pyqt5通过CANoe COM Server来操作CANoe仿真工程

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前言

继续学习《CANoe开发从入门到精通》。
今天在《CANoe仿真工程开发》的基础上，开发实现pyqt5应用程序来操控CANoe工程。

一、COM接口技术

COM（Component Object Model，组件对象模型）是一种描述如何建立可动态互变组件的规范，此规范提供了为保证能够互相操作，客户端和组件应遵循的一些二进制和网络标准。通过这种标准将可以在任意两个组件之间进行通信，而不用考虑其所处的操作环境是否相同、使用的开发语言是否一致以及是否运行于同一台计算机。

从早期版本开始，CANoe就开始支持COM接口技术。通过COM Server可以实现以下功能：
（1）创建和修改CANoe的配置；
（2）实现测量的自动控制，如工程加载、开始或结束测量、开始测试模块等；
（3）与外部应用软件的数据交换，如读写信号、系统变量等；
（4）开发用户的自定义面板，实现自动化测试；
（5）远程控制CANoe进行测量；
（6）调用CANoe中自定义的CAPL函数。
CANoe COM Server对于大家熟悉的编程语言或脚本语言都有很好的支持，例如Visual Basic、Delphi、C/C＋＋、C#、Python、LabVIEW、VBScript、JScript、Perl和VBA等。

在CANoe安装时，COM Server已经注册好了。如果安装文件夹有变，或者目前注册的CANoe版本不是用户所期望的。可以直接找到CANoe 的安装文件夹（ 例 如 CANoe 16 SP4 64-bit 安 装 文 件 夹 D:\Program Files\Vector CANoe 16\Exec64 ） ， 执 行RegisterComponents.exe。

二、UI界面设计

1、Pycharm新建工程；

2、右键，找到"External Tools"，选择QT Designer，进入QT5的UI设计界面

3、添加相应的控件、设置好参数。最终的UI界面如下：

设计完成后，保存为CanoeDemo.ui。

4、回到PyCharm工程，CanoeDemo.ui文件，然后右键，找到"External Tools"，选择PyUIC，将UI设计文件转换为CanoeDemo.py文件。

CanoeDemo.py文件如下：

# -*- coding: utf-8 -*-

# Form implementation generated from reading ui file 'CanoeDemo.ui'
#
# Created by: PyQt5 UI code generator 5.15.4
#
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
# run again.  Do not edit this file unless you know what you are doing.


