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minican.py
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minican.py
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#!/usr/bin/python3
import os
import can # pip install can
import cantools # pip install cantools
from minirs import minictl
import sys
from time import sleep
from datetime import datetime, timedelta
from queue import Queue
from threading import Thread
import subprocess
import configparser
import logging
from pprint import pformat
class G:
config = None
db = None
candev = None
max_vol = None
left_main_input = None
right_main_input = None
left_notify_input = None
right_notify_input = None
notify_level = None
notify_attenuate = None
veh_off_wait = None
can_bitrate = None
canint = None
reverse = None
q = Queue()
mini = None
config_loc = None
bin_loc = None
volume = 0
procs = {
'Proximity': [None, None],
'Traffic': [None, None],
'Beep': [None, None]
}
trafwarn = {
'LEFT': 0,
'RIGHT': 0
}
proxwarn = {
'LEFT': 0,
'RIGHT': 0,
'CENTER': 0
}
# Consts
VEH_POWER_OFF = 0
VEH_POWER_ON = 2
MUTE_ON = 1
MUTE_OFF = 0
NO_OP = "NoOp"
HU_VOLUME_STATUS = "HU_VolumeStatus"
HU_VEHICLE_POWER = "HU_VehiclePwr"
HU_MUTE_STATUS = "HU_MuteStatus"
REVERSE = "C_InhibitR"
PROX = {
'FRONT': {
'LEFT': "Pas_Spkr_Flh_Alarm",
'RIGHT': "Pas_Spkr_Frh_Alarm",
'CENTER': "Pas_Spkr_Fcnt_Alarm"
},
'REAR': {
'LEFT': "Pas_Spkr_Rlh_Alarm",
'RIGHT': "Pas_Spkr_Rrh_Alarm",
'CENTER': "Pas_Spkr_Rcnt_Alarm"
}
}
TRAF = {
'FRONT':{
'LEFT': "FL_SndWarn",
'RIGHT': "FR_SndWarn"
},
'REAR': {
'LEFT': "RL_SndWarn",
'RIGHT': "RR_SndWarn"
}
}
BEEP = "AMP_DefaultBeep1"
INPUT = 'input'
OUTPUT = 'output'
MASTER = 'master'
MINVOL = -127.0
MAXVOL = 0
def stop_aud(audtype, channel='CENTER', mute=True):
if G.procs[audtype][1] != None:
G.procs[audtype][1].kill()
G.procs[audtype][1] = None
if G.procs[audtype][0] != None:
G.procs[audtype][0].kill()
G.procs[audtype][0] = None
if mute:
input = []
if channel == 'CENTER':
input.append(G.left_notify_input)
input.append(G.right_notify_input)
elif channel == 'LEFT':
input.append(G.left_notify_input)
elif channel == 'RIGHT':
input.append(G.right_notify_input)
mute_chan(input=input)
def play_aud(audtype='Beep', channel='CENTER', level=1):
stopproc = True
attenuate = True
if audtype == 'Beep':
fname = f"{G.config.get('Sounds', audtype)}.flac"
stopproc = False
attenuate = False
elif audtype == 'Proximity':
fname = f"{G.config.get('Sounds', audtype)}{level}-{channel}.flac"
elif audtype == 'Traffic':
fname = f"{G.config.get('Sounds', audtype)}{channel}.flac"
if stopproc:
stop_aud(audtype, channel=channel, mute=False)
p1args = [
G.config.get('Sounds', 'flacloc'),
'-c',
'-d',
fname
]
p2args = [
G.config.get('Sounds', 'aplayloc')
]
G.procs[audtype][0] = subprocess.Popen(
p1args,
stdout = subprocess.PIPE,
shell=False
)
G.procs[audtype][1] = subprocess.Popen(
p2args,
stdin = G.procs[audtype][0].stdout,
stdout = subprocess.PIPE,
shell=False
)
def volume_level(level: int, max_level: int) -> float:
levperc = level/max_level
vrange = abs(MINVOL)
reduction = vrange * levperc
return reduction + MINVOL
def set_vol(inttype=INPUT, level=0.0, input=[1]):
try:
if inttype == MASTER:
G.mini.mainvolctl(level=level)
elif inttype == INPUT:
for row in input:
G.mini.inputvolctl(level=level, input=row)
G.mini.submit()
except Exception as e:
print(f"Couldn't set volume for {inttype} input {input}: {e}")
return
def mute_chan(inttype=INPUT, status=True, input=[1]):
try:
if inttype == MASTER:
G.mini.mutemaster(status=status)
elif inttype == INPUT:
for row in input:
G.mini.muteinput(status=status, input=row)
G.mini.submit()
except Exception as e:
