def connect():
pandas = Panda.list()
print(pandas)
# make sure two pandas are connected
if len(pandas) != 2:
print("Connect white and grey/black panda to run this test!")
assert False
# connect
pandas[0] = Panda(pandas[0])
pandas[1] = Panda(pandas[1])
white_panda = None
gps_panda = None
# find out which one is white (for spamming the CAN buses)
if pandas[0].is_white() and not pandas[1].is_white():
white_panda = pandas[0]
gps_panda = pandas[1]
elif not pandas[0].is_white() and pandas[1].is_white():
white_panda = pandas[1]
gps_panda = pandas[0]
else:
print("Connect white and grey/black panda to run this test!")
assert False
return white_panda, gps_panda
def __init__(self):
# create simulation (GUI)
self.urdfRootPath = pybullet_data.getDataPath()
p.connect(p.GUI)
p.setGravity(0, 0, -9.81)
# set up camera
self._set_camera()
# load some scene objects
p.loadURDF(os.path.join(self.urdfRootPath, "plane.urdf"),
basePosition=[0, 0, -0.65])
p.loadURDF(os.path.join(self.urdfRootPath, "table/table.urdf"),
basePosition=[0.5, 0, -0.65])
p.loadURDF(os.path.join(self.urdfRootPath, "table/table.urdf"),
basePosition=[0.5, 1, -0.65])
# example YCB object
obj1 = YCBObject('003_cracker_box')
obj1.load()
p.resetBasePositionAndOrientation(obj1.body_id, [0.7, -0.2, 0.1],
[0, 0, 0, 1])
# example RBO object
obj2 = RBOObject('book')
obj2.load()
p.resetBasePositionAndOrientation(obj2.body_id, [0.8, 1.1, 0.5],
[0, 0, 1, 1])
# load a panda robot
self.panda1 = Panda([0, 0, 0])
self.panda2 = Panda([0, 1, 0])
def test_throughput(serial=None):
connect_wifi(serial)
p = Panda(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# send heartbeat
p.send_heartbeat()
# enable CAN loopback mode
p.set_can_loopback(True)
p = Panda("WIFI")
for speed in [100,250,500,750,1000]:
# send heartbeat
p.send_heartbeat()
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.1)
comp_kbps = time_many_sends(p, 0)
# bit count from https://en.wikipedia.org/wiki/CAN_bus
saturation_pct = (comp_kbps/speed) * 100.0
#assert_greater(saturation_pct, 80)
#assert_less(saturation_pct, 100)
print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def tesla_tester():
try:
print("Trying to connect to Panda over USB...")
p = Panda()
except AssertionError:
print("USB connection failed. Trying WiFi...")
try:
p = Panda("WIFI")
except:
print(
"WiFi connection timed out. Please make sure your Panda is connected and try again."
)
sys.exit(0)
body_bus_speed = 125 # Tesla Body busses (B, BF) are 125kbps, rest are 500kbps
body_bus_num = 1 # My TDC to OBD adapter has PT on bus0 BDY on bus1 and CH on bus2
p.set_can_speed_kbps(body_bus_num, body_bus_speed)
# Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT
# Careful, as this will let us send any CAN messages we want (which could be very bad!)
print("Setting Panda to output mode...")
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
print("Unlocking Tesla...")
p.can_send(0x248, b"\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
#Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
print("Opening Frunk...")
p.can_send(0x248, b"\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
#Back to safety...
print("Disabling output on Panda...")
p.set_safety_mode(Panda.SAFETY_SILENT)
print(
"Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)..."
)
vin = {}
while True:
#Read the VIN
can_recv = p.can_recv()
for address, _, dat, src in can_recv:
if src == body_bus_num:
if address == 1384: #0x568 is VIN
vin_index = int(binascii.hexlify(dat)
[:2]) #first byte is the index, 00, 01, 02
vin_string = binascii.hexlify(dat)[
2:] #rest of the string is the actual VIN data
vin[vin_index] = vin_string.decode("hex")
print("Got VIN index " + str(vin_index) + " data " +
vin[vin_index])
#if we have all 3 parts of the VIN, print it and break out of our while loop
if 0 in vin and 1 in vin and 2 in vin:
print("VIN: " + vin[0] + vin[1] + vin[2][:3])
break
def __init__(self):
print "Panda/CanBus shell:"
print "Ctrl-C - interrupt running command"
print "Ctrl-D - exit canshell"
print(" ! <expr> - evaluate python expression")
print(" help - list commands")
print(" help <command> - command help")
print("")
cmd.Cmd.__init__(self)
self.__baseline__ = set()
self.__ignore__ = set()
try:
print("Trying to connect to Panda over USB...")
self.panda = Panda()
except AssertionError:
print("USB connection failed. Trying WiFi...")
