,
description="Average output voltage, byte high",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="output_current_l",
byte=3,
description="Average output current, byte low",
btype="uint16_t",
units="A/100"
)
topic_measurements.describe_byte(
name="output_current_h",
byte=4,
description="Average output current, byte high",
btype="uint16_t",
units="A/100"
)
topic_measurements.describe_byte(
name="input_voltage_l",
byte=5,
description="Average input voltage, byte low",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="input_voltage_h",
byte=6,
description="Average input voltage, byte high",
btype="uint16_t",
units="V/100"
)
topic_measurements.describe_byte(
name="dt",
byte=7,
description="converter's duty cycle",
btype="uint8_t",
units="%/255"
)
module_mcb19.add_topic(topic_state)
module_mcb19.add_topic(topic_measurements)
can.add_multiple_modules(module_mcb19, 2)
################################################################################
### MODULE: MAC22
module_mac22 = can.Module(
name="mac22",
signature=180,
description="Modulo de Acionamento da Contatora"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=35,
frequency=5,
description="Module state report",
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: CONTACTOR
topic_contactor = can.Topic(
msg="contactor",
id=34,
frequency=50,
description="Contactor task response",
)
topic_contactor.describe_byte(
name="response",
byte=1,
description="Contactor task response",
btype="uint8_t",
units=""
)
module_mac22.add_topic(topic_state)
module_mac22.add_topic(topic_contactor)
can.add_module(module_mac22)
################################################################################
### MODULE: MAM19
module_mam19 = can.Module(
name="mam19",
signature=190,
description="Modulo de Acionamento do Motor"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=0b1100011,
frequency=5,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: MOTOR
topic_motor = can.Topic(
msg="motor",
id=0b1100010,
frequency=50,
description="Motor controller parameters"
)
topic_motor.describe_byte(
name="D",
byte=1,
description="Motor Duty Cycle",
btype="uint8_t",
units="%"
)
topic_motor.describe_byte(
name="I",
byte=2,
description="Motor Soft Start",
btype="uint8_t",
units="%"
)
#### TOPIC: CONTACTOR
topic_contactor = can.Topic(
msg="contactor",
id=0b100100,
frequency=5,
description="Contactor requests"
)
topic_contactor.describe_byte(
name="request",
byte=1,
description="Control the Contactor State",
btype="uint8_t",
units=""
)
module_mam19.add_topic(topic_state)
module_mam19.add_topic(topic_motor)
module_mam19.add_topic(topic_contactor)
can.add_module(module_mam19)
################################################################################
### MODULE: MAB19
module_mab19 = can.Module(
name="mab19",
signature=235,
description="Modulo de Acionamento das Bombas de Porao"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=120,
frequency=0,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: PUMPS
topic_pumps = can.Topic(
msg="pumps",
id=224,
frequency=0,
description="Pumps state",
)
topic_pumps.describe_byte(
name="pumps",
byte=1,
description="Pumps state",
btype="bitfield",
units=""
)
topic_pumps.describe_bit(
name="pump1",
byte=1,
bit=0
)
topic_pumps.describe_bit(
name="pump2",
byte=1,
bit=1
)
topic_pumps.describe_bit(
name="pump3",
byte=1,
bit=2
)
module_mab19.add_topic(topic_state)
module_mab19.add_topic(topic_pumps)
can.add_module(module_mab19)
################################################################################
### MODULE: MSC19
module_msc19_1 = can.Module(
name="msc19_1",
signature=250,
description="Main Battery Voltage Sensor"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=0b1110000,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: ADC
topic_adc = can.Topic(
msg="ADC",
id=0b11010011,
frequency=10,
description="Voltage measurements"
)
topic_adc.describe_byte(
name="AVG_L",
byte=1,
description="Average, byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="AVG_H",
byte=2,
description="Average, byte high",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MIN_L",
byte=3,
description="Min byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MIN_H",
byte=4,
description="Min byte high",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MAX_L",
byte=5,
description="Max byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MAX_H",
byte=6,
description="Max byte low",
btype="uint16_t",
units="V/100"
)
module_msc19_1.add_topic(topic_state)
module_msc19_1.add_topic(topic_adc)
can.add_module(module_msc19_1)
################################################################################
### MODULE: MSC19_2
module_msc19_2 = can.Module(
name="msc19_2",
signature=251,
description="Auxilliary Battery Voltage Sensor"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=0b1110001,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",
btype="uint8_t",
units=""
)
topic_state.describe_byte(
name="error",
byte=2,
description="Error code",
btype="uint8_t",
units=""
)
#### TOPIC: ADC
topic_adc = can.Topic(
msg="ADC",
id=0b11010100,
frequency=10,
description="Voltage measurements"
)
topic_adc.describe_byte(
name="AVG_L",
byte=1,
description="Average, byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="AVG_H",
byte=2,
description="Average, byte high",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MIN_L",
byte=3,
description="Min byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MIN_H",
byte=4,
description="Min byte high",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MAX_L",
byte=5,
description="Max byte low",
btype="uint16_t",
units="V/100"
)
topic_adc.describe_byte(
name="MAX_H",
byte=6,
description="Max byte low",
btype="uint16_t",
units="V/100"
)
module_msc19_2.add_topic(topic_state)
module_msc19_2.add_topic(topic_adc)
can.add_module(module_msc19_2)
################################################################################
### MODULE: MSC19_3
module_msc19_3 = can.Module(
name="msc19_3",
signature=252,
description="Extra Battery Voltage Sensor"
)
#### TOPIC: STATE
topic_state = can.Topic(
msg="state",
id=0b1110010,
frequency=1,
description="Module state report"
)
topic_state.describe_byte(
name="state",
byte=1,
description="State code",