print(f"Couldn't set volume for {inttype} input {input}: {e}")
return
def can_init(device: str) -> bool:
logging.debug(f'Starting up CANBUS interface `{device}`')
os.system(f'/usr/sbin/ifconfig {device} down')
logging.debug(f'Setting CANBUS interface `{device}` bitrate to `{G.can_bitrate}`')
os.system(f'/usr/sbin/ip link set {device} type can bitrate {G.can_bitrate}')
os.system(f'/usr/sbin/ifconfig {device} up')
try:
G.canint = can.interface.Bus(channel = device, bustype = 'socketcan_ctypes')
return True
except Exception as e:
logging.error(f"Error initializing CANBUS device {device}: {e}")
return False
def sys_shutdown():
logging.info('Full system shutdown initiated')
os.system("/usr/bin/systemctl poweroff")
sys.exit(0)
def action_thread():
G.volume = 0
mute = 0
vpower = 9
G.reverse = 0
G.trafwarn = {
'LEFT': 0,
'RIGHT': 0,
}
G.proxwarn = {
'LEFT': {'level': 0, 'count': 0},
'RIGHT': {'level': 0, 'count': 0},
'CENTER': {'level': 0, 'count': 0}
}
proxlevel = {
"Pas_Spkr_Flh_Alarm": 0,
"Pas_Spkr_Frh_Alarm": 0,
"Pas_Spkr_Fcnt_Alarm": 0,
"Pas_Spkr_Rlh_Alarm": 0,
"Pas_Spkr_Rrh_Alarm": 0,
"Pas_Spkr_Rcnt_Alarm": 0
}
set_vol(level=G.notify_level, input=[G.left_notify_input, G.right_notify_input])
mute_chan(input=[G.left_notify_input, G.right_notify_input])
vtimer = datetime.now()
while True:
data = G.q.get()
if data is None:
sleep(.05)
else:
validcmd = False
if NO_OP in data:
validcmd = True
for channels in PROX.values():
for channel, cmd in channels.items():
if cmd in data:
validcmd = True
changed = False
if proxlevel[cmd] != data[cmd]:
logging.debug(f"Proximty alert command received: `{cmd}`, change from {proxlevel[cmd]} to {data[cmd]}, checking if alert change needed")
changed = True
proxlevel[cmd] = data[cmd]
if G.proxwarn[channel]['level'] < data[cmd]:
# Issue proximity alert
if max(int(d['level']) for d in G.proxwarn.values()) < data[cmd]:
# Higher level prox warning received
logging.info(f"Issuing proximity alert, {channel} channel, distance level {data[cmd]}")
play_aud(
audtype='Proximity',
channel=channel,
level=data[cmd]
)
G.proxwarn[channel]['level'] = data[cmd]
if max(int(d) for d in proxlevel.values()) == 0 and changed:
G.proxwarn['LEFT']['level'] = 0
G.proxwarn['RIGHT']['level'] = 0
G.proxwarn['CENTER']['level'] = 0
# Rescind proximity alert
logging.info(f"Rescinding all proximity alerts")
stop_aud('Proximity')
for channels in TRAF.values():
for channel, cmd in channels.items():
if cmd in data:
validcmd = True
if G.trafwarn[channel] == 0 and data[cmd] != 0:
# Issue proximity alert
logging.info(f"Issuing traffic alert for location {channel} channel")
play_aud(
audtype='Traffic',
channel=channel,
)
G.trafwarn[channel] = data[cmd]
elif G.trafwarn[channel] != 0 and data[cmd] == 0:
# Rescind proximity alert
logging.info(f"Rescinding traffic alert for location channel {channel}")
stop_aud('Traffic')
G.trafwarn[channel] = data[cmd]
if HU_VEHICLE_POWER in data:
validcmd = True
if int(data[HU_VEHICLE_POWER]) == VEH_POWER_OFF and int(data[HU_VEHICLE_POWER]) != vpower:
logging.info(f"Vehicle power off detected. Waiting for {G.veh_off_wait} seconds to see if vehicle is started up again, otherwise powering off")
vpower = VEH_POWER_OFF
vtimer = datetime.now()
elif int(data[HU_VEHICLE_POWER]) != VEH_POWER_OFF and vpower == VEH_POWER_OFF:
logging.info("Vehicle power off cancelled")
vpower = int(data[HU_VEHICLE_POWER])
else:
vpower = int(data[HU_VEHICLE_POWER])
if vpower == VEH_POWER_OFF:
validcmd = True
if (datetime.now() - timedelta(seconds=G.veh_off_wait) > vtimer):
logging.info(f"Vehicle has been powered off for more than {G.veh_off_wait} seconds, shutting down...")
