Method run

examples/CAN Bus Example/ecu_simulator.py:1007–1081

Run the main simulation loop. Args: update_rate: Simulation update frequency in Hz print_status: Whether to print status to console

(self, update_rate: float = 100.0, print_status: bool = True)

    # =========================================================================

    def run(self, update_rate: float = 100.0, print_status: bool = True):
        """
        Run the main simulation loop.

        Args:
            update_rate: Simulation update frequency in Hz
            print_status: Whether to print status to console
        """
        if not self.can_sender:
            raise RuntimeError(
                "CAN sender not configured. Call set_can_sender() first."
            )

        self.running = True
        dt = 1.0 / update_rate

        # Message transmission rates (in Hz)
        rates = {
            "engine": 100,
            "transmission": 50,
            "bms": 10,
            "chassis": 100,
            "body": 10,
            "cluster": 5,
        }

        # Counters for rate control
        counters = {key: 0 for key in rates}

        try:
            last_time = time.time()
            frame_count = 0

            while self.running:
                current_time = time.time()
                elapsed = current_time - last_time

                if elapsed >= dt:
                    last_time = current_time
                    frame_count += 1

                    # Update simulation state
                    self.update_driving_simulation(dt)

                    # Transmit messages based on their rates
                    for msg_type, rate in rates.items():
                        counters[msg_type] += 1
                        interval = int(update_rate / rate)

                        if counters[msg_type] >= interval:
                            counters[msg_type] = 0

                            if msg_type == "engine":
                                self.transmit_engine_messages()
                            elif msg_type == "transmission":
                                self.transmit_transmission_messages()
                            elif msg_type == "bms":
                                self.transmit_bms_messages()