def raw_panda():
p = Panda()
print(p)
p.set_uart_baud(2, 9600)
p.set_uart_baud(3, 9600)
p.set_uart_parity(2, 1)
p.set_uart_parity(3, 1)
p.set_uart_callback(2, 1)
p.set_uart_callback(3, 1)
idx = 0
while 1:
"""
dat = p.serial_read(2)
if len(dat) > 0:
print "2:",
hexdump(dat)
dat = p.serial_read(3)
if len(dat) > 0:
print "3:",
hexdump(dat)
print "read done, waiting"
time.sleep(0.01)
"""
if idx % 2 == 1:
dat = "\x20\x80\xc0\xa0"
else:
dat = "\x00\x80\xc0\xc0"
p.can_send(0, dat, 8)
for r in p.can_recv():
if r[-1] in [8, 9]:
print(r[-1], r[2].encode("hex"))
time.sleep(0.01)
idx += 1
if __name__ == "__main__":
if os.getenv("WIFI") is not None:
p = Panda("WIFI")
else:
p = Panda()
print p.get_serial()
print p.health()
t1 = time.time()
for i in range(100):
p.get_serial()
t2 = time.time()
print "100 requests took %.2f ms" % ((t2-t1)*1000)
p.set_controls_allowed(True)
a = 0
while 1:
# flood
msg = "\xaa"*4 + struct.pack("I", a)
p.can_send(0xaa, msg, 0)
p.can_send(0xaa, msg, 1)
p.can_send(0xaa, msg, 4)
time.sleep(0.01)
dat = p.can_recv()
if len(dat) > 0:
print dat
a += 1
#exit(0)
p_out.set_controls_allowed(True)
set_out, set_in = set(), set()
# drain
p_out.can_recv()
p_in.can_recv()
BATCH_SIZE = 16
for a in tqdm(range(0, 10000, BATCH_SIZE)):
for b in range(0, BATCH_SIZE):
msg = "\xaa"*4 + struct.pack("I", a+b)
if a%1 == 0:
p_out.can_send(0xaa, msg, 0)
dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
if len(dat_in) != 0:
print len(dat_in)
num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
set_in.update(num_in)
set_out.update(num_out)
# swag
print "waiting for packets"
time.sleep(2.0)
dat_in = p_in.can_recv()