sys_shutdown()
if BEEP in data:
validcmd = True
if data[BEEP] == 1:
logging.info("Playing BEEP tone")
play_aud()
if REVERSE in data:
validcmd = True
if data[REVERSE] == 1 and G.reverse != 1:
# We went into reverse, adjust volume
logging.info(f'Vehicle in reverse, setting volume to `{G.notify_attenuate}`')
set_vol(
input=[
G.left_main_input,
G.right_main_input
],
level=volume_level(
G.notify_attenuate,
G.max_vol
)
)
G.reverse = data[REVERSE]
elif data[REVERSE] != 1 and G.reverse == 1:
# No longer in reverse
logging.info(f"Vehicle no longer in reverse, reverting volume to {G.volume}")
data[HU_VOLUME_STATUS] = G.volume
G.volume = 0
G.reverse = data[REVERSE]
if HU_VOLUME_STATUS in data:
validcmd = True
if int(data[HU_VOLUME_STATUS]) != G.volume:
logging.info(f"Volume changed from {G.volume} to {data[HU_VOLUME_STATUS]}")
set_vol(
input=[
G.left_main_input,
G.right_main_input
],
level=volume_level(
int(
data[HU_VOLUME_STATUS]
),
G.max_vol
)
)
G.volume = data[HU_VOLUME_STATUS]
if HU_MUTE_STATUS in data:
validcmd = True
if int(data[HU_MUTE_STATUS]) != mute:
logging.info(f"Mute changed from {mute} to {data[HU_MUTE_STATUS]}")
# Set to previous volume level
if int(data[HU_MUTE_STATUS]) == MUTE_OFF:
set_vol(
input=[
G.left_main_input,
G.right_main_input
],
level=volume_level(
G.volume,
G.max_vol
)
)
mute_chan(
status=False,
input = [
G.right_main_input,
G.left_main_input
]
)
else:
mute_chan(
input = [
G.right_main_input,
G.left_main_input
]
)
set_vol(
input=[
G.left_main_input,
G.right_main_input
],
level=volume_level(
0,
G.max_vol
)
)
mute = int(data[HU_MUTE_STATUS])
if not validcmd:
pass
#logging.debug(f"Command not usable, skipping processing: `{pformat(data)}`")
def listen_loop(test):
logging.info('Test mode set, performing test commands')
if test:
logging.debug(f'Issuing NO_OP command: `{NO_OP}` with value `0`')
G.q.put({NO_OP: 0})
sleep(5)
logging.debug(f'Issuing HU_VEHICLE_POWER command: `{HU_VEHICLE_POWER}` with value `0`')
G.q.put({HU_VEHICLE_POWER: 0})
sleep(5)
logging.debug(f'Issuing HU_VOLUME_STATUS command: `{HU_VOLUME_STATUS}` with value `20`')
G.q.put({HU_VOLUME_STATUS: 20})
sleep(5)
logging.debug(f'Issuing HU_VOLUME_STATUS command: `{HU_VOLUME_STATUS}` with value `20`')
G.q.put({HU_VOLUME_STATUS: 30})
sleep(5)
logging.debug(f'Issuing HU_MUTE_STATUS command: `{HU_MUTE_STATUS}` with value `1`')
G.q.put({HU_MUTE_STATUS: 1})
sleep(5)
logging.debug(f'Issuing HU_MUTE_STATUS command: `{HU_MUTE_STATUS}` with value `0`')
G.q.put({HU_MUTE_STATUS: 0})
sleep(5)
logging.debug(f'Issuing HU_VEHICLE_POWER command: `{HU_VEHICLE_POWER}` with value `2`')
G.q.put({HU_VEHICLE_POWER: 2})
sleep(5)
return
while True:
msg = G.canint.recv(10.0)
try:
data = G.db.decode_message(msg.arbitration_id, msg.data)
#logging.debug(f"CANBUS message received with the following data: `{pformat(data)}`")
G.q.put(data)
except (KeyError, AttributeError):
pass
#logging.debug(f"Unknown CANBUS message received: `{pformat(msg)}`")
if msg is None:
#logging.debug("No CANBUS message received, sending `NO_OP` to queue")
G.q.put({NO_OP: 0})
def main(test=False):
logging.info(f"Loading CANBUS database file: `{G.config.get('General', 'can_file')}`")
G.db = cantools.database.load_file(G.config.get('General', 'can_file'))
logging.debug(f"Setting CANBUS device to `{G.config.get('General', 'candev')}`")
G.candev = G.config.get('General', 'candev')
