unity_simulation.py

import time
import msg
import can

throttle_path = '/mnt/d/Research/CAN/CAN_Unity/Assets/Resources/throttle.txt'
steering_path = '/mnt/d/Research/CAN/CAN_Unity/Assets/Resources/steering.txt'

bus = can.Bus('ws://116.80.92.6:54701/', bustype='remote', bitrate=500000)

steering = 0 # Steeringは-1~1の間で左が-1, 中心が, 右が1
throttle = 0 # throttleは-1~0がブレーキ, 0～1がアクセル

steering_can = msg.Steering_Command()
throttle_can = msg.Throttle_Command()
brake_can = msg.Brake_Command()

while True:
    print("==============================================")
    # CANメッセージを受信
    start_time = time.time()
    while time.time() - start_time < 0.05 : # 0.01sec間モニター
        recv_msg = bus.recv(timeout=1) # canメッセージを受け取る
        if recv_msg != None: # メッセージがあるとき
            if recv_msg.arbitration_id == 0x102: # id=102のとき
                print(recv_msg.data)
                steering_can.setDataFromCANMessage(recv_msg.data)
                print(steering_can.Steer_AngleTarget)
                steering = (steering_can.Steer_AngleTarget - 100)/100 # canデータをUnityの車両のスケールに合わせる
            elif recv_msg.arbitration_id == 0x100: # id=100のとき
                print(recv_msg.data)
                throttle_can.setDataFromCANMessage(recv_msg.data)
                print(throttle_can.Drive_ThrottlePedalTarget)
                throttle = throttle_can.Drive_ThrottlePedalTarget/100 # canデータをUnityの車両のスケールに合わせる
            elif recv_msg.arbitration_id == 0x101: # id=100のとき
                print(recv_msg.data)
                brake_can.setDataFromCANMessage(recv_msg.data)
                print(brake_can.Brake_Pedal_Target)
                throttle = -brake_can.Brake_Pedal_Target/100 # canデータをUnityの車両のスケールに合わせる


    # Steering情報をSteering.txtに書き込み
    try:
        with open(steering_path, mode='w') as f:
            f.write(str(steering) + "\n")
        print("Updated.")
    except:
        print("Permission denied")

    try:
        with open(throttle_path, mode='w') as f:
            f.write(str(throttle) + "\n")
        print("Updated.")
    except:
        print("permission denied")

    # 書き込んだsteering情報をターミナルに出力
    if(steering>100):
        print("Steering: " + str(steering*100)+"% Right")
    elif(steering==100):
        print("Steering: Center")
    else:
        print("Steering: " + str(steering*100)+"% Left")
    #time.sleep(1)