from PyQt5 import QtCore, QtGui, QtWidgets


class Ui_CanoeDemo(object):
    def setupUi(self, CanoeDemo):
        CanoeDemo.setObjectName("CanoeDemo")
        CanoeDemo.resize(633, 508)
        CanoeDemo.setMouseTracking(True)
        CanoeDemo.setTabletTracking(True)
        CanoeDemo.setAutoFillBackground(True)
        self.groupBox = QtWidgets.QGroupBox(CanoeDemo)
        self.groupBox.setGeometry(QtCore.QRect(10, 0, 531, 111))
        self.groupBox.setObjectName("groupBox")
        self.lineEdit = QtWidgets.QLineEdit(self.groupBox)
        self.lineEdit.setGeometry(QtCore.QRect(20, 20, 401, 20))
        self.lineEdit.setObjectName("lineEdit")
        self.OpenButton = QtWidgets.QPushButton(self.groupBox)
        self.OpenButton.setGeometry(QtCore.QRect(440, 20, 75, 23))
        self.OpenButton.setObjectName("OpenButton")
        self.StartButton = QtWidgets.QPushButton(self.groupBox)
        self.StartButton.setGeometry(QtCore.QRect(170, 60, 75, 23))
        self.StartButton.setObjectName("StartButton")
        self.AutoButton = QtWidgets.QPushButton(self.groupBox)
        self.AutoButton.setGeometry(QtCore.QRect(300, 60, 75, 23))
        self.AutoButton.setObjectName("AutoButton")
        self.groupBox_2 = QtWidgets.QGroupBox(CanoeDemo)
        self.groupBox_2.setGeometry(QtCore.QRect(10, 120, 531, 191))
        self.groupBox_2.setTabletTracking(True)
        self.groupBox_2.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
        self.groupBox_2.setAcceptDrops(True)
        self.groupBox_2.setObjectName("groupBox_2")
        self.LockButton = QtWidgets.QPushButton(self.groupBox_2)
        self.LockButton.setGeometry(QtCore.QRect(10, 30, 75, 23))
        self.LockButton.setObjectName("LockButton")
        self.UnlockButton = QtWidgets.QPushButton(self.groupBox_2)
        self.UnlockButton.setGeometry(QtCore.QRect(90, 30, 75, 23))
        self.UnlockButton.setObjectName("UnlockButton")
        self.Driver1Button = QtWidgets.QPushButton(self.groupBox_2)
        self.Driver1Button.setGeometry(QtCore.QRect(10, 60, 75, 23))
        self.Driver1Button.setObjectName("Driver1Button")
        self.Driver2Button = QtWidgets.QPushButton(self.groupBox_2)
        self.Driver2Button.setGeometry(QtCore.QRect(90, 60, 75, 23))
        self.Driver2Button.setObjectName("Driver2Button")
        self.LeftButton = QtWidgets.QPushButton(self.groupBox_2)
        self.LeftButton.setGeometry(QtCore.QRect(10, 110, 75, 23))
        self.LeftButton.setObjectName("LeftButton")
        self.RightButton = QtWidgets.QPushButton(self.groupBox_2)
        self.RightButton.setGeometry(QtCore.QRect(90, 110, 75, 23))
        self.RightButton.setObjectName("RightButton")
        self.HazardButton = QtWidgets.QPushButton(self.groupBox_2)
        self.HazardButton.setGeometry(QtCore.QRect(50, 140, 75, 23))
        self.HazardButton.setObjectName("HazardButton")
        self.IgniSlider = QtWidgets.QSlider(self.groupBox_2)
        self.IgniSlider.setGeometry(QtCore.QRect(300, 20, 22, 160))
        self.IgniSlider.setMaximum(3)
        self.IgniSlider.setPageStep(1)
        self.IgniSlider.setOrientation(QtCore.Qt.Vertical)
        self.IgniSlider.setObjectName("IgniSlider")
        self.GearSlider = QtWidgets.QSlider(self.groupBox_2)
        self.GearSlider.setGeometry(QtCore.QRect(430, 20, 22, 160))
        self.GearSlider.setMouseTracking(False)
        self.GearSlider.setTabletTracking(True)
        self.GearSlider.setMaximum(3)
        self.GearSlider.setPageStep(1)
        self.GearSlider.setProperty("value", 0)
        self.GearSlider.setSliderPosition(0)
        self.GearSlider.setOrientation(QtCore.Qt.Vertical)