logging.debug(f"Setting max_vol parameter to `{G.config.get('General', 'max_vol')}`")
G.max_vol = int(G.config.get('General', 'max_vol'))
logging.debug(f"Setting vehicle turn-off timer to `{G.config.get('General', 'veh_off_wait')}` seconds")
G.veh_off_wait = int(G.config.get('General', 'veh_off_wait'))
logging.debug(f"Setting CANBUS bitrate to `{G.config.get('General', 'can_bitrate')}`")
G.can_bitrate = int(G.config.get('General', 'can_bitrate'))
logging.debug(f"Setting left main input to input `{G.config.get('MiniDSP', 'main_left')}`")
G.left_main_input = int(G.config.get('MiniDSP', 'main_left'))
logging.debug(f"Setting right main input to input `{G.config.get('MiniDSP', 'main_right')}`")
G.right_main_input = int(G.config.get('MiniDSP', 'main_right'))
logging.debug(f"Setting left notification input to input `{G.config.get('MiniDSP', 'notify_left')}`")
G.left_notify_input = int(G.config.get('MiniDSP', 'notify_left'))
logging.debug(f"Setting right notification input to input `{G.config.get('MiniDSP', 'notify_right')}`")
G.right_notify_input = int(G.config.get('MiniDSP', 'notify_right'))
logging.debug(f"Setting notification input level to `{G.config.get('MiniDSP', 'notify_level')}`")
G.notify_level = int(G.config.get('MiniDSP', 'notify_level'))
logging.debug(f"Setting main input attenauation level on notification to `{G.config.get('MiniDSP', 'notify_attenuate')}`")
G.notify_attenuate = int(G.config.get('MiniDSP', 'notify_attenuate'))
logging.debug(f"Setting minidsp-rs config location to `{G.config.get('MiniDSP', 'config_loc')}`")
G.config_loc = G.config.get('MiniDSP', 'config_loc')
logging.debug(f"Setting minidsp-rs binary location to `{G.config.get('MiniDSP', 'bin_loc')}`")
G.bin_loc = G.config.get('MiniDSP', 'bin_loc')
logging.debug('Initializing minidsp-rs SDK')
testmode = G.config.getboolean('MiniDSP', 'testmode')
G.mini = minictl(testmode=testmode)
command = [G.bin_loc, '--config', G.config_loc]
try:
success = can_init(G.candev)
if not success:
return 100
logging.debug('Starting minidsp-rs daemon')
proc = subprocess.Popen(command)
logging.debug('Spawning CANBUS command processing thread')
d = Thread(target=action_thread)
d.daemon = True
d.start()
logging.debug('Starting CANBUS listening loop')
listen_loop(test)
if not test:
logging.error("Listen loop unexpectedly exited")
logging.debug('Shutting down CANBUS device `{G.candev}`')
os.system(f'/usr/sbin/ifconfig {G.candev} down')
logging.debug("Killing minidsp-rs daemon")
proc.kill()
return 10
except KeyboardInterrupt:
logging.warning("Keyboard interrupt detected, exiting...")
logging.debug('Shutting down CANBUS device `{G.candev}`')
os.system(f'/usr/sbin/ifconfig {G.candev} down')
logging.debug("Killing minidsp-rs daemon")
proc.kill()
return 0
G.config = configparser.ConfigParser()
if len(sys.argv) < 2:
print("Error: no argument specified.")
print("Valid usage:")
print(" minican.py {INI_FILE}")
print(" minican.py {INI_FILE} test")
sys.exit(1)
else:
inifile = sys.argv[1]
G.config.read(inifile)
# Logging
if not os.path.isdir(G.config.get('Logging', 'log_dir')):
os.mkdir(G.config.get('Logging', 'log_dir'))
logging.basicConfig(filename=f"{G.config.get('Logging', 'log_dir')}/minican.log", level=logging.getLevelName(G.config.get('Logging', 'log_level')))
try:
testval = sys.argv[2]
if testval == 'test':
testval = True
else:
testval = False
except IndexError:
testval = False
sys.exit(main(test=testval))