2.3.1.2. can_interface module

class can_interface.AutonomousSystemStateEnum(value)

Bases: Enum

An enumeration.

DRIVING = 3

EMERGENCY = 4

FINISHED = 5

OFF = 1

READY = 2

STARTUP = 0

class can_interface.CanBridge(path_to_log_dbc: str, path_to_per_dbc: str)

Bases: object

actual_torque_callback(msg: Torque)

check_if_rosbag_recording_running()

check_monitoring_state()

end_rosbag_recording()

generate_frame(data, frame_definition)

Used for sending it on the can ros bridge.

generate_message(data, frame_definition)

Used for sending it on the can device directly.

handle_log_button_state(state: int)

lap_count_callback(msg: LapCount)

local_mapping_cones_count_callback(msg: ConesCountActual)

log_frame_received_callback(received_frame: Frame)

m_per_s_to_rpm(velocity)

main_thread()

mission_finished_callback(msg: MissionFinished)

mission_machine_state_callback(msg: MissionMachineState)

monitoring_status_callback(msg)

per_frame_received_callback(received_frame)

send_dashboard_msg()

send_dv_driving_diagnostics_1()

send_dv_driving_diagnostics_2()

send_dv_system_diagnostics()

send_engine_control_msg()

send_rosbag_record_status()

send_steering_msg()

sensor_states_callback(msg: SensorStates)

service_brake_callback(msg)

setup_log_rx()

setup_log_tx()

setup_messages()

setup_per_rx()

setup_per_tx()

setup_variables()

slam_cones_count_callback(msg: ConesCountAll)

slam_velocity_callback(msg: VehiclePose)

start_rosbag_recording()

steering_control_engange_callback(msg)

steering_wheel_angle_callback(msg)

torque_callback(msg: Torque)

velocity_callback(msg: Velocity)

velocity_torque_switch_callback(msg: VelocityTorqueSwitch)

class can_interface.ServiceBrakeStateEnum(value)

Bases: Enum

An enumeration.

AVAILABLE = 3

DISENGAGED = 1

ENGAGED = 2