        self.GearSlider.setObjectName("GearSlider")
        self.label = QtWidgets.QLabel(self.groupBox_2)
        self.label.setGeometry(QtCore.QRect(460, 170, 54, 12))
        self.label.setObjectName("label")
        self.label_2 = QtWidgets.QLabel(self.groupBox_2)
        self.label_2.setGeometry(QtCore.QRect(460, 120, 54, 12))
        self.label_2.setObjectName("label_2")
        self.label_3 = QtWidgets.QLabel(self.groupBox_2)
        self.label_3.setGeometry(QtCore.QRect(460, 70, 54, 12))
        self.label_3.setObjectName("label_3")
        self.label_4 = QtWidgets.QLabel(self.groupBox_2)
        self.label_4.setGeometry(QtCore.QRect(460, 20, 54, 12))
        self.label_4.setObjectName("label_4")
        self.label_5 = QtWidgets.QLabel(self.groupBox_2)
        self.label_5.setGeometry(QtCore.QRect(400, 20, 31, 16))
        self.label_5.setObjectName("label_5")
        self.label_6 = QtWidgets.QLabel(self.groupBox_2)
        self.label_6.setGeometry(QtCore.QRect(330, 70, 54, 12))
        self.label_6.setObjectName("label_6")
        self.label_7 = QtWidgets.QLabel(self.groupBox_2)
        self.label_7.setGeometry(QtCore.QRect(250, 20, 54, 12))
        self.label_7.setObjectName("label_7")
        self.label_8 = QtWidgets.QLabel(self.groupBox_2)
        self.label_8.setGeometry(QtCore.QRect(330, 20, 54, 12))
        self.label_8.setObjectName("label_8")
        self.label_9 = QtWidgets.QLabel(self.groupBox_2)
        self.label_9.setGeometry(QtCore.QRect(330, 170, 54, 12))
        self.label_9.setObjectName("label_9")
        self.label_10 = QtWidgets.QLabel(self.groupBox_2)
        self.label_10.setGeometry(QtCore.QRect(330, 120, 54, 12))
        self.label_10.setObjectName("label_10")
        self.groupBox_3 = QtWidgets.QGroupBox(CanoeDemo)
        self.groupBox_3.setGeometry(QtCore.QRect(10, 320, 531, 121))
        self.groupBox_3.setObjectName("groupBox_3")
        self.label_11 = QtWidgets.QLabel(self.groupBox_3)
        self.label_11.setGeometry(QtCore.QRect(20, 30, 91, 16))
        self.label_11.setObjectName("label_11")
        self.label_12 = QtWidgets.QLabel(self.groupBox_3)
        self.label_12.setGeometry(QtCore.QRect(20, 80, 81, 16))
        self.label_12.setObjectName("label_12")
        self.VehSlider = QtWidgets.QSlider(self.groupBox_3)
        self.VehSlider.setGeometry(QtCore.QRect(110, 30, 160, 22))
        self.VehSlider.setMaximum(220)
        self.VehSlider.setSingleStep(5)
        self.VehSlider.setPageStep(10)
        self.VehSlider.setOrientation(QtCore.Qt.Horizontal)
        self.VehSlider.setObjectName("VehSlider")
        self.EngSlider = QtWidgets.QSlider(self.groupBox_3)
        self.EngSlider.setGeometry(QtCore.QRect(110, 80, 160, 22))
        self.EngSlider.setMaximum(5000)
        self.EngSlider.setSingleStep(10)
        self.EngSlider.setPageStep(40)
        self.EngSlider.setOrientation(QtCore.Qt.Horizontal)
        self.EngSlider.setObjectName("EngSlider")
        self.VehSpeedEdit = QtWidgets.QLineEdit(self.groupBox_3)
        self.VehSpeedEdit.setGeometry(QtCore.QRect(290, 30, 113, 20))
        self.VehSpeedEdit.setObjectName("VehSpeedEdit")
        self.EngSpeedEdit = QtWidgets.QLineEdit(self.groupBox_3)
        self.EngSpeedEdit.setGeometry(QtCore.QRect(290, 80, 113, 20))
        self.EngSpeedEdit.setObjectName("EngSpeedEdit")
        self.label_13 = QtWidgets.QLabel(self.groupBox_3)
        self.label_13.setGeometry(QtCore.QRect(420, 32, 54, 20))
        self.label_13.setObjectName("label_13")
        self.label_14 = QtWidgets.QLabel(self.groupBox_3)
        self.label_14.setGeometry(QtCore.QRect(420, 80, 54, 20))
        self.label_14.setObjectName("label_14")

