删除 catkin_truck /shakehand.py

catkin_truck /shakehand.py

@@ -1,214 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-import time
-import can
-import cantools
-import rospy
-import signal
-import os
-import threading
-import std_msgs
-
-is_exit = False
-
-messages = [
-    {
-        'message_id': 0x1820FF2F,  #messages1
-        'message_name': 'Handshaking',
-        'signals': {
-            'HandShake_name1': 0x74,
-            'HandShake_name2': 0x63,
-            'HandShake_name3': 0x64,
-            'HandShake_name4': 0x72,
-            'HandShake_name5': 0x69,
-            'HandShake_name6': 0x30,
-            'HandShake_name7': 0x30,
-            'HandShake_name8': 0x31
-        }
-    },
-    {
-        'message_id': 0x0C20112F,  # messages4
-        'message_name': 'ElectronicHandbrake_State',
-        'signals': {
-            'EleHandbrakeStatus': 0,
-            'Ele_activate_Status': 0,
-            'Ele_checksum': 0,
-            'Ele_count': 1,
-            'reserve14': 0,
-            'reserve15': 0,
-            'reserve16': 0,
-            'reserve17': 0,
-            'reserve18': 0
-        }
-    },
-    {
-        'message_id': 0x0C20302F,  # messages7
-        'message_name': 'GearPosition',
-        'signals': {
-            'GearCommand': 0,
-            'GearHighest': 6,
-            'gear_activate': 0,
-            'gear_checksum': 0,
-            'gear_count': 1,
-            'reserve19': 0,
-            'reserve20': 0,
-            'reserve21': 0,
-            'reserve22': 0
-        }
-    },
-    {
-        'message_id': 0x0C20102F, #messages3
-        'message_name': 'Brake_decel',
-        'signals': {
-            'BrakeDecel': 0,
-            'Decel_activate_Status': 0,
-            'Decel_checksum': 0,
-            'Decel_count': 1,
-            'reserve5':225,
-            'reserve6':225,
-            'reserve7':225,
-            'reserve8':225
-        }
-    },#41 74 FF FF FF FF 00 3F
-    {
-        'message_id': 0x0C20122F, #messages5
-        'message_name': 'RetarderTorque_Percent',
-        'signals': {
-            'Retarder_per': 0,
-            'Retarder_activate': 0,
-            'Retarder_checksum': 0,
-            'Retarder_count': 1,
-            'reserve23':0,
-            'reserve24':0,
-            'reserve25':0,
-            'reserve26':0,
-            'reserve27':0
-
-        }
-    },
-    {
-        'message_id': 0x0C20002F,  # messages2
-        'message_name': 'AccPedal_percent',
-        'signals': {
-            'AccPedal_per': 0,
-            'Acc_activate_Status': 0,
-            'Acc_activate': 0,
-            'Acc_checksum': 0,
-            'Acc_count': 1,
-            'reserve1': 0,
-            'reserve2': 0,
-            'reserve3': 0,
-            'reserve4': 0
-        }
-    },
-    {
-        'message_id': 0x0C20212F, #messages6
-        'message_name': 'SteerAngle_Control',
-        'signals': {
-            'Curvature_command': 0,
-            'steer_control': 0,
-            'steer_activate': 0,
-            'steer_checksum': 0,
-            'steer_count': 1,
-            'steercontrol_model': 1,
-            'reserve28': 0
-
-        }
-    },
-    {
-        'message_id': 0x0C20402F, #messages8
-        'message_name': 'Bucket_State',
-        'signals': {
-            'bucket_command': 0,
-            'bucket_activate': 0,
-            'bucket_checksum': 0,
-            'bucket_count': 1,
-            'bucketspeed_model':0,
-            'reserve11':0,
-            'reserve12':0,
-            'reserve13':0,
-            'reserve9':0
-        }
-    }
-]
-#加载dbc文件
-db_file = os.path.join(os.path.abspath('.'), 'src/wirecontrol/config/kk_wiredcontrol.dbc')
-
-database = cantools.database.load_file(db_file)
-
-can_interface = 'socketcan' #根据can接口类型进行更改
-bus = can.interface.Bus(channel= 'can0', bustype = can_interface, bitrate = 500000)
-
-cnt = 0
-hands_flag = False
-
-def signal_handler(signal, frame):
-    global is_exit
-    is_exit = True
-
-def callback_from_rviz(msg):
-    global hands_flag
-    print("hand brake!!!!!")
-    hands_flag = False
-
-def send_can_messages(messages):
-    global cnt
-    if cnt >= 15:
-        cnt = 1
-    else:
-        cnt += 1
-    # 发送多个CAN消息
-    for message in messages:
-        # 创建CAN消息对象
-        print(message)
-        msg = database.get_message_by_name(message['message_name'])
-        data = msg.encode(message['signals'])
-        data1 = list(data)
-        if message['message_id'] != 0x1820FF2F:
-            len0 = len(data1) - 1
-            i = 0
-            sum = 0
-            while i < len0:
-                sum = sum + data1[i]
-                i = i + 1
-            sum = sum + cnt
-            data1[len0] = (cnt << 4) | ((sum >> 4) + sum) & 0x0f
-        else:
-            pass
-        can_message = can.Message(arbitration_id=msg.frame_id, data=data1, is_extended_id=True)
-
-        # 发送CAN消息
-        bus.send(can_message)
-
-def shakehand_Task():
-    global hands_flag
-    global messages
-
-    cnt1  = 0
-    while cnt1  <= 0.5:
-            cnt1  += 0.01
-            send_can_messages(messages)
-            time.sleep(0.01)
-    print("shakehand task finish!")
-
-def main():
-    global is_exit
-    global hands_flag
-
-    signal.signal(signal.SIGINT, signal_handler)
-    rospy.init_node('wirecontrol_sh', anonymous=False)
-    rospy.Subscriber("/Handshack", std_msgs.msg.String, callback_from_rviz)
-    
-    while not is_exit:
-        if hands_flag == False:
-            hands_flag = True
-            ShakehandTask_threading = threading.Thread(target = shakehand_Task)
-            ShakehandTask_threading.start()
-        
-        time.sleep(1)
-    rospy.spin()
-    
-
-if __name__ == '__main__':
-    main()