Live tuning raspberry

projects/dashboard/include/Display.hpp

@@ -17,6 +17,7 @@
 #include "StartingMotors.hpp"
 #include "generated/can/veh_bus.hpp"
 #include "generated/can/veh_messages.hpp"
+#include "inc/Tuning.hpp"
 
 class Display {
 public:
@@ -44,7 +45,6 @@ class Display {
     std::optional<State> transition_;
     State state_ = State::LOGO;
     Screen* screen_;
-
     LogoScreen logo_screen;
     ProfileSelect profile_select;
     ConfirmMenu confirm_menu;

projects/dashboard/include/Tuning.hpp

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "inc/Screen.hpp"
+
+class Tuning : public Screen {
+public:
+    Tuning(Display* display);
+
+    void CreateGUI() override;
+    void Update() override;
+};

projects/dashboard/src/ProfileSelect.cpp

@@ -1,5 +1,7 @@
 #include "ProfileSelect.hpp"
 
+#include <string>
+
 #include "Display.hpp"
 #include "generated/can/veh_bus.hpp"
 
@@ -35,7 +37,12 @@ void ProfileSelect::Update() {
     if (display_->enter.PosEdge()) {
         display_->selected_profile =
             static_cast<Profile>(lv_roller_get_selected(roller));
+        // if (static_cast<std::string>(
+        //         GetProfileName(display_->selected_profile)) == "TUNING") {
+        //     display_->ChangeState(State::TUNING);
+        // } else {
         display_->ChangeState(State::CONFIRM_SELECTION);
+        // }
 
     } else if (display_->scroll.PosEdge()) {
         int new_position = lv_roller_get_selected(roller) + 1;

projects/dashboard/src/platforms/linux/fc_sim.py

@@ -115,6 +115,32 @@ def run(self):
             lambda ds: ds["State"] == "WAIT_SELECTION_ACK",
         )
         print(f"Profile:\t{ds['Profile']}")
+
+        if ds["Profile"] == "Tuning":
+            while True:
+                self.bus.set_filters(
+                    [
+                        {
+                            "can_id": dash_msg.frame_id,
+                            "can_mask": 0x7FF,
+                            "extended": False,
+                        },
+                        {
+                            "can_id": rberry_msg.frame_id,
+                            "can_mask": 0x7FF,
+                            "extended": False,
+                        },
+                    ]
+                )
+                tune_msg = self.bus.recv()
+                # print(f"ID: {hex(tune_msg.arbitration_id)}, DLC: {tune_msg.dlc}, data: {tune_msg.data.hex()}")
+
+                tune = dbc.decode_message(tune_msg.arbitration_id, tune_msg.data)
+                if tune_msg.arbitration_id == 260:
+                    print(tune)
+                    break
+                # print(tune)
+
         sleep(DELAY)
         self.FcStatus["ConfigReceived"] = True
 

projects/veh.dbc

@@ -151,7 +151,8 @@ BO_ 310 SuspensionTravel34: 2 LVC
  SG_ STP4 : 8|8@1+ (1,0) [0|255] "" FC
 
 BO_ 340 TuningParams: 8 RPI
- SG_ aggressiveness : 0|8@1+ (1,0) [0|100] "" FC
+ SG_ damping            : 0|8@1+ (1,0) [0|100] "" FC
+ SG_ aggressiveness     : 8|8@1+ (1,0) [0|100] "" FC
 
 CM_ "4xn - General / debugging info";
 

scripts/canflash/CanFlashApp.py

@@ -0,0 +1,58 @@
+from nicegui import ui
+from nicegui.events import UploadEventArguments
+from flash_logic import save_uploaded_file, flash_file
+from constants import ECU_CONFIG
+import os
+
+
+class CanFlashApp:
+    def __init__(self):
+        self.starting_ecu = "Select ECU"
+        self.selected_ecu = self.starting_ecu
+        self.uploaded_file_path = None
+        self.build_ui()
+
+    def handle_upload(self, file: UploadEventArguments):
+        self.uploaded_file_path = save_uploaded_file(self.selected_ecu, file.name, file.content.read())
+        self.flash_button.enable()
+
+    def handle_flash(self):
+        exception = flash_file(self.selected_ecu, self.uploaded_file_path)
+
+        if not exception:
+            uploaded_file_name = os.path.split(self.uploaded_file_path)[-1]
+            ui.notify(
+                f"Successfully flashed {uploaded_file_name} to {self.selected_ecu}",
+                position="center",
+            )
+
+            # Reset upload box and disable flash button
+            self.upload_box.reset()
+            self.flash_button.disable()
+
+            # Reset ECU selection after a short delay (or else the select box won't reset)
+            ui.timer(0.1, lambda: self.ecu_select.set_value(self.starting_ecu), once=True)
+        else:
+            ui.notify(str(exception), type="negative")
+
+
+    def build_ui(self):
+        ui.markdown("Welcome to CAN Flash! Select an ECU and upload a file to flash. See [docs](https://macformula.github.io/racecar/) for more information.")
+
+        # ECU Selection
+        self.ecu_select = ui.select([self.starting_ecu] + list(ECU_CONFIG.keys()))
+        self.ecu_select.bind_value(self, "selected_ecu")
+
+        # File Upload
+        self.upload_box = ui.upload(
+            label="Select File",
+            on_upload=self.handle_upload,
+            auto_upload=True,
+        ).props("accept=.bin")
+        self.upload_box.bind_enabled_from(
+            self.ecu_select, "value", lambda v: v != self.starting_ecu
+        )
+
+        # Flash Button
+        self.flash_button = ui.button("Flash", on_click=self.handle_flash)
+        self.flash_button.disable()

