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isotp_native.py
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isotp_native.py
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import os
import isotp
import time
import can
import cantools
import sys
import json
import requests
from influx_line_protocol import Metric
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
def pad_payload(data, length=62) -> bytearray:
data2 = data.ljust(length, b'\0')
# padded = bytearray(b'\x00') # Not needed with new dbc
# padded.extend(data2) # Not needed with new dbc
return data2
def eprint(*args, **kwargs):
print(*args, file=sys.stderr, **kwargs)
def process_command(sender: isotp.socket, receiver: isotp.socket, command, response_length, parsed_database, read_timeout=0.5, read_pause=0.1, resend_on_wrong_response_code=True):
try:
sender.send(command)
except Exception as e:
eprint(command.hex()+": "+repr(e))
return {}
t1 = time.time()
while time.time() - t1 < read_timeout:
try:
data = receiver.recv()
if data:
payload = pad_payload(data, response_length)
try:
decoded = parsed_database.decode_message(
receiver.address.rxid, payload)
if resend_on_wrong_response_code and decoded is not None and not decoded.get("response") == int.from_bytes(command[-2:], 'big', signed=False):
decoded = process_command(
sender=sender,
receiver=receiver,
command=command,
response_length=response_length,
parsed_database=parsed_database,
read_timeout=read_timeout,
read_pause=read_pause,
resend_on_wrong_response_code=False)
return decoded if decoded is not None and decoded.get("response") == int.from_bytes(command[-2:], 'big', signed=False) else {}
except Exception as e:
# pass
eprint(payload.hex()+": "+repr(e))
return {}
# logging.error(traceback.format_exc())
time.sleep(read_pause)
except Exception as e:
eprint(repr(e))
return {}
return {}
def process_BMS(app_7E4, db) -> dict:
command = b'\x22\x01\x01'
response = process_command(app_7E4["sender"], app_7E4["receiver"], command, 62, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
return response
def process_SOH(app_7E4, db) -> dict:
command = b'\x22\x01\x05'
response = process_command(app_7E4["sender"], app_7E4["receiver"], command, 62, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
return response
def process_Cell_Voltage(app_7E4, db) -> dict:
commands = [b'\x22\x01\x02', b'\x22\x01\x03', b'\x22\x01\x04',
b'\x22\x01\x0A', b'\x22\x01\x0B', b'\x22\x01\x0C']
result = {}
for command in commands:
response = process_command(app_7E4["sender"], app_7E4["receiver"], command, 62, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
result |= response
return result
def process_Temperatures(app_7B3, db) -> dict:
command = b'\x22\x01\x00'
response = process_command(app_7B3["sender"], app_7B3["receiver"], command, 54, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
return response
def process_Tires(app_7A0, db) -> dict:
command = b'\x22\xC0\x0B'
response = process_command(app_7A0["sender"], app_7A0["receiver"], command, 64, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
return response
def process_Odometer(app_7C6, db) -> dict:
command = b'\x22\xB0\x02'
response = process_command(app_7C6["sender"], app_7C6["receiver"], command, 64, db)
if len(response) == 0:
eprint(f"No Data for Command: {command.hex()}")
return response
def check_autopi_socketcan_and_set_up(deviceID, ifname: str) -> bool:
ifstatus = send_autopi_command(deviceID, [f"socketcan.show", ifname])
eprint(ifstatus)
if "error" in ifstatus:
eprint(ifstatus)
return False
if ifstatus.get("operstate", "DOWN").lower() == "down":
upstate = send_autopi_command(deviceID, ['socketcan.up', ifname])
eprint(upstate)
if "error" in upstate:
eprint(upstate)
return False
return True
return True
def send_autopi_command(deviceID: str, command: list, timeout=5):
headers = {
# Already added when you pass json=
'Content-Type': 'application/json',
}
json_data = command
try:
response = requests.post(
'http://localhost:9000/dongle/'+deviceID+'/execute/',
headers=headers,
json=json_data,
timeout=timeout
)
return response.json()
except Exception as e:
return {"error": repr(e)}
def get_autopi_unit_id(timeout=5) -> str:
headers = {
# Already added when you pass json=
'Content-Type': 'application/json',
}
