Enhance CAN bus scripts with argparse and error handling

- Improved error handling in `python_enable_motor.py` by capturing and displaying exception details.
- Ensured proper CAN bus shutdown in `python_enable_motor.py` with a `finally` block.
- Refactored `python_send_angle.py` to accept a command-line argument for the target angle instead of looping indefinitely.
- Refactored `python_send_velocity.py` to accept a command-line argument for target speed and removed infinite loops for better usability.
- Added `send_velocity_impulses.py`, a new script to send alternating velocity impulses over the CAN bus.

controller/fw/embed/test/python_enable_motor.py

@@ -20,12 +20,13 @@ def send_motor_enable(bus, enable):
         state = "enabled" if enable else "disabled"
         print(f"Sent message to {state} motor")
         print(f"Message data: {msg.data}")
-    except can.CanError:
+    except can.CanError as e:
-        print("Message failed to send")
+        print(f"Message failed to send: {e}")
         sys.exit(1)  # Exit the program on failure
 
 def main():
     # CAN interface setup
+    bus = None  # Define outside the try block for proper shutdown
     try:
         bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
         print("CAN bus initialized.")
@@ -43,5 +44,11 @@ def main():
         print(f"Error initializing CAN bus: {e}")
         sys.exit(1)
 
+    finally:
+        # Ensure the bus is properly shut down
+        if bus is not None:
+            bus.shutdown()
+            print("CAN bus shut down.")
+
 if __name__ == '__main__':
     main()

controller/fw/embed/test/python_send_angle.py

@@ -1,6 +1,7 @@
 import can
 import struct
 import time
+import argparse
 
 # Function to send the target angle
 def send_target_angle(bus, target_angle):
@@ -17,18 +18,20 @@ def send_target_angle(bus, target_angle):
     except can.CanError:
         print("Message failed to send")
 
+# Main function
 def main():
+    parser = argparse.ArgumentParser(description="Send target angles over CAN bus.")
+    parser.add_argument("--angle", type=float, required=True, help="Target angle to send over the CAN bus")
+    args = parser.parse_args()
+
+    target_angle = args.angle
+
     # CAN interface setup
     bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
     print("CAN bus initialized, sending target angles...")
 
-    # Target angle
-    target_angle = 0.0
-
     # Loop to send messages
-    while True:
+    send_target_angle(bus, target_angle)
-        send_target_angle(bus, target_angle)
-        time.sleep(1)  # Delay before sending the next message
 
 if __name__ == '__main__':
     main()

controller/fw/embed/test/python_send_velocity.py

@@ -1,6 +1,6 @@
 import can
 import struct
-import time
+import argparse
 
 # Function to send the target speed
 def send_target_speed(bus, target_speed):
@@ -17,18 +17,20 @@ def send_target_speed(bus, target_speed):
     except can.CanError:
         print("Message failed to send")
 
+# Main function
 def main():
+    parser = argparse.ArgumentParser(description="Send target speed over CAN bus.")
+    parser.add_argument("--speed", type=float, required=True, help="Target speed to send over the CAN bus (in m/s)")
+    args = parser.parse_args()
+
+    target_speed = args.speed
+
     # CAN interface setup
     bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
-    print("CAN bus initialized, sending target speeds...")
+    print("CAN bus initialized, sending target speed...")
 
-    # Target speed
+    # Send the message once
-    target_speed = 0.0  # in meters per second
+    send_target_speed(bus, target_speed)
-
-    # Loop to send messages
-    while True:
-        send_target_speed(bus, target_speed)
-        time.sleep(1)  # Delay before sending the next message
 
 if __name__ == '__main__':
     main()

controller/fw/embed/test/send_velocity_impulses.py

@@ -0,0 +1,35 @@
+import can
+import struct
+import time
+
+# Function to send the target speed
+def send_target_speed(bus, target_speed):
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 5  # Message length
+    msg.data = [ord('V')] + list(struct.pack('<f', target_speed))  # 'V' for the command identifier, followed by the speed in float format
+
+    try:
+        bus.send(msg)
+        print(f"Sent message with target speed: {target_speed} m/s")
+        print(f"Message data: {msg.data}")
+    except can.CanError:
+        print("Message failed to send")
+
+# Main function
+def main():
+    # CAN interface setup
+    bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+    print("CAN bus initialized, sending target speed impulses...")
+
+    # Send impulses of target speed from -2 to 2 m/s
+    target_speeds = [-1, 1]
+
+    while True:
+        for speed in target_speeds:
+            send_target_speed(bus, speed)
+            time.sleep(1)  # 1-second delay between messages
+
+if __name__ == '__main__':
+    main()