def _flash_over_can(self, bus, fw_file):
print(f"Flashing {fw_file}")
while len(self.jungle.can_recv()) != 0:
continue
self.jungle.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", bus)
time.sleep(0.1)
with open(fw_file, "rb") as code:
PandaJungle.flash_static(CanHandle(self.jungle, bus), code.read())
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)
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)
if __name__ == "__main__":
if jungle:
serials = PandaJungle.list()
else:
serials = Panda.list()
num_senders = len(serials)
if num_senders == 0:
print("No senders found. Exiting")
sys.exit(1)
else:
print("%d senders found. Starting broadcast" % num_senders)
if "FLASH" in os.environ:
for s in PandaDFU.list():
PandaDFU(s).recover()
time.sleep(1)
print(f"Sending block {transferred}-{len(tx_messages)}: ", end="")
panda.can_send_many(tx_messages[transferred:], timeout=10)
print("OK")
break
except usb1.USBErrorTimeout as e:
transferred += (e.transferred // 16)
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] = []
continue
for s in p.list():
if s not in serials:
print("starting send thread for", s)
serials[s] = Process(target=send_thread, args=(p(s), 3))
serials[s].start()
# try to join all send procs
cur_serials = serials.copy()
for s, p in cur_serials.items():
p.join(0.01)
if p.exitcode is not None:
del serials[s]
time.sleep(1)
if __name__ == "__main__":
time.sleep(1)
if "FLASH" in os.environ and PandaJungle is not None:
for s in PandaJungle.list():
PandaJungle(s).flash()
while True:
try:
connect()
except Exception:
pass
from parameterized import parameterized, param
from .timeout import run_with_timeout
from .wifi_helpers import _connect_wifi
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL),
(3, SPEED_GMLAN)]
TIMEOUT = 30
GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
# Enable fault debug
faulthandler.enable(all_threads=False)
# Connect to Panda Jungle
panda_jungle = PandaJungle()
# Find all panda's connected
_panda_serials = None
def init_panda_serials():
global panda_jungle, _panda_serials
_panda_serials = []
panda_jungle.set_panda_power(True)
time.sleep(5)
for serial in Panda.list():
p = Panda(serial=serial)
_panda_serials.append((serial, p.get_type()))
p.close()
print('Found', str(len(_panda_serials)), 'pandas')
def panda_init(serial):
p = Panda(serial=serial)
assert p.recover(timeout=30)
start_heartbeat_thread(p)
for bus in range(3):
p.set_can_speed_kbps(bus, 500)
p.set_can_data_speed_kbps(bus, 2000)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_power_save(False)
return p
if JUNGLE_SERIAL:
panda_jungle = PandaJungle(JUNGLE_SERIAL)
panda_jungle.set_panda_power(False)
time.sleep(2)
panda_jungle.set_panda_power(True)
time.sleep(4)
#panda_jungle.set_can_enable(0, False)
#panda_jungle.set_can_enable(1, False)
#panda_jungle.set_can_enable(2, False)
for serial in Panda.list():
if serial not in H7_PANDAS_EXCLUDE:
p = Panda(serial=serial)
if p.get_type() in H7_HW_TYPES:
_panda_serials.append(serial)
p.close()
BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL),
(3, SPEED_GMLAN)]
TIMEOUT = 45
H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA]
GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO] + H7_HW_TYPES
GPS_HW_TYPES = [
Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO
]
PEDAL_SERIAL = 'none'
JUNGLE_SERIAL = os.getenv("PANDAS_JUNGLE")
# Enable fault debug
faulthandler.enable(all_threads=False)
# Connect to Panda Jungle
panda_jungle = PandaJungle(JUNGLE_SERIAL)
# Find all panda's connected
_panda_serials = None
def init_panda_serials():
global panda_jungle, _panda_serials
_panda_serials = []
panda_jungle.set_panda_power(True)
time.sleep(5)
for serial in Panda.list():
p = Panda(serial=serial)
_panda_serials.append((serial, p.get_type()))
p.close()
print('Found', str(len(_panda_serials)), 'pandas')
def setUp(self): self.jungle = PandaJungle(JUNGLE_SERIAL) self.jungle.set_panda_power(True) self.jungle.set_ignition(False)
class TestPedal(unittest.TestCase):
def setUp(self):
self.jungle = PandaJungle(JUNGLE_SERIAL)
self.jungle.set_panda_power(True)
self.jungle.set_ignition(False)
def tearDown(self):
self.jungle.close()
def _flash_over_can(self, bus, fw_file):
print(f"Flashing {fw_file}")
while len(self.jungle.can_recv()) != 0:
continue
self.jungle.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", bus)
time.sleep(0.1)
with open(fw_file, "rb") as code:
PandaJungle.flash_static(CanHandle(self.jungle, bus), code.read())
def _listen_can_frames(self):
self.jungle.can_clear(0xFFFF)
msgs = 0
for _ in range(10):
incoming = self.jungle.can_recv()
for message in incoming:
address, _, _, bus = message
if address == 0x201 and bus == PEDAL_BUS:
msgs += 1
time.sleep(0.1)
return msgs
def test_usb_fw(self):
subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 PEDAL_USB=1 scons", shell=True)
self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal_usb.bin.signed")
time.sleep(2)
p = Panda(PEDAL_SERIAL)
self.assertTrue(p.is_pedal())
p.close()
self.assertTrue(self._listen_can_frames() > 40)
def test_nonusb_fw(self):
subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 scons", shell=True)
self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal.bin.signed")
time.sleep(2)
self.assertTrue(PEDAL_SERIAL not in Panda.list())
self.assertTrue(self._listen_can_frames() > 40)
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()
