Python基于周立功盒子接收特定报文信号并实时绘制折线图（一）

Python基于周立功盒子接收特定报文信号并实时绘制折线图（一）

一、背景
    为了节省成本，最大限度利用资源，放弃了用Vector的盒子，采用周立功盒子来做二次开发，以方便来进行压力测试

二、需求

• 需要实时取六个信号值；
• 六个信号在同一个CANFD报文中；
• 实时对六个信号值进行画图以便于观察走势；
• 同时记录下来采集的数据文件

三、实现难点

• 报文的解析，如何拿到CAN信号值；
• 如何实时画图；
• 长时间边取数据边做图会不会影响接受数据

四、实现

    结构跟上篇提到的Python基于周立功盒子的二次开发的封装和调用是一样的，我们只是新改了业务代码zlg_test.py文件，以下是zlg_test.py文件的实现

import time

from zlgcan import *
import threading
import matplotlib.pyplot as plt
import csv


# USBCANFD-MINI Demo
def com_extract_signal(endian, bit_pos, bit_size, src_buf, factor, offset):

    byte_no = bit_pos // 8

    if (((byte_no * 8) + 8) - bit_pos) <= bit_size:
        total_bits_copied = ((byte_no * 8) + 8) - bit_pos
        a_data = src_buf[byte_no] >> (bit_pos - (byte_no * 8))
    else:
        a_data = src_buf[byte_no] >> (bit_pos - (byte_no * 8))
        a_data = a_data & (~(0xFF << bit_size))
        total_bits_copied = bit_size

    while total_bits_copied < bit_size:
        bits_left = bit_size - total_bits_copied
        if endian != 1:     # big_endian == 1
            byte_no += 1
        else:
            byte_no -= 1

        if bits_left >= 8:
            a_data = (src_buf[byte_no] << total_bits_copied) | a_data
            total_bits_copied = total_bits_copied + 8
        else:
            a_data = ((src_buf[byte_no] & (0xFF >> (8 - bits_left))) << total_bits_copied) | a_data
            total_bits_copied = total_bits_copied + bits_left

    return a_data * factor + offset


if __name__ == "__main__":

    time_flag = 0
    x = []
    y1 = []
    y2 = []
    y3 = []
    y4 = []
    y5 = []
    y6 = []
    zcanlib = ZCAN()
    testcantype = 1  # 0:CAN; 1:canfd
    handle = zcanlib.OpenDevice(ZCAN_USBCANFD_MINI, 0, 0)
    if handle == INVALID_DEVICE_HANDLE:
        print("Open CANFD Device failed!")
        exit(0)
    print("device handle:%d." % (handle))

    info = zcanlib.GetDeviceInf(handle)
    print("Device Information:\n%s" % (info))

    # set auto send obj

    AutoCAN_A = ZCAN_AUTO_TRANSMIT_OBJ()
    AutoCAN_B = ZCAN_AUTO_TRANSMIT_OBJ()
    AutoCAN_A.enable = 1  # enable
    AutoCAN_A.index = 0
    AutoCAN_A.interval = 200  # ms
    AutoCAN_A.obj.frame.can_id = 0x100
    AutoCAN_A.obj.transmit_type = 0
    AutoCAN_A.obj.frame.eff = 0
    AutoCAN_A.obj.frame.rtr = 0
    AutoCAN_A.obj.frame.can_dlc = 8
    for j in range(AutoCAN_A.obj.frame.can_dlc):
        AutoCAN_A.obj.frame.data[j] = j

    AutoCAN_B.enable = 1  # enable
    AutoCAN_B.index = 1
    AutoCAN_B.interval = 200  # ms
    AutoCAN_B.obj.frame.can_id = 0x300
    AutoCAN_B.obj.transmit_type = 0
    AutoCAN_B.obj.frame.eff = 0
    AutoCAN_B.obj.frame.rtr = 0
    AutoCAN_B.obj.frame.can_dlc = 8
    for j in range(AutoCAN_B.obj.frame.can_dlc):
        AutoCAN_B.obj.frame.data[j] = j

    AutoCAN_B_delay = ZCANFD_AUTO_TRANSMIT_OBJ_PARAM()
    AutoCAN_B_delay.index = AutoCAN_B.index
    AutoCAN_B_delay.type = 1
    AutoCAN_B_delay.value = 100

