LEADS: Lightweight Embedded Assisted Driving System
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)
:link: Docs
:link: Remote Analyst Online Dashboard
Key Features
- 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)
To High School Students
The codes are never designed for average high school students to understand. You may find it hard to read the codes if you do not satisfy the following requirements of skills and knowledge.
- Advanced Python knowledge (you should be familiar with everything and even programming philosophy in Python)
- Solid knowledge of Physics (you should understand how a car moves in reality)
- Basic embedded development experience (C/C++, Raspberry Pi, Arduino, serial communication, PWM)
- Rich experience in Web development (React, Next.js, FastAPI, TCP/IP, sockets)
- Basic machine learning knowledge (linear regression, polynomial regression)
Installation
Python
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 leads
numpy and pandas will be automatically installed with leads.
Pillow, PySDL2, customtkinter, gpiozero, lgpio, pynmea2, pynput, pysdl2-dll, and pyserial are
optional.
If you only want the framework, run the following.
pip install leads
Verify
python -m leads_vec info
Arduino
You can install LEADS-Arduino from Arduino Library Manager. Note that it is named "LEADS", not "LEADS-Arduino", in the index.
LEADS Framework
See Read the Docs for the documentation of how to customize and make use of the framework in your project.
Quick Start
Main
python -m leads_vec run
Optional Arguments
Run the following to get a list of all the supported arguments.
python -m leads_vec -h
Specify a Configuration File
python -m leads_vec -c path/to/the/config/file.json run
If not specified, all configurations will be default values.
To learn about the configuration file, read Configurations.
Specify a Devices Module
python -m leads_vec -d path/to/the/devices.py run
To learn about the devices module, read Devices Module.
Generate a Configuration File
python -m leads_vec -r config run
This will generate a default "config.json" file under the current directory.
Register a Systemd Service
python -m leads_vec -r systemd run
This will register a system service to start the program.
To enable auto-start at boot, run the following.
systemctl daemon-reload
systemctl enable leads_vec
Use Reverse Proxy
python -m leads_vec -r reverse_proxy run
This will start the corresponding reverse proxy program as a subprocess in the background.
Specify a Theme
python -m leads_vec -t path/to/the/theme.json run
To learn about themes, read Color and Themes.
Magnify Font Sizes
python -m leads_vec -mfs 1.5 run
This will magnify all font sizes by 1.5.
Use Emulation
python -m leads_vec --emu run
This will force the program to use emulation even if the environment is available.
Automatically Magnify Font Sizes
python -m leads_vec --auto-mfs run
Similar 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.
Remote Analyst
python -m leads_vec_rc
Go to the online dashboard at https://leads-vec-rc.projectneura.org.
Optional Arguments
Run the following to get a list of all the supported arguments.
python -m leads_vec_rc -h
Server Port
python -m leads_vec_rc -p 80
If not specified, the port is 8000 by default.
Specify a Configuration File
python -m leads_vec_rc -c path/to/the/config/file.json
If not specified, all configurations will be default values.
To learn about the configuration file, read Configurations.
Environment Setup
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 22.04 LTS 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 ....
LEADS
You can simply run "setup.sh" and it will install everything including Python 3.12 all the optional dependencies of LEADS for you.
/bin/sh "setup.sh$(wget -O setup.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/setup.sh)" && rm setup.sh || rm setup.sh
This will create a shortcut to save you from typing python-leads -m leads_vec ..., instead, you will just need to call
leads-vec ....
Python
python-install.sh will only install Python 3.12 and Tcl/Tk.
/bin/sh "python-install.sh$(wget -O python-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/python-install.sh)" && rm python-install.sh || rm python-install.sh
frp
We use frp for reverse proxy. This is optional if you do not need public connections. If you want, install it through "frp-install.sh".
/bin/sh "frp-install.sh$(wget -O frp-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/frp-install.sh)" && rm frp-install.sh || rm frp-install.sh
To configure frp, use "frp-config.sh".
/bin/sh "frp-config.sh$(wget -O frp-config.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/frp-config.sh)" && rm frp-config.sh || rm frp-config.sh
There are 4 arguments for this script, of which the first 2 are required.
/bin/sh "frp-config.sh$(...)" {frp_server_ip} {frp_token} {frp_port} {comm_port} && rm frp-config.sh || rm frp-config.sh
OBS Studio
We also use OBS Studio for streaming, but it is not required. If you want to install, run "obs-install.sh".
/bin/sh "obs-install.sh$(wget -O obs-install.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/obs-install.sh)" && rm obs-install.sh || rm obs-install.sh
Do not run the OBS Studio directly, instead, use "obs-run.sh".
Download it through this simple line of code below.
wget -O obs-run.sh https://raw.githubusercontent.com/ProjectNeura/LEADS/master/scripts/obs-run.sh
Run the script as shown.
/bin/sh obs-run.sh
If you want the identical layout configuration, see the following.
wget -O obs-config.json https://raw.githubusercontent.com/ProjectNeura/LEADS/master/design/obs-config.json
Configurations
The 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 | 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 |
Devices Module
Example
from leads import controller, MAIN_CONTROLLER
from leads_emulation import RandomController
@controller(MAIN_CONTROLLER)
class MainController(RandomController):
pass
The 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.
Architecture
Main
Pin Configuration
Remote Analyst
Collaborations
Community
Issues
Our team management completely relies on GitHub. Tasks are published and assigned as issues. You will be notified if you are assigned to certain tasks. However, you may also join other discussions for which you are not responsible.
There are a few labels that classify the issues.
bugreports a bugcode reviewdiscusses a code review or commentdocumentationsuggests a documentation enhancementduplicatemarks that a similar issue has been raisedenhancementproposes a new feature or requesthelp wantedmeans that extra attention is needed to this issueinvalidmarks that the issue is in a valid formatquestionrequests further informationreportstates that it is discussed in the meetingtodocreates a new taskwontfixmarks that the issue is ignored
Label your issue with at least one of the labels above before you submit.
Projects
You can have a look at the whole schedule of each project in a timeline using the projects feature.
Code Contributions
See CONTRIBUTING.md.
2 maintainers
Metadata
2 maintainers
Release files for leads 0.8.26
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| leads-0.8.26.tar.gz | 1.0 MB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| leads-0.8.26-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 2.0 MB
Release files / leads-0.8.26.tar.gz
| Download URL | leads-0.8.26.tar.gz |
|---|---|
| Size | 1.0 MB |
| Tags | Source |
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Release files / leads-0.8.26-py3-none-any.whl
| Download URL | leads-0.8.26-py3-none-any.whl |
|---|---|
| Size | 1.0 MB |
| Tags | Python 3 |
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