scripts/canflash/LiveTuning.py

@@ -0,0 +1,87 @@
+from nicegui import ui, events
+import subprocess
+
+
+class LiveTuning:
+
+    def __init__(self, iface: str = "vcan0") -> None:
+        self.iface = iface                    
+        self.aggressiveness = 0
+        self.dampness = 0
+        self._build_ui()
+
+    def _slider_row(
+        self,
+        title: str,
+        field_name: str,
+        init_val: int = 0,
+        *,
+        on_change_cb,
+    ):
+        with ui.row().classes("items-center gap-4 w-full"):
+            ui.label(title).classes("w-32 text-right")
+
+            slider = (
+                ui.slider(min=0, max=100, value=init_val, on_change=on_change_cb)
+                .props("step=1")
+                .classes("flex-1")            
+            )
+
+            number = (
+                ui.number(value=init_val, min=0, max=100)
+                .props("style='width:80px'")
+            )
+
+            number.bind_value_from(slider, "value").bind_value_to(slider, "value")
+
+            setattr(self, f"{field_name}_slider", slider)
+            setattr(self, f"{field_name}_number", number)
+
+    def _build_ui(self) -> None:
+        """Compose the entire visible UI."""
+        with ui.card().classes("w-full max-w-md mx-auto mt-14 p-6 shadow-lg"):
+            ui.label("Live Tuning").classes("text-2xl font-semibold mb-6 text-center")
+
+            # Aggressiveness row 
+            self._slider_row(
+                "Aggressiveness",
+                "aggressiveness",
+                init_val=self.aggressiveness,
+                on_change_cb=lambda e: self._on_change("aggressiveness", e),
+            )
+
+            ui.separator()
+
+            # Dampness row 
+            self._slider_row(
+                "Dampness",
+                "dampness",
+                init_val=self.dampness,
+                on_change_cb=lambda e: self._on_change("dampness", e),
+            )
+
+            ui.button(
+                "Submit",
+                icon="send",
+                on_click=self._submit,
+            ).classes("w-full bg-primary text-white mt-6")
+
+    def _on_change(self, field: str, e: events.ValueChangeEventArguments) -> None:
+        # Clamp, validate, and store slider changes
+        value = e.value or 0
+        value = max(0, min(100, int(value)))
+        setattr(self, field, value)
+        print(f"{field.capitalize()} set to {value}")
+
+    def _submit(self, _=None) -> None:
+        print(f"Submit pressed (agg={self.aggressiveness}, damp={self.dampness})")
+        subprocess.run(
+            ["bash", "./scripts/tune.sh",
+             str(self.aggressiveness), str(self.dampness), self.iface],
+            check=True,
+        )
+
+
+if __name__ in {"__mp_main__", "__main__"}:
+    LiveTuning()          
+    ui.run()

