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)
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()
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)
rx.extend(receiver.can_recv())
print(f"Received {len(rx)} messages")
# Check if we received everything
for bus in range(3):
received_msgs = set(
map(lambda m: bytes(m[2]), filter(lambda m, b=bus: m[3] == b,
rx))) # type: ignore
dropped_msgs = set(messages).difference(received_msgs)
print(
f"Bus {bus} dropped msgs: {len(list(dropped_msgs))} / {len(messages)}"
)
