def run_test():
pandas = Panda.list()
print pandas
if len(pandas) == 0:
print "NO PANDAS"
assert False
if len(pandas) == 1:
# if we only have one on USB, assume the other is on wifi
pandas.append("WIFI")
run_test_w_pandas(pandas)
def can_printer():
p = Panda()
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", 0))
while 1:
can_recv = p.can_recv()
for address, _, dat, src in can_recv:
if src == canbus:
msgs[address].append(dat)
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
for k, v in sorted(
zip(msgs.keys(),
map(lambda x: x[-1].encode("hex"), msgs.values()))):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k, k), len(msgs[k]), v)
print dd
lp = sec_since_boot()
#!/usr/bin/env python
import os
import struct
import time
from panda.lib.panda import Panda
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)
def run_test_w_pandas(pandas):
h = map(lambda x: Panda(x), pandas)
print h
for hh in h:
hh.set_controls_allowed(True)
# test both directions
for ho in permutations(range(len(h)), r=2):
print "***************** TESTING", ho
# **** test health packet ****
print "health", ho[0], h[ho[0]].health()
# **** test K/L line loopback ****
for bus in [2, 3]:
# flush the output
h[ho[1]].kline_drain(bus=bus)
# send the characters
st = get_test_string()
st = "\xaa" + chr(len(st) + 3) + st
h[ho[0]].kline_send(st, bus=bus, checksum=False)
# check for receive
ret = h[ho[1]].kline_drain(bus=bus)
hexdump(st)
hexdump(ret)
assert st == ret
print "K/L pass", bus, ho
# **** test can line loopback ****
for bus in [0, 1, 4, 5]:
print "test can", bus
# flush
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
# set GMLAN mode
if bus == 5:
h[ho[0]].set_gmlan(True)
h[ho[1]].set_gmlan(True)
bus = 1 # GMLAN is multiplexed with CAN2
is_gmlan = True
else:
h[ho[0]].set_gmlan(False)
h[ho[1]].set_gmlan(False)
is_gmlan = False
# send the characters
# pick addresses high enough to not conflict with honda code
at = random.randint(1024, 2000)
st = get_test_string()[0:8]
h[ho[0]].can_send(at, st, bus)
time.sleep(0.1)
# check for receive
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
print bus, cans_echo, cans_loop
assert len(cans_echo) == 1
assert len(cans_loop) == 1
assert cans_echo[0][0] == at
assert cans_loop[0][0] == at
assert cans_echo[0][2] == st
assert cans_loop[0][2] == st
assert cans_echo[0][3] == bus + 2
assert cans_loop[0][3] == bus
print "CAN pass", bus, ho
def run_test():
pandas = Panda.list()
print pandas
if len(pandas) == 0:
print "NO PANDAS"
assert False
if len(pandas) == 1:
# if we only have one on USB, assume the other is on wifi
pandas.append("WIFI")
h = map(lambda x: Panda(x), pandas)
print h
# test both directions
for ho in [[0,1], [1,0]]:
# **** test health packet ****
print "health", ho[0], h[ho[0]].health()
# **** test K/L line loopback ****
for bus in [2,3]:
# flush the output
h[ho[1]].kline_drain(bus=bus)
# send the characters
st = get_test_string()
st = "\xaa"+chr(len(st)+3)+st
h[ho[0]].kline_send(st, bus=bus, checksum=False)
# check for receive
ret = h[ho[1]].kline_drain(bus=bus)
hexdump(st)
hexdump(ret)
assert st == ret
print "K/L pass", bus, ho
# **** test can line loopback ****
for bus in [0,1,4,5]:
print "test can", bus
# flush
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
# set GMLAN mode
if bus == 5:
h[ho[0]].set_gmlan(True)
h[ho[1]].set_gmlan(True)
bus = 1 # GMLAN is multiplexed with CAN2
is_gmlan = True
else:
h[ho[0]].set_gmlan(False)
h[ho[1]].set_gmlan(False)
is_gmlan = False
# send the characters
# pick addresses high enough to not conflict with honda code
at = random.randint(1024, 2000)
st = get_test_string()[0:8]
h[ho[0]].can_send(at, st, bus)
time.sleep(0.1)
# check for receive
cans_echo = h[ho[0]].can_recv()
cans_loop = h[ho[1]].can_recv()
print bus, cans_echo, cans_loop
assert len(cans_echo) == 1
assert len(cans_loop) == 1
assert cans_echo[0][0] == at
assert cans_loop[0][0] == at
assert cans_echo[0][2] == st
assert cans_loop[0][2] == st
assert cans_echo[0][3] == bus+2
assert cans_loop[0][3] == bus
print "CAN pass", bus, ho
#!/usr/bin/env python
import os
import sys
import usb1
import time
import select
from panda.lib.panda import Panda
setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
unsetcolor = "\033[00m"
if __name__ == "__main__":
port_number = int(os.getenv("PORT", 0))
serials = Panda.list()
pandas = map(lambda x: Panda(x, False), serials)
while 1:
for i, panda in enumerate(pandas):
ret = panda.serial_read(port_number)
if len(ret) > 0:
sys.stdout.write(setcolor[i] + ret + unsetcolor)
sys.stdout.flush()
if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
ln = sys.stdin.readline()
panda.serial_write(port_number, ln)
time.sleep(0.05)
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
#!/usr/bin/env python
import os
from panda.lib.panda import Panda
if __name__ == "__main__":
if os.getenv("WIFI") is not None:
p = Panda("WIFI")
else:
p = Panda()
print p.health()
#!/usr/bin/env python
import os
import struct
import time
from panda.lib.panda import Panda, PandaWifiStreaming
from tqdm import tqdm
# test throughput between USB and wifi
if __name__ == "__main__":
print Panda.list()
p_out = Panda("108018800f51363038363036")
print p_out.get_serial()
#p_in = Panda("02001b000f51363038363036")
p_in = Panda("WIFI")
print p_in.get_serial()
p_in = PandaWifiStreaming()
#while 1:
# p_in.can_recv()
#exit(0)
p_out.set_controls_allowed(True)
set_out, set_in = set(), set()
# drain
p_out.can_recv()
p_in.can_recv()