try:
response = requests.get(
'http://localhost:9000/',
headers=headers,
timeout=timeout
)
unit_id = response.json().get("unit_id")
if not unit_id:
eprint(f"error getting autopi unit_id: {response.json()}")
return unit_id
except Exception as e:
eprint(f"error getting autopi unit_id: {repr(e)}")
return None
def get_gnss(deviceID):
#for ec2x module:
# return send_autopi_command(deviceID, ['ec2x.gnss_location'])
#for le910cx module:
return send_autopi_command(deviceID, ['modem.connection', 'gnss_location', 'decimal_degrees=True'])
def metric_from_dict(name ,messurements, time_ns):
metric = Metric(name)
metric.with_timestamp(time_ns)
if messurements is None:
return {}
for key, value in messurements.items():
metric.add_value(key, value)
return str(metric)
def send_abrp(epoch, message_dict, api_token, car_token, timeout=5):
api_url = "https://api.iternio.com/1/tlm/send"
headers = {
'Authorization': 'APIKEY '+api_token,
# Already added when you pass json=
'Content-Type': 'application/json',
}
dc_volate = message_dict['battery'].get('BatteryDCVoltage', 0)
bat_current = message_dict['battery'].get('BatteryCurrent', 0)
is_charging = message_dict['temps'].get('VehicleSpeed', 0) <= 0 and bat_current < 0
json_data = {
'token': car_token,
'tlm': {
# time
'utc': epoch,
# gps
'lat': message_dict['gnss'].get('lat'),
'lon': message_dict['gnss'].get('lon'),
'heading': message_dict['gnss'].get('cog'),
'elevation': message_dict['gnss'].get('alt'),
# battery
'power': (dc_volate * bat_current)/1000 if dc_volate * bat_current != 0 else None,
'is_charging': is_charging,
'is_dcfc': message_dict['battery'].get('RapidChargePort'),
'kwh_charged': message_dict['battery'].get('CEC_CumulativeEnergyCharged'),
'voltage': message_dict['battery'].get('BatteryDCVoltage'),
'current': message_dict['battery'].get('BatteryCurrent'),
'batt_temp': message_dict['battery'].get('BatteryMinTemperature'),
# health
'soc': message_dict['health'].get('StateOfChargeDisplay'),
'soh': message_dict['health'].get('StateOfHealth'),
'soe': message_dict['battery'].get('StateOfChargeBMS', 0)/100*77.4 if message_dict['battery'].get('StateOfChargeBMS') else None,
# car
'ext_temp': message_dict['temps'].get('OutdoorTemperature'),
'cabin_temp': message_dict['temps'].get('IndoorTemperature'),
'odometer': message_dict['car'].get('Odometer'),
'speed': message_dict['temps'].get('VehicleSpeed'),
'tire_pressure_fl': message_dict['tires'].get('TirePressureFrontLeft', 0) * 6.8947572932 if message_dict['tires'].get('TirePressureFrontLeft') else None,
'tire_pressure_fr': message_dict['tires'].get('TirePressureFrontRight', 0) * 6.8947572932 if message_dict['tires'].get('TirePressureFrontRight') else None,
'tire_pressure_rl': message_dict['tires'].get('TirePressureBackLeft', 0) * 6.8947572932 if message_dict['tires'].get('TirePressureBackLeft') else None,
'tire_pressure_rr': message_dict['tires'].get('TirePressureBackRight', 0) * 6.8947572932 if message_dict['tires'].get('TirePressureBackRight') else None,
}
}
try:
response = requests.post(
api_url,
headers=headers,
json=json_data,
timeout=timeout
)
return response.json()
except Exception as e:
return {
"status": "exception",
"errors": repr(e)
}
def main():
dbc_file_path = os.getenv("DBC_FILE", "eGV70-8bit.dbc")
can_interface = os.getenv("CAN_INTERFACE", "vcan0")
query_intervall = int(os.getenv("QUERY_INTERVAL", "5"))
mqtt_host = os.getenv("MQTT_HOST", "localhost")
mqtt_port = os.getenv("MQTT_PORT", 1883)
mqtt_username = os.getenv("MQTT_USER")
mqtt_password = os.getenv("MQTT_PASSWORD")
mqtt_topic = os.getenv("MQTT_TOPIC", "eGV70")
mqtt_tls = os.getenv("MQTT_TLS", "False").lower() in ['true', '1', 'yes', 'y', 't']
mqtt_publish = os.getenv("MQTT_PUBLISH", "True").lower() in ['true', '1', 'yes', 'y', 't']
mqtt_tls_insecure = os.getenv("MQTT_TLS_INSECURE", "False").lower() in ['true', '1', 'yes', 'y', 't']
autopi_set_socketcan_up = os.getenv("AUTOPI_SET_SOCKETCAN_UP", "True").lower() in ['true', '1', 'yes', 'y', 't']
autopi_die_if_can_not_set_up = os.getenv("AUTOPI_DIE_IF_CAN_NOT_SET_UP", "True").lower() in ['true', '1', 'yes', 'y', 't']
abrp_apikey = os.getenv("ABRP_APIKEY")
abrp_cartoken = os.getenv("ABRP_CARTOKEN")
reset_modem_on_gps_stuck = os.getenv("RESET_MODEM_ON_GPS_STUCK", "True").lower() in ['true', '1', 'yes', 'y', 't']
