Support CAN Bus (#315)

* Added CAN bus support. (#208)

* Added OBD2 support. (#208)

Author: ATATC

leads_can/__init__.py

@@ -0,0 +1,7 @@
+from importlib.util import find_spec as _find_spec
+
+if not _find_spec("can"):
+    raise ImportError("Please install `python-can` to run this module\n>>>pip install python-can")
+
+from leads_can.prototype import *
+from leads_can.obd import *

leads_can/obd.py

@@ -0,0 +1,27 @@
+from typing import override as _override
+
+from can import Message as _Message
+
+from leads import DataContainer as _DataContainer
+from leads_can.prototype import CANBus
+
+
+class OBD2(CANBus):
+    @_override
+    def write(self, payload: _DataContainer) -> None:
+        t = payload.time_stamp() * .001
+        super().write(_Message(t, 0x00, data=str(payload.voltage).encode()))
+        super().write(_Message(t, 0x01, data=str(payload.speed).encode()))
+        super().write(_Message(t, 0x10, data=str(payload.front_wheel_speed).encode()))
+        super().write(_Message(t, 0x11, data=str(payload.rear_wheel_speed).encode()))
+        super().write(_Message(t, 0x20, data=str(payload.forward_acceleration).encode()))
+        super().write(_Message(t, 0x21, data=str(payload.lateral_acceleration).encode()))
+        super().write(_Message(t, 0x30, data=str(payload.mileage).encode()))
+        super().write(_Message(t, 0x40, data=str(payload.gps_ground_speed).encode(),
+                               is_error_frame=not payload.gps_valid))
+        super().write(_Message(t, 0x41, data=str(payload.latitude).encode(),
+                               is_error_frame=not payload.gps_valid))
+        super().write(_Message(t, 0x42, data=str(payload.longitude).encode(),
+                               is_error_frame=not payload.gps_valid))
+        super().write(_Message(t, 0x50, data=str(payload.throttle).encode()))
+        super().write(_Message(t, 0x51, data=str(payload.brake).encode()))

leads_can/prototype.py

@@ -0,0 +1,32 @@
+from typing import override as _override
+
+from can import Bus as _Bus, Notifier as _Notifier, Listener as _Listener, Message as _Message
+
+from leads import Controller as _Controller
+
+
+class CANBus(_Controller, _Listener):
+    def __init__(self) -> None:
+        _Controller.__init__(self)
+        _Listener.__init__(self)
+        self._bus: _Bus | None = None
+        self._notifier: _Notifier | None = None
+
+    @_override
+    def on_message_received(self, msg: _Message) -> None:
+        for device in self.devices():
+            device.update(msg)
+
+    @_override
+    def initialize(self, *parent_tags: str) -> None:
+        super().initialize(*parent_tags)
+        self._bus = _Bus()
+        self._notifier = _Notifier(self._bus, (self,))
+
+    @_override
+    def write(self, payload: _Message) -> None:
+        self._bus.send(payload)
+
+    @_override
+    def close(self) -> None:
+        self._bus.close()