2. VehicleSignal Document

SDLBOOTCAMPに車両情報を通知するためのシミュレータ

2.1 動作確認環境

Ubuntu16.04 LTS

Python : 3.5.2

python-OBD : 0.7.0

websocket-client : 0.56.0

OBD2アダプタ : ELM327 USB(SsSlct)

2.2 通信仕様

SDLBOOTCAMP側仕様

無線仕様 : Wi-Fi direct [IEEE 802.11b/g/n]

IPアドレス : 10.0.0.1

ポート番号 : 固定(8088)

SSID : sdlbootcamp

暗号キー : sdlbootcamp

2.3 サンプルソースコード

OBD2_tp.py

#!/usr/bin/env python3

import sys
import time
import websocket
import obd
import json

BC_IP_ADDR = "10.0.0.1"
BC_PORT_NUM = "8088"

webSocket = None
obd2Connection = None

def Finalize():
  global webSocket
  global obd2Connection

  if None != webSocket:
    webSocket.close()

  if None != obd2Connection:
    obd2Connection.close()


if __name__ == "__main__":

  # WebSocket connect
  webSocket = websocket.WebSocket()
  webSocket.connect("ws://" + BC_IP_ADDR + ":" + BC_PORT_NUM + "/")
  if False == webSocket.connected:
    print("[ERR] WebSocket Connection Error")
    Finalize()
    sys.exit()

  # OBD2 connect
  obd2Connection = obd.OBD()
  if obd.OBDStatus.CAR_CONNECTED != obd2Connection.status():
    print("[ERR] Please connect the OBD2 adapter to the car")
    Finalize()
    sys.exit()

  for i in range(5):
    # OBD2 get param
    speedObj = obd2Connection.query( obd.commands.SPEED );
    if None == speedObj.value:
      print("[ERR] [SPEED] Get Error")
      Finalize()
      sys.exit()

    throttleObj = obd2Connection.query( obd.commands.THROTTLE_POS )
    if None == throttleObj.value:
      print("[ERR] [THROTTLE_POS] Get Error")
      Finalize()
      sys.exit()

    # Send to SDL BOOT CAMP
    speed = speedObj.value.magnitude
    throttlePos = throttleObj.value.magnitude

    sendData = json.dumps( {"VehicleData": {"speed":speed, "accPedalPosition":throttlePos} })
    # print( sendData )
    webSocket.send( sendData )

    # 500msec
    time.sleep(0.5)

  # Exit
  Finalize()

2.4 サンプルプログラム確認手順

1. 実車、ubuntu-PC を OBD2アダプタ で接続

2. SDLBOOTCAMP と PC を wifi接続

3. サンプルプログラム起動し、SDLBOOTCAMPのログから速度、アクセルペダル位置が取得できることを確認

   • サンプルプログラム起動方法

     $ python3 OBD2_tp.py
     

参考情報

python3環境構築(ubuntu 16.04(64bit))

$ sudo apt-get install python3-pip
$ pip3 install websocket-client
$ pip3 install obd