autopi_deviceID = get_autopi_unit_id()
if not autopi_deviceID:
sys.exit(5)
if autopi_set_socketcan_up:
could_set_up = check_autopi_socketcan_and_set_up(autopi_deviceID, can_interface)
if not could_set_up and autopi_die_if_can_not_set_up:
sys.exit(5)
mqtt_auth = None if mqtt_username == None or mqtt_password == None else {"username": mqtt_username, "password": mqtt_password}
tls = None if not mqtt_tls else {"insecure": mqtt_tls_insecure}
db = cantools.database.load_file(dbc_file_path)
app_7E4 = {"sender": isotp.socket(), "receiver": isotp.socket()}
app_7E4["receiver"].set_fc_opts(stmin=0, bs=0)
app_7E4["receiver"].set_opts(txpad=0x00)
app_7E4["sender"].set_opts(txpad=0xAA)
app_7E4["sender"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x00, txid=0x7E4))
app_7E4["receiver"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x7EC, txid=0x7E4))
app_7B3 = {"sender": isotp.socket(), "receiver": isotp.socket()}
app_7B3["receiver"].set_fc_opts(stmin=0, bs=0)
app_7B3["receiver"].set_opts(txpad=0x00)
app_7B3["sender"].set_opts(txpad=0xAA)
app_7B3["sender"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x00, txid=0x7B3))
app_7B3["receiver"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x7BB, txid=0x7B3))
app_7A0 = {"sender": isotp.socket(), "receiver": isotp.socket()}
app_7A0["receiver"].set_fc_opts(stmin=0, bs=0)
app_7A0["receiver"].set_opts(txpad=0x00)
app_7A0["sender"].set_opts(txpad=0xAA)
app_7A0["sender"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x00, txid=0x7A0))
app_7A0["receiver"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x7A8, txid=0x7A0))
app_7C6 = {"sender": isotp.socket(), "receiver": isotp.socket()}
app_7C6["receiver"].set_fc_opts(stmin=0, bs=0)
app_7C6["receiver"].set_opts(txpad=0x00)
app_7C6["sender"].set_opts(txpad=0xAA)
app_7C6["sender"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x00, txid=0x7C6))
app_7C6["receiver"].bind(can_interface, isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x7CE, txid=0x7C6))
last_gnss_time = ""
gnss__stuck_time = 0
while True:
now_ns = time.time_ns()
now_s = time.time()
epoch = int(time.time())
next_run = (now_s+query_intervall)
skip_abrp_epoch = 0
message = {}
message["battery"] = process_BMS(app_7E4, db)
message["cell_voltages"] = process_Cell_Voltage(app_7E4, db)
message["health"] = process_SOH(app_7E4, db)
message["temps"] = process_Temperatures(app_7B3, db)
message["tires"] = process_Tires(app_7A0, db)
message["car"] = process_Odometer(app_7C6, db)
message["gnss"] = {}
if autopi_deviceID:
message["gnss"] = get_gnss(autopi_deviceID)
if "error" in message["gnss"]:
eprint("GNNS Error:" + message["gnss"]["error"])
message["gnss"] = {}
if last_gnss_time == message["gnss"].get("time_utc") and reset_modem_on_gps_stuck:
message["gnss"] = {}
if gnss__stuck_time == 0:
gnss__stuck_time = epoch
eprint(f"GNSS: No updated Position available leaving gnss out")
if epoch - gnss__stuck_time > 180: # stuck for 3 minutes we want to reboot
eprint("GNSS: Stuck for 3 minutes resetting")
gnss__stuck_time = 0
send_autopi_command(autopi_deviceID, ['modem.reset', 'mode=one_shot'])
else:
last_gnss_time = message["gnss"].get("time_utc")
gnss__stuck_time = 0
messages = []
for key, value in message.items():
msg = {"topic": mqtt_topic, "payload": metric_from_dict(key, value, now_ns)}
if len(message[key]) != 0:
messages.append(msg)
eprint(f"messages({len(messages)}) received")
if len(messages) > 0 and not (len(message['gnss']) != 0 and len(messages) == 1): # ignore gnss for sending decission
if mqtt_publish:
publish.multiple(messages, hostname=mqtt_host, port=int(mqtt_port), auth=mqtt_auth, client_id="egv70-metrics", protocol=mqtt.MQTTv311, tls=tls)
if abrp_apikey and abrp_cartoken and time.time()>skip_abrp_epoch:
status = send_abrp(epoch, message, abrp_apikey, abrp_cartoken)
if status.get("status") != "ok" and "errors" in status:
eprint(status)
skip_abrp_epoch=time.time()+60
eprint('error sending abrp pausing it for 1 minute')
if len(messages) == 0:
next_run = next_run+60
eprint('non messages found sleeping 1 minute extra')
sleeptime = next_run - time.time()
time.sleep( sleeptime if sleeptime > 0 else 0 )
print("Exiting")
return 0
if __name__ == '__main__':
sys.exit(main())