scripts/canflash/README.md

@@ -36,4 +36,4 @@ Run the server with the following command:
 python3 main.py
 ```
 
-Access the UI by opening [http://localhost:8000/](http://localhost:8000/) in your web browser.
+Access the UI by opening [http://localhost:8000/](http://localhost:8000/) in your web browser.

scripts/canflash/constants.py

@@ -2,9 +2,6 @@
 UPLOAD_DIR = "uploads"
 
 # ECU Configuration with GPIO pins and CAN message IDs
-
-# WARNING: These GPIO pins are not correct and need to be fixed. They correspond to
-# the Raspberry PI gpio pin which connects to each ECU's boot pin.
 ECU_CONFIG = {
     "FrontController": {
         "gpio_pin": 8,

scripts/canflash/main.py

@@ -1,74 +1,58 @@
 from nicegui import ui
-from nicegui.events import UploadEventArguments
-from flash_logic import save_uploaded_file, flash_file
-from constants import ECU_CONFIG
-import os
-
-
-class CanFlashApp:
-    def __init__(self):
-        self.starting_ecu = "Select ECU"
-        self.selected_ecu = self.starting_ecu
-        self.uploaded_file_path = None
-        self.build_ui()
-
-    def handle_upload(self, file: UploadEventArguments):
-        self.uploaded_file_path = save_uploaded_file(self.selected_ecu, file.name, file.content.read())
-        self.flash_button.enable()
-
-    def handle_flash(self):
-        exception = flash_file(self.selected_ecu, self.uploaded_file_path)
-
-        if not exception:
-            uploaded_file_name = os.path.split(self.uploaded_file_path)[-1]
-            ui.notify(
-                f"Successfully flashed {uploaded_file_name} to {self.selected_ecu}",
-                position="center",
-            )
-
-            # Reset upload box and disable flash button
-            self.upload_box.reset()
-            self.flash_button.disable()
-
-            # Reset ECU selection after a short delay (or else the select box won't reset)
-            ui.timer(0.1, lambda: self.ecu_select.set_value(self.starting_ecu), once=True)
-        else:
-            ui.notify(str(exception), type="negative")
-
-
-    def build_ui(self):
-        ui.colors(primary="#AA1F26")
-        ui.markdown("Welcome to CAN Flash! Select an ECU and upload a file to flash. See [docs](https://macformula.github.io/racecar/) for more information.")
-
-        # ECU Selection
-        self.ecu_select = ui.select([self.starting_ecu] + list(ECU_CONFIG.keys()))
-        self.ecu_select.bind_value(self, "selected_ecu")
-
-        # File Upload
-        self.upload_box = ui.upload(
-            label="Select File",
-            on_upload=self.handle_upload,
-            auto_upload=True,
-        ).props("accept=.bin")
-        self.upload_box.bind_enabled_from(
-            self.ecu_select, "value", lambda v: v != self.starting_ecu
-        )
-
-        # Flash Button
-        self.flash_button = ui.button("Flash", on_click=self.handle_flash)
-        self.flash_button.disable()
-
-
-@ui.page("/")
+from CanFlashApp import CanFlashApp
+from LiveTuning import LiveTuning
+from contextlib import contextmanager
+
+@contextmanager
+def frame():
+    ui.colors(primary="#AA1F26")
+    with ui.header(elevated=True).classes('width-full text-white bg-[#AA1F26] '):
+        ui.label("Raspberry Pi Resources").classes("text-xl font-bold mr-4 ")
+        ui.button("Home", on_click=lambda : ui.navigate.to('/')).classes("!bg-[#df535a]")
+        ui.button('Can Flash', on_click= lambda : ui.navigate.to("/canflash")).classes("!bg-[#df535a]")
+        ui.button('Tuning', on_click= lambda : ui.navigate.to("/tune")).classes("!bg-[#df535a]")
+    yield
+
+@ui.page("/canflash")  
 def main_page():
-    CanFlashApp()
-
-
+    with frame():
+        CanFlashApp()
+
+@ui.page("/tune")
+def tuning_page():
+    with frame():
+        LiveTuning()
+
+@ui.page('/')
+def home() -> None:
+    with frame():                                 # keep the shared header
+        with ui.column().classes('items-center q-mt-xl gap-4'):
+            ui.label('Welcome to the Formula‑Electric Raspberry Pi Interface') \
+                .classes('text-2xl font-bold')
+
+            ui.markdown(
+                'This dashboard lets you interact with the **Formula Electric** car’s '
+                'Raspberry Pi.  \n'
+                'Use it to *live‑tune* parameters while the car is running or to '
+                '*flash* new firmware over CAN.  '
+                'More modules will be added soon!'
+            ).classes('max-w-xl text-center')
+
+            with ui.row().classes('gap-4'):
+                ui.button('Go to Live Tuning', on_click=lambda: ui.navigate.to('/tune')) \
+                    .classes('!bg-[#df535a] text-white')
+                ui.button('Go to CAN Flash',  on_click=lambda: ui.navigate.to('/canflash')) \
+                    .classes('!bg-[#df535a] text-white')
+
+            ui.link('Read the full documentation',
+                    'https://macformula.github.io/racecar/',
+                    new_tab=True) \
+              .classes('text-primary underline q-mt-md')
 if __name__ in {"__main__", "__mp_main__"}:
     ui.run(
         title="CAN Flash",
         favicon="favicon.ico",
         show=False,
         dark=None,
         port=8000,
-    )
+    )

scripts/canflash/scripts/setup.sh

@@ -23,7 +23,7 @@ pip install -r requirements.txt
 sudo apt update
 
 # Install dependencies
-sudo apt install -y libgtk-3-dev build-essential gcc g++ pkg-config make hostapd libqrencode-dev libpng-dev iptables
+sudo apt install -y libgtk-3-dev build-essential gcc g++ pkg-config make hostapd libqrencode-dev libpng-dev iptables can-utils
 
 # Clone repo
 cd

scripts/canflash/scripts/teardown.sh

@@ -16,7 +16,7 @@ sudo rm -f /lib/systemd/system/canflash.service
 
 # Remove installed packages
 echo "Removing installed packages..."
-sudo apt remove --purge -y libgtk-3-dev build-essential gcc g++ pkg-config make hostapd libqrencode-dev libpng-dev iptables
+sudo apt remove --purge -y libgtk-3-dev build-essential gcc g++ pkg-config make hostapd libqrencode-dev libpng-dev iptables can-utils
 sudo apt autoremove -y
 sudo apt clean