        self.retranslateUi(CanoeDemo)
        QtCore.QMetaObject.connectSlotsByName(CanoeDemo)

    def retranslateUi(self, CanoeDemo):
        _translate = QtCore.QCoreApplication.translate
        CanoeDemo.setWindowTitle(_translate("CanoeDemo", "Form"))
        self.groupBox.setTitle(_translate("CanoeDemo", "应用控制"))
        self.OpenButton.setText(_translate("CanoeDemo", "打开CANoe"))
        self.StartButton.setText(_translate("CanoeDemo", "开始测量"))
        self.AutoButton.setText(_translate("CanoeDemo", "自动测量"))
        self.groupBox_2.setTitle(_translate("CanoeDemo", "系统变量"))
        self.LockButton.setText(_translate("CanoeDemo", "Lock"))
        self.UnlockButton.setText(_translate("CanoeDemo", "Unlock"))
        self.Driver1Button.setText(_translate("CanoeDemo", "Driver1"))
        self.Driver2Button.setText(_translate("CanoeDemo", "Driver2"))
        self.LeftButton.setText(_translate("CanoeDemo", "Leftturn"))
        self.RightButton.setText(_translate("CanoeDemo", "Rightturn"))
        self.HazardButton.setText(_translate("CanoeDemo", "Hazard"))
        self.label.setText(_translate("CanoeDemo", "P"))
        self.label_2.setText(_translate("CanoeDemo", "R"))
        self.label_3.setText(_translate("CanoeDemo", "N"))
        self.label_4.setText(_translate("CanoeDemo", "D"))
        self.label_5.setText(_translate("CanoeDemo", "Gear:"))
        self.label_6.setText(_translate("CanoeDemo", "RUN"))
        self.label_7.setText(_translate("CanoeDemo", "Ignition:"))
        self.label_8.setText(_translate("CanoeDemo", "CRANK"))
        self.label_9.setText(_translate("CanoeDemo", "OFF"))
        self.label_10.setText(_translate("CanoeDemo", "K15"))
        self.groupBox_3.setTitle(_translate("CanoeDemo", "GroupBox"))
        self.label_11.setText(_translate("CanoeDemo", "Vehicle Speed:"))
        self.label_12.setText(_translate("CanoeDemo", "Engine Speed:"))
        self.label_13.setText(_translate("CanoeDemo", "km/h"))
        self.label_14.setText(_translate("CanoeDemo", "rpm"))

到此，界面设计完成。

三、功能实现

1、通过打开CANoe按钮实现CANoe文件的选择、打开、和关闭。代码如下：

    def open_cfg(self):
        if self.OpenButton.text() == "打开CANoe":
            openfile_name = QFileDialog.getOpenFileName(self,'选择文件','','(*.cfg)')
            file_name = openfile_name[0]
            if file_name:
                print(file_name)
                self.App.Open(file_name)
                self.lineEdit.setText(file_name)
            else:
                print("Open CANoe error")
            self.OpenButton.setText("退出CANoe")
        elif self.OpenButton.text() == "退出CANoe":
            if self.App != None:
                self.App.Quit()
                self.App = None

            self.OpenButton.setText("打开CANoe")

实现效果如下：

2、开始测量按钮，实现仿真测试的开始、关闭。代码如下：

    def start(self):
        if self.StartButton.text() == "开始测量":
            self.App.Measurement.Start()
            self.StartButton.setText("停止测量")
        elif self.StartButton.text() == "停止测量":
            self.App.Measurement.Stop()
            self.StartButton.setText("开始测量")

3、其他按钮，主要实现操作总线信号和系统变量来实现控制CANoe的信号和系统变量。比如Lock按钮，先读取系统变量Lock_Car的值，再来设置它的值。代码如下：

    def lock(self):
        if(self.get_SysVar("Vehicle_Key","Lock_Car")==0):
            self.set_SysVar("Vehicle_Key","Lock_Car",1)
            time.sleep(1)
            self.set_SysVar("Vehicle_Key", "Lock_Car", 0)
        else:
            time.sleep(1)
            self.set_SysVar("Vehicle_Key", "Lock_Car", 0)

实现了UI这边点击一下Lock按钮，CANoe的钥匙上Lock图标变红，一秒后恢复。

4、自动测量，这个通过一个按钮实现了CANoe的Automation Sequences功能。

可以看后面的演示视频，Vehicle（Automation Sequences）的RepeatSequence periodically图标和Start Sequence on measurement start图标（如上红框）并未选中，就依次实现了上面的功能。

5、获取和设置系统变量，代码如下：

    def get_SysVar(self, ns_name, sys_name):
        if self.App != None:
            systemCAN = self.App.System.Namespaces
            sys_namespace = systemCAN(ns_name)
            sys_value = sys_namespace.Variables(sys_name)
            return sys_value.Value
        else:
            print("Unable to get EnvVar")

    def set_SysVar(self, ns_name, sys_name, value):
        if self.App != None:
            systemCAN = self.App.System.Namespaces
            sys_namespace = systemCAN(ns_name)
            sys_value = sys_namespace.Variables(sys_name)
            sys_value.Value = value
        else:
            print("Unable to set EnvVar")

四、工程运行测试

编译运行工程，然后开始测试，演示结果如下：

Python调用CANoe