python-OBD詳細情報

https://python-obd.readthedocs.io/en/latest/

実装済みパラメータ

SDL-CORE Ver4.5.1 に準拠している。
JSON schema

"vehicleInfo": {
  "type": "object",
  "properties": {
    "speed": {
      "description": "The vehicle speed in kilometers per hour",
      "type": "number",
      "minimum": 0.0,
      "maximum": 700.0
    },
    "prndl": {
      "description": "The selected gear.",
      "type": "string",
      "enum": [
        "PARK",
        "REVERSE",
        "NEUTRAL",
        "DRIVE",
        "SPORT",
        "LOWGEAR",
        "FIRST",
        "SECOND",
        "THIRD",
        "FOURTH",
        "FIFTH",
        "SIXTH",
        "SEVENTH",
        "EIGHTH",
        "UNKNOWN",
        "FAULT"
      ]
    },
    "gps": {
      "description": "Struct with the GPS data.",
      "type": "object",
      "properties": {
        "longitudeDegrees": {
          "type": "number",
          "minimum": -180.00000,
          "maximum": 180.00000
        },
        "latitudeDegrees": {
          "type": "number",
          "minimum": -90.00000,
          "maximum": 90.00000
        },
        "utcYear": {
          "description": "The current UTC year.",
          "type": "integer",
          "minimum": 2010,
          "maximum": 2100
        },
        "utcMonth": {
          "description": "The current UTC month.",
          "type": "integer",
          "minimum": 1,
          "maximum": 12
        },
        "utcDay": {
          "description": "The current UTC day.",
          "type": "integer",
          "minimum": 1,
          "maximum": 31
        },
        "utcHours": {
          "description": "The current UTC hour.",
          "type": "integer",
          "minimum": 0,
          "maximum": 23
        },
        "utcMinutes": {
          "description": "The current UTC minute.",
          "type": "integer",
          "minimum": 0,
          "maximum": 59
        },
        "utcSeconds": {
          "description": "The current UTC second.",
          "type": "integer",
          "minimum": 0,
          "maximum": 59
        },
        "compassDirection": {
          "description": "See CompassDirection.",
          "type": "string",
          "enum": [
            "NORTH",
            "NORTHWEST",
            "WEST",
            "SOUTHWEST",
            "SOUTH",
            "SOUTHEAST",
            "EAST",
            "NORTHEAST"
          ]
        },
        "pdop": {
          "description": "PDOP",
          "type": "number",
          "minimum": 0.00,
          "maximum": 1000.00
        },
        "hdop": {
          "description": "HDOP",
          "type": "number",
          "minimum": 0.00,
          "maximum": 1000.00
        },
        "vdop": {
          "description": "VDOP",
          "type": "number",
          "minimum": 0.00,
          "maximum": 1000.00
        },
        "actual": {
          "description": "True, if actual. False, if infered.",
          "type": "boolean"
        },
        "satellites": {
          "description": "Number of satellites in view",
          "type": "integer",
          "minimum": 0,
          "maximum": 31
        },
        "dimension": {
          "description": "See Dimension",
          "type": "string",
          "enum": [
            "NO_FIX",
            "2D",
            "3D"
          ]
        },
        "altitude": {
          "description": "Altitude in meters",
          "type": "number",
          "minimum": -10000.0,
          "maximum": 10000.0
        },
        "heading": {
          "description": "The heading. North is 0. Resolution is 0.01",
          "type": "number",
          "minimum": 0.00,
          "maximum": 359.99
        },
        "speed": {
          "description": "The speed in KPH",
          "type": "number",
          "minimum": 0.0,
          "maximum": 500.0
        }
      }
    },
    "bodyInformation": {
      "description": "The body information including power modes",
      "type": "object",
      "properties": {
        "parkBrakeActive": {
          "description": "Must be true if the park brake is active",
          "type": "boolean"
        },
        "ignitionStableStatus": {
          "description": "Information about the ignition switch. See IgnitionStableStatus.",
          "type": "string",
          "enum": [
            "IGNITION_SWITCH_NOT_STABLE",
            "IGNITION_SWITCH_STABLE",
            "MISSING_FROM_TRANSMITTER"
          ]
        },
        "ignitionStatus": {
          "description": "The status of the ignition. See IgnitionStatus.",
          "type": "string",
          "enum": [
            "UNKNOWN",
            "OFF",
            "ACCESSORY",
            "RUN",
            "START",
            "INVALID"
          ]
        },
        "driverDoorAjar": {
          "description": "References signal \"DrStatDrv_B_Actl\".",
          "type": "string",
          "enum": [
            "None",
            "false",
            "true"
          ]
        },
        "passengerDoorAjar": {
          "description": "References signal \"DrStatPsngr_B_Actl\".",
          "type": "string",
          "enum": [
            "None",
            "false",
            "true"
          ]
        },
        "rearLeftDoorAjar": {
          "description": "References signal \"DrStatRl_B_Actl\".",
          "type": "string",
          "enum": [
            "None",
            "false",
            "true"
          ]
        },
        "rearRightDoorAjar": {
          "description": "References signal \"DrStatRr_B_Actl\".",
          "type": "string",
          "enum": [
            "None",
            "false",
            "true"
          ]
        }
      }
    },
    "headLampStatus": {
      "description": "Status of the head lamps",
      "type": "object",
      "properties": {
        "lowBeamsOn": {
          "description": "Status of the low beam lamps.",
          "type": "boolean"
        },
        "highBeamsOn": {
          "description": "Status of the high beam lamps.",
          "type": "boolean"
        },
        "ambientLightSensorStatus": {
          "description": "Reflects the status of the ambient light sensor.",
          "type": "string",
          "enum": [
            "NIGHT",
            "TWILIGHT_1",
            "TWILIGHT_2",
            "TWILIGHT_3",
            "TWILIGHT_4",
            "DAY",
            "UNKNOWN",
            "INVALID"
          ]
        }
      }
    },
    "accPedalPosition": {
      "description": "Accelerator pedal position (percentage depressed)",
      "type": "number",
      "minimum": 0.0,
      "maximum": 100.0
    }
  }
}