LEADS is a lightweight embedded assisted driving system. It is designed to simplify the development of the
instrumentation and control system for electric vehicles. It is written in well-organized Python and C/C++ with
impressive performance. It is not only plug-and-play
(the VeC Project) but also fully customizable. It provides
multiple abstract layers that allow users to pull out the components and rearrange them into a new project. You can
either configure the existing executable module leads_vec and leads_vec_rc simply through a JSON file or write your
own codes based on the framework as easily as building a LEGO.
The hardware components chosen for this project are geared towards amateur developers. It uses neither a CAN bus nor any dedicated circuit board, but generic development kits such as Raspberry Pi and Arduino instead. However, as it is a high-level system running on a host computer, the software framework has the ability to adapt to any type of hardware component if you are willing to write some codes.
This document will guide you through LEADS VeC. You will find a detailed version here.
LEADS VeC Demo
LEADS VeC Demo (Manual Mode)
🔗 Docs
🔗 Remote Analyst Online Dashboard
- Modern UI design
- Auto dark mode support
- Fancy widgets
- TCP communication system
- Remote analyst
- Replaying recorded data
- Data recording system with the following components
- A speed recording system
- A G force recording system
- A GPS recording system
- A battery voltage recording system
- ESC with the following components
- DTCS (Dynamic Traction Control System)
- ABS (Anti-lock Braking System)
- EBI (Emergency Braking Intervention)
- ATBS (Automatic Trail Braking System)
Note that LEADS requires Python >= 3.12. To set up the environment on a Raspberry Pi by only a single line of command, see Environment Setup.
pip install Pillow PySDL2 customtkinter gpiozero lgpio pynmea2 pynput pysdl2-dll pyserial leadsnumpy and pandas will be automatically installed with leads.
Pillow, PySDL2, customtkinter, gpiozero, lgpio, pynmea2, pynput, pysdl2-dll, and pyserial are
optional.
If your platform does not support GPIO, just exclude lgpio.
pip install Pillow PySDL2 customtkinter gpiozero pynmea2 pynput pysdl2-dll pyserial leadsIf you only want the framework, run the following.
pip install leadspython -m leads_vec infoYou can install LEADS Arduino from Arduino Library Manager. Note that it is named "LEADS", not "LEADS-Arduino", in the index.
See Read the Docs for the documentation of how to customize and make use of the framework in your project.
python -m leads_vec runRun the following to get a list of all the supported arguments.
python -m leads_vec -hpython -m leads_vec -c path/to/the/config/file.json runIf not specified, all configurations will be default values.
To learn about the configuration file, read Configurations.
python -m leads_vec -d path/to/the/devices.py runTo learn about the devices module, read Devices Module.
python -m leads_vec -m path/to/the/main.py runFunction main() must exist in the main module, otherwise an ImportError will be raised.
It needs to have the identical signature as the following.
def main() -> int:
"""
:return: 0: success; 1: error
"""
...python -m leads_vec -r config runThis will generate a default "config.json" file under the current directory.
python -m leads_vec -r systemd runThis will register a user Systemd service to start the program.
To enable auto-start at boot, run the following.
systemctl --user daemon-reload
systemctl --user enable leads-vecYou will have to stop the service by this command otherwise it will automatically restart when it exits.
systemctl --user stop leads-vecUse the following to disable the service.
systemctl --user disable leads-vecpython -m leads_vec -r reverse_proxy runThis will start the corresponding reverse proxy program as a subprocess in the background.
python -m leads_vec -t path/to/the/theme.json runTo learn about themes, read Color and Themes.
python -m leads_vec -mfs 1.5 runThis will magnify all font sizes by 1.5.
python -m leads_vec --emu runThis will force the program to use emulation even if the environment is available.
python -m leads_vec --auto-mfs runSimilar to Magnify Font Sizes, but instead of manually deciding the factor, the program will automatically calculate the best factor to keep the original proportion as designed.
python -m leads_vec_rcGo to the online dashboard at https://leads-vec-rc.projectneura.org.
Run the following to get a list of all the supported arguments.
python -m leads_vec_rc -hpython -m leads_vec_rc -p 80If not specified, the port is 8000 by default.
python -m leads_vec_rc -c path/to/the/config/file.jsonIf not specified, all configurations will be default values.
To learn about the configuration file, read Configurations.
