python处理车辆can通信 4 can数据实时可视化

背景

    线控调试中，实时显示can报文中的信号值，有助于分析执行器性能表现和控制器的工作策略。   相对于从log文件（asc或blf）中读取can报文实现信号可视化的离线操作，实时可视化的难点是如何减少频繁io操作带来的cpu负载升高。

技术要点

    简单来说，就是不要收到一帧can报文就plot一个数据点，而要把一定时间内或一定数量的数据点缓存起来，再以相对低的帧率去更新plot中的一堆数据点。如果can设备支持硬件缓存，那读取can报文的io操作也可以同理降频。

    至于具体降频多少，程序中缓存数据点的队列深度设置多大，plot的帧率设置多大。需要根据具体的报文周期，can设备硬件buffer大小，总线负载率，图像显示的流畅度要求来计算。

示例介绍

    本例子中选用没有硬件缓存的Linux Socketcan作为can通道，python中使用python-can来获取socketcan通道来发送和接收（一个py脚本发送，另一个py脚本接收并可视化）can报文，使用cantools来对报文中的can信号值进行encode和decode，使用pyqtgraph来实时显示can信号物理值的变化。

代码实现

1. ubuntu中创建socketcan类型的虚拟can通道

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0

2. dbc描述：

BO_ 2552038048 Temperature: 8 Vector__XXX
 SG_ temperature : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX

3. python脚本模拟can发送

import can
import cantools
import time
from threading import Thread

run_flag = True


def send_can_loop():
    van_tx_bus = can.interface.Bus(bustype='socketcan', channel='vcan0')
    can_db = cantools.db.load_file("./test.dbc")
    temp_value = 0
    while run_flag:
        temp_value = (temp_value + 1) % 256
        phc_temp_value = temp_value - 40
        data_raw = can_db.encode_message(frame_id_or_name=0x181d02a0, data={'temperature': phc_temp_value})
        can_msg = can.Message(arbitration_id=0x181d02a0, data=data_raw)
        van_tx_bus.send(can_msg)
        time.sleep(0.01)
    van_tx_bus.shutdown()


if __name__ == "__main__":
    send_thread = Thread(target=send_can_loop, args=())
    send_thread.start()
    while run_flag:
        cmd_input = input()
        if cmd_input == "q":
            run_flag = False
            send_thread.join()

4. python脚本接收can报文并实时可视化信号值

import can
import cantools
from collections import deque
import pyqtgraph as pg
import threading
import time

win = pg.GraphicsLayoutWidget(show=True)
win.setWindowTitle('can data realtime plot')
p1_win = pg.PlotItem()
win.addItem(p1_win)
p1 = p1_win
p1.setTitle("can data plot")
# 显示最近10秒内的数据
show_seconds = -10
p1.setXRange(show_seconds, 0)
curve1 = p1.plot()

run_flag = True
receive_run_condition = threading.Condition()


class FixedSizeQueue:
    def __init__(self, max_size):
        self.queue = deque(maxlen=max_size)

    def put(self, item):
        self.queue.append(item)

    def get(self):
        return self.queue.popleft() if self.queue else None


# can报文周期是0.01s，plot的显示周期是0.2s，缓存队列的最小长度应该0.2\0.01 = 20, 保险起见，设置1.5倍的最小长度
receive_can_queue = FixedSizeQueue(35)
can_db = cantools.db.load_file("./test.dbc")


def receive_can_loop():
    van_tx_bus = can.interface.Bus(interface='socketcan', channel='vcan0')
    can_notifier = can.Notifier([van_tx_bus], [receive_can_queue.put])
    with receive_run_condition:
        receive_run_condition.wait()
    can_notifier.stop()
    van_tx_bus.shutdown()


timestamp_data_list = []


def real_time_plot():
    global timestamp_data_list
    msg = receive_can_queue.get()
    while msg:
        data = can_db.decode_message(frame_id_or_name=0x181d02a0, data=msg.data)
        timestamp_data_list.append([msg.timestamp, data["temperature"]])
        msg = receive_can_queue.get()
    _timestamp_data_list = [list(t_d_i) for t_d_i in zip(*timestamp_data_list)]
    if _timestamp_data_list:
        now_timestamp = time.time()
        _timestamp_data_list[0] = [timestamp_i - now_timestamp for timestamp_i in _timestamp_data_list[0]]
        _timestamp_data_list = [[_timestamp_data_list[i][j] for j in range(len(_timestamp_data_list[i])) if
                                 _timestamp_data_list[0][j] >= show_seconds] for
                                i in range(len(_timestamp_data_list))]
        timestamp_data_list = [sublist for sublist in timestamp_data_list if
                               sublist[0] >= now_timestamp + show_seconds]
        curve1.setData(_timestamp_data_list[0], _timestamp_data_list[1])


if __name__ == "__main__":
    receive_thread = threading.Thread(target=receive_can_loop, args=())
    receive_thread.start()
    timer = pg.QtCore.QTimer()
    timer.timeout.connect(real_time_plot)
    # plot帧率是5Hz
    timer.start(200)
    pg.exec()
    run_flag = False
    with receive_run_condition:
        receive_run_condition.notify_all()
    receive_thread.join()

5. 结果显示

pyqt窗口显示

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