def send_thread(sender_serial):
while True:
try:
if jungle:
sender = PandaJungle(sender_serial)
else:
sender = Panda(sender_serial)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_can_loopback(False)
can_sock = messaging.sub_sock('can')
while True:
tsc = messaging.recv_one(can_sock)
snd = can_capnp_to_can_list(tsc.can)
snd = list(filter(lambda x: x[-1] <= 2, snd))
try:
sender.can_send_many(snd)
except usb1.USBErrorTimeout:
pass
# Drain panda message buffer
sender.can_recv()
except Exception:
traceback.print_exc()
time.sleep(1)
def send_thread(sender_serial):
global jungle
try:
if jungle:
sender = PandaJungle(sender_serial)
else:
sender = Panda(sender_serial)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_can_loopback(False)
can_sock = messaging.sub_sock('can')
while True:
# Send messages one bus 0 and 1
tsc = messaging.recv_one(can_sock)
snd = can_capnp_to_can_list(tsc.can)
snd = list(filter(lambda x: x[-1] <= 2, snd))
sender.can_send_many(snd)
# Drain panda message buffer
sender.can_recv()
except Exception:
traceback.print_exc()
print("timeout, transferred: ", transferred)
print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
if __name__ == "__main__":
serials = Panda.list()
if JUNGLE:
sender = Panda()
receiver = PandaJungle()
else:
if len(serials) != 2:
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1])
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_heartbeat_disabled()
# Start transmisson
threading.Thread(target=flood_tx, args=(sender, )).start()
# Receive as much as we can, and stop when there hasn't been anything for a second
rx: List[Any] = []
old_len = 0
last_change = time.monotonic()
while time.monotonic() - last_change < 1:
if old_len < len(rx):
last_change = time.monotonic()
old_len = len(rx)