This section helps you set up the identical environment we have for the VeC project. A more detailed guide of reproduction is available here, but first of all, we run an Ubuntu on a Raspberry Pi 4 Model B 8GB. After the OS is set up, just run the one-line commands listed below. You may also choose to clone the repository or download the scripts from releases (only stable releases provide scripts).
These scripts currently only support apt as the package manager.
If you install Python using the scripts, you will not find python ..., python3 ..., pip ..., or pip3 ... working
because you have to specify the Python interpreter such that python-leads ... and pip-leads ....
You can simply run "setup.sh" and it will install everything including Python 3.12 all the optional dependencies of LEADS for you.
bash "setup.sh$(wget -O setup.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/setup.sh)" && rm setup.sh || rm setup.shThis will create a shortcut to save you from typing python-leads -m leads_vec ..., instead, you will just need to call
leads-vec ....
python-install.sh will only install Python 3.12 and Tcl/Tk.
bash "python-install.sh$(wget -O python-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/python-install.sh)" && rm python-install.sh || rm python-install.shWe use FRP for reverse proxy. This is optional if you do not need public connections. If you want, install it through "frp-install.sh".
bash "frp-install.sh$(wget -O frp-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/frp-install.sh)" && rm frp-install.sh || rm frp-install.shTo configure FRP, use "frp-config.sh".
bash "frp-config.sh$(wget -O frp-config.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/frp-config.sh)" && rm frp-config.sh || rm frp-config.shThere are 4 arguments for this script, of which the first 2 are required.
bash "frp-config.sh$(...)" {frp_server_ip} {frp_token} {frp_port} {comm_port} && rm frp-config.sh || rm frp-config.shbash "gstreamer-install.sh$(wget -O gstreamer-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/gstreamer-install.sh)" && rm gstreamer-install.sh || rm gstreamer-install.shbash "gstreamer-run.sh$(wget -O gstreamer-run.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/gstreamer-run.sh)" && rm gstreamer-run.sh || rm gstreamer-run.shThere are 4 arguments for this script, of which the first one is required.
bash "gstreamer-run.sh$(...)" {youtube_stream_key} {left_camera} {middle_camera} {right_camera} && rm gstreamer-run.sh || rm gstreamer-run.shTo uninstall LEADS, we provide an easy solution as well. However, it uninstalls a component only if it is installed through the way listed in Environment Setup. GStreamer will not be uninstalled anyway.
bash "uninstall.sh$(wget -O uninstall.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/main/scripts/uninstall.sh)" && rm uninstall.sh || rm uninstall.shThe configuration is a JSON file that has the following settings. You can have an empty configuration file like the following as all the settings are optional.
{}Note that a purely empty file could cause an error.
| Index | Type | Usage | Used By | Default |
|---|---|---|---|---|
w_debug_level |
str |
"DEBUG", "INFO", "WARN", "ERROR" |
Main, Remote | "DEBUG" |
data_seq_size |
int |
Buffer size of history data | Main | 100 |
data_dir |
str |
The directory for the data recording system | Main, Remote | "data" |
width |
int |
Window width | Main | 720 |
height |
int |
Window height | Main | 480 |
fullscreen |
bool |
True: auto maximize; False: window mode |
Main | False |
no_title_bar |
bool |
True: no title bar; False: default title bar |
Main | False |
theme_mode |
bool |
"system", "light", "dark" |
Main | False |
manual_mode |
bool |
True: hide control system; False: show control system |
Main | False |
refresh_rate |
int |
GUI frame per second | Main | 30 |
m_ratio |
float |
Meter widget size ratio | Main | 0.7 |
font_size_small |
int |
Small font size | Main | 14 |
font_size_medium |
int |
Medium font size | Main | 28 |
font_size_large |
int |
Large font size | Main | 42 |
font_size_x_large |
int |
Extra large font size | Main | 56 |
comm_addr |
str |
Communication server address | Remote | "127.0.0.1" |
comm_port |
int |
The port on which the communication system runs on | Main, Remote | 16900 |
save_data |
bool |
True: save data; False: discard data |
Remote | False |
from leads import controller, MAIN_CONTROLLER
from leads_emulation import RandomController
@controller(MAIN_CONTROLLER)
class MainController(RandomController):
passThe devices module will be executed after configuration registration. Register your devices in this module using AOP paradigm. A more detailed explanation can be found here.
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See CONTRIBUTING.md.
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