    # Start CAN
    chn_handle = canfd_start(zcanlib, handle, 0, AutoCAN_A, AutoCAN_B, AutoCAN_B_delay)
    print("channel handle:%d." % (chn_handle))

    rec_msg_thread = threading.Thread(target=input_thread)
    rec_msg_thread.start()

    fig = plt.figure('CPU Load Monitor', figsize=(16, 9))
    fig.suptitle(' J6VL3 ADU CPU Load Monitor ', fontsize='x-large')

    ax = fig.add_subplot(6, 1, 1)
    ax.plot([], [], 'bo-', markersize=1, linewidth=0.5, label='Core0 Cpuload')
    ax.legend()

    bx = fig.add_subplot(6, 1, 2)
    bx.plot([], [], 'ro-', markersize=1, linewidth=0.5, label='Core1 Cpuload')
    bx.legend()

    cx = fig.add_subplot(6, 1, 3)
    cx.plot([], [], 'go-', markersize=1, linewidth=0.5, label='Core2 Cpuload')
    cx.legend()

    dx = fig.add_subplot(6, 1, 4)
    dx.plot([], [], 'co-', markersize=1, linewidth=0.5, label='Core3 Cpuload')
    dx.legend()

    ex = fig.add_subplot(6, 1, 5)
    ex.plot([], [], 'mo-', markersize=1, linewidth=0.5, label='Core4 Cpuload')
    ex.legend()

    fx = fig.add_subplot(6, 1, 6)
    fx.plot([], [], 'yo-', markersize=1, linewidth=0.5, label='Core5 Cpuload')
    fx.legend()
    fx.set_xlabel("Sampling: 1Hz")
    time_count = 3600
    while time_count:
        # Receive Messages
        while True:
            sys_time = '{}_{}_{}_{}_{}_{}'.format(time.localtime().tm_year, time.localtime().tm_mon,
                                                  time.localtime().tm_mday, time.localtime().tm_hour,
                                                  time.localtime().tm_min, time.localtime().tm_sec)

            fp = open(sys_time + '.csv', 'w')
            csv_writer = csv.writer(fp)
            csv_writer.writerow(['Time', 'Core0 Cpuload', 'Core1 Cpuload', 'Core2 Cpuload',
                                 'Core3 Cpuload', 'Core4 Cpuload', 'Core5 Cpuload'])

            rcv_canfd_num = zcanlib.GetReceiveNum(chn_handle, ZCAN_TYPE_CANFD)
            if rcv_canfd_num:
                # print("Receive CANFD message number:%d" % rcv_canfd_num)
                rcv_canfd_msgs, rcv_canfd_num = zcanlib.ReceiveFD(chn_handle, rcv_canfd_num, 1000)

                for i in range(rcv_canfd_num):
                    if rcv_canfd_msgs[i].frame.can_id == 0x101:
                        time_str = str(rcv_canfd_msgs[i].timestamp)
                        time_flag += 1
                        time_count -= 1
                        x.append(time_flag)
                        core0_cpuload = com_extract_signal(0, 88, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        core1_cpuload = com_extract_signal(0, 104, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        core2_cpuload = com_extract_signal(0, 120, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        core3_cpuload = com_extract_signal(0, 136, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        core4_cpuload = com_extract_signal(0, 152, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        core5_cpuload = com_extract_signal(0, 168, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0)
                        y1.append(core0_cpuload)
                        y2.append(core1_cpuload)
                        y3.append(core2_cpuload)
                        y4.append(core3_cpuload)
                        y5.append(core4_cpuload)
                        y6.append(core5_cpuload)

                        csv_writer.writerow([time_str, str(core0_cpuload), str(core1_cpuload), str(core2_cpuload),
                                             str(core3_cpuload), str(core4_cpuload), str(core5_cpuload)])

                        print(rcv_canfd_msgs[i].timestamp, com_extract_signal(0, 88, 16, rcv_canfd_msgs[i].frame.data, 0.1, 0))
                        ax.plot(x, y1, 'bo-', markersize=1, linewidth=0.5)
                        bx.plot(x, y2, 'ro-', markersize=1, linewidth=0.5)
                        cx.plot(x, y3, 'go-', markersize=1, linewidth=0.5)
                        dx.plot(x, y4, 'co-', markersize=1, linewidth=0.5)
                        ex.plot(x, y5, 'mo-', markersize=1, linewidth=0.5)
                        fx.plot(x, y6, 'yo-', markersize=1, linewidth=0.5)
                        plt.pause(1)  # 暂停十秒以更新图像
                        plt.ioff()
            else:
                if not rec_msg_thread.is_alive():
                    break
    plt.savefig('./PDF/pic-{}.pdf'.format(sys_time))
    # Close CAN
    ret = zcanlib.ResetCAN(chn_handle)
    if ret == 1:
        print("ResetCAN success! ")
    # Close Device
    ret = zcanlib.CloseDevice(handle)
    if ret == 1:
        print("CloseDevice success! ")
    fp.close()