#self.panda = None
try:
self.panda = Panda("WIFI")
except:
print(
"WiFi connection timed out. Please make sure your Panda is connected and try again."
)
sys.exit(0)
self.panda.can_clear(0)
def test_send_recv(serial_sender=None, serial_reciever=None):
p_send = Panda(serial_sender)
p_recv = Panda(serial_reciever)
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.can_send_many([(0x1ba, 0, "message", 0)] * 2)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0, 1, 2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.05)
comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
saturation_pct = (comp_kbps / speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print(
"two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}"
.format(bus, speed, comp_kbps, saturation_pct))
def run_test(sleep_duration):
global counter, nonzero_bus_errors, zero_bus_errors, content_errors
pandas = Panda.list()
print(pandas)
# make sure two pandas are connected
if len(pandas) != 2:
print("Connect white/grey and black panda to run this test!")
assert False
# connect
pandas[0] = Panda(pandas[0])
pandas[1] = Panda(pandas[1])
black_panda = None
other_panda = None
# find out which one is black
if pandas[0].is_black() and not pandas[1].is_black():
black_panda = pandas[0]
other_panda = pandas[1]
elif not pandas[0].is_black() and pandas[1].is_black():
black_panda = pandas[1]
other_panda = pandas[0]
else:
print("Connect white/grey and black panda to run this test!")
assert False
# disable safety modes
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# test health packet
print("black panda health", black_panda.health())
print("other panda health", other_panda.health())
# test black -> other
while True:
test_buses(black_panda, other_panda, True, [(0, False, [0]),
(1, False, [1]),
(2, False, [2]),
(1, True, [0])],
sleep_duration)
test_buses(black_panda, other_panda, False, [(0, False, [0]),
(1, False, [1]),
(2, False, [2]),
(0, True, [0, 1])],
sleep_duration)
counter += 1
print("Number of cycles:", counter, "Non-zero bus errors:",
nonzero_bus_errors, "Zero bus errors:", zero_bus_errors,
"Content errors:", content_errors)
# Toggle relay
black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
time.sleep(1)
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
time.sleep(1)
def test_friends_of(self):
ivo = Panda("Ivo", "*****@*****.**", "male")
mina = Panda("Mina", "*****@*****.**", "female")
self.assertFalse(self.network.friends_of(ivo))
self.network.make_friends(self.peshko, self.marto)
self.network.make_friends(self.peshko, mina)
self.assertEqual(self.network.friends_of(self.peshko),
[self.marto, mina])
def can_logger():
try:
print("Trying to connect to Panda over USB...")
p = Panda()
except AssertionError:
print("USB connection failed. Trying WiFi...")
try:
p = Panda("WIFI")
except:
print(
"WiFi connection timed out. Please make sure your Panda is connected and try again."
)
sys.exit(0)
try:
outputfile = open('output.csv', 'wb')
csvwriter = csv.writer(outputfile)
#Write Header
csvwriter.writerow(['Bus', 'MessageID', 'Message', 'MessageLength'])
print("Writing csv file output.csv. Press Ctrl-C to exit...\n")
bus0_msg_cnt = 0
bus1_msg_cnt = 0
bus2_msg_cnt = 0
while True:
can_recv = p.can_recv()
for address, _, dat, src in can_recv:
csvwriter.writerow([
str(src),
str(hex(address)), "0x" + binascii.hexlify(dat),
len(dat)
])
if src == 0:
bus0_msg_cnt += 1
elif src == 1:
bus1_msg_cnt += 1
elif src == 2:
bus2_msg_cnt += 1
print("Message Counts... Bus 0: " + str(bus0_msg_cnt) +
" Bus 1: " + str(bus1_msg_cnt) + " Bus 2: " +
str(bus2_msg_cnt),
end='\r')
except KeyboardInterrupt:
print("\nNow exiting. Final message Counts... Bus 0: " +
str(bus0_msg_cnt) + " Bus 1: " + str(bus1_msg_cnt) + " Bus 2: " +
str(bus2_msg_cnt))
outputfile.close()
def test_connection_level(self):
# Wannabe Graph again :D
ivo = Panda("Ivo", "*****@*****.**", "male")
rado = Panda("Rado", "*****@*****.**", "male")
mimi = Panda('mimi', '*****@*****.**', 'female')
gosho = Panda('gosho', '*****@*****.**', 'male')
tony = Panda('tony', '*****@*****.**', 'female')
sasho = Panda('sasho', '*****@*****.**', 'male')
pesho = Panda('pesho', '*****@*****.**', 'male')
kremena = Panda('kremena', '*****@*****.**', 'female')
sad = Panda('sad', '*****@*****.**', 'male')
self.network.make_friends(ivo, rado)
self.network.make_friends(ivo, gosho)
self.network.make_friends(ivo, mimi)
self.network.make_friends(rado, mimi)
self.network.make_friends(rado, tony)
self.network.make_friends(tony, gosho)
self.network.make_friends(kremena, pesho)
self.network.make_friends(kremena, tony)
self.network.make_friends(kremena, mimi)
self.network.make_friends(sasho, gosho)
self.assertEqual(self.network.connection_level(ivo, rado), 1)
self.assertEqual(self.network.connection_level(kremena, rado), 2)
self.assertEqual(self.network.connection_level(ivo, sad), -1)
self.assertEqual(self.network.connection_level(mimi, tony), 2)
self.assertEqual(self.network.connection_level(pesho, gosho), 3)
def test_connection_level(self):
ivo = Panda("Ivo", "*****@*****.**", "male")
mina = Panda("Mina", "*****@*****.**", "female")
tony = Panda("Tony", "*****@*****.**", "female")
self.network.make_friends(ivo, tony)
self.network.make_friends(self.marto, ivo)
self.network.make_friends(self.marto, self.peshko)
self.network.make_friends(self.peshko, mina)
self.network.make_friends(mina, tony)
self.assertEqual(self.network.connection_level(ivo, mina), 2)
def test_connection_level(self):
rado = Panda("Rado", "*****@*****.**", "male")
pavli = Panda("Pavli", "*****@*****.**", "male")
maria = Panda("maria", "*****@*****.**", "female")
self.network.make_friends(self.ivo, rado)
self.network.make_friends(rado, pavli)
self.network.make_friends(pavli, maria)
self.assertEqual(self.network.connection_level(self.ivo, rado), 1)
self.assertEqual(self.network.connection_level(self.ivo, pavli), 2)
self.assertEqual(self.network.connection_level(self.ivo, maria), 3)
def test_elm_panda_safety_mode_ISO15765():
s = elm_connect()
serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
p_car = Panda(serial) # Configure this so the messages will send
p_car.set_can_speed_kbps(0, 500)
p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_elm = Panda("WIFI")
p_elm.set_safety_mode(0xE327);
#sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
#sim.start()
def did_send(p, addr, dat, bus):
p.can_send(addr, dat, bus)
t = time.time()
while time.time()-t < 0.5:
msg = p.can_recv()
for addrin, _, datin, busin in msg:
if (0x80 | bus) == busin and addr == addrin and datin == dat:
return True
time.sleep(0.01)
return False
try:
sync_reset(s) # Reset elm (which requests the ELM327 safety mode)
#29 bit
assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1) #wrong canid
assert not did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00', 0) #wrong length
assert not did_send(p_elm, 0x10000000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
assert not did_send(p_elm, 0x18DAF133, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (phy addr)
assert not did_send(p_elm, 0x18DAF000, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
assert not did_send(p_elm, 0x18DAF1F3, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr! (phys rsp to elm)
assert did_send(p_elm, 0x18DB33F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (obd func req)
assert did_send(p_elm, 0x18DA10F1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (phys response)
#11 bit
assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 1) #wrong canid
assert not did_send(p_elm, 0X7DF, b'\x02\x01\x00', 0) #wrong length
assert not did_send(p_elm, 0xAA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr
assert not did_send(p_elm, 0x7DA, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (phy addr)
assert not did_send(p_elm, 0x7E8, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #bad addr (sending 'response')
assert did_send(p_elm, 0x7DF, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (obd func req)
assert did_send(p_elm, 0x7E1, b'\x02\x01\x00\x00\x00\x00\x00\x00', 0) #good! (phys response)
finally:
s.close()
def main():
filename = 'output.txt'
network = PandaSocialNetwork()
ivo = Panda("Ivo", "*****@*****.**", "male")
rado = Panda("Rado", "*****@*****.**", "male")
mimi = Panda('mimi', '*****@*****.**', 'female')
gosho = Panda('gosho', '*****@*****.**', 'male')
tony = Panda('tony', '*****@*****.**', 'female')
sasho = Panda('sasho', '*****@*****.**', 'male')
pesho = Panda('pesho', '*****@*****.**', 'male')
kremena = Panda('kremena', '*****@*****.**', 'female')
network.make_friends(ivo, rado)
network.make_friends(ivo, gosho)
network.make_friends(ivo, mimi)
network.make_friends(rado, mimi)
network.make_friends(rado, tony)
network.make_friends(tony, gosho)
network.make_friends(kremena, pesho)
network.make_friends(kremena, tony)
network.make_friends(kremena, mimi)
network.make_friends(sasho, gosho)
network.save(filename)
network1 = PandaSocialNetwork()
network1.load(filename)
print(network1.how_many_gender_in_network(3, kremena, 'male'))
def test_elm_panda_safety_mode_KWPFast():
serial = os.getenv("CANSIMSERIAL") if os.getenv("CANSIMSERIAL") else None
p_car = Panda(serial) # Configure this so the messages will send
p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_car.kline_drain()
p_elm = Panda("WIFI")
p_elm.set_safety_mode(Panda.SAFETY_ELM327)
def get_checksum(dat):
result = 0
result += sum(map(ord, dat)) if isinstance(b'dat', str) else sum(dat)
return struct.pack("B", result % 0x100)
def timed_recv_check(p, bus, goodmsg):
t = time.time()
msg = bytearray()
while time.time() - t < 0.5 and len(msg) != len(goodmsg):
msg += p._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0,
len(goodmsg) - len(msg))
#print("Received", repr(msg))
if msg == goodmsg:
return True
time.sleep(0.01)
return False
def kline_send(p, x, bus=2):
p.kline_drain(bus=bus)
p._handle.bulkWrite(2, bytes([bus]) + x)
return timed_recv_check(p, bus, x)
def did_send(priority, toaddr, fromaddr, dat, bus=2, checkbyte=None):
msgout = struct.pack("BBB", priority | len(dat), toaddr,
fromaddr) + dat
msgout += get_checksum(msgout) if checkbyte is None else checkbyte
print("Sending", hex(priority), hex(toaddr), hex(fromaddr),
repr(msgout))
if not kline_send(p_elm, msgout, bus=bus):
return False
return timed_recv_check(p_car, bus, msgout)
assert not did_send(0xC0, 0x33, 0xF1, b'\x01\x0F', bus=3) # wrong bus
assert not did_send(0xC0, 0x33, 0xF1, b'') # wrong length
assert not did_send(0xB0, 0x33, 0xF1, b'\x01\x0E') # bad priority
assert not did_send(0xC0, 0x00, 0xF1, b'\x01\x0D') # bad addr
assert not did_send(0xC0, 0x33, 0x00, b'\x01\x0C') # bad addr
assert did_send(0xC0, 0x33, 0xF1, b'\x01\x0B') # good! (obd func req)
def test_how_many_genders(self):
# Wannabe Graph again :D
ivo = Panda("Ivo", "*****@*****.**", "male")
rado = Panda("Rado", "*****@*****.**", "male")
mimi = Panda('mimi', '*****@*****.**', 'female')
gosho = Panda('gosho', '*****@*****.**', 'male')
tony = Panda('tony', '*****@*****.**', 'female')
sasho = Panda('sasho', '*****@*****.**', 'male')
pesho = Panda('pesho', '*****@*****.**', 'male')
kremena = Panda('kremena', '*****@*****.**', 'female')
self.network.make_friends(ivo, rado)
self.network.make_friends(ivo, gosho)
self.network.make_friends(ivo, mimi)
self.network.make_friends(rado, mimi)
self.network.make_friends(rado, tony)
self.network.make_friends(tony, gosho)
self.network.make_friends(kremena, pesho)
self.network.make_friends(kremena, tony)
self.network.make_friends(kremena, mimi)
self.network.make_friends(sasho, gosho)
self.assertEqual(
self.network.how_many_gender_in_network(1, rado, 'female'), 2)
self.assertEqual(
self.network.how_many_gender_in_network(1, rado, 'male'), 1)
self.assertEqual(
self.network.how_many_gender_in_network(1, rado, 'female'), 2)
self.assertEqual(
self.network.how_many_gender_in_network(2, rado, 'male'), 2)
self.assertEqual(
self.network.how_many_gender_in_network(3, kremena, 'male'), 5)
def test_recv_only(serial=None):
connect_wifi(serial)
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = Panda("WIFI")
# TODO: msg_count=1000 drops packets, is this fixable?
for msg_count in [10,100,200]:
speed = 500
p.set_can_speed_kbps(0, speed)
comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
saturation_pct = (comp_kbps/speed) * 100.0
print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
def load(self, file_name):
with open('socialNetwork.json', "r") as f:
data = json.load(f)
f.close()
for key, value in data.items():
key_split = key.split(',')
self.graph[Panda(key_split[0], 'da', 'dwa')] = []
for v in value:
v_split = v.split(',')
self.graph[Panda(key_split[0], 'da',
'dwa')].append(Panda(v_split[0], 'da', 'dwa'))
return data
def wrapper():
p = Panda()
for i in [0, 1, 2, 0xFFFF]:
p.can_clear(i)
p.reset()
p.close()
fn()
def __init__(self,
sn,
silent=False,
can_kbaud=500,
can=True,
can11b=True,
can29b=True,
lin=True):
self.__p = Panda(sn if sn else Panda.list()[0])
self.__on = True
self.__stop = False
self.__silent = silent
self.__lin_timer = None
self.__lin_active = False
self.__lin_enable = lin
self.__lin_monitor_thread = threading.Thread(target=self.__lin_monitor)
self.__can_multipart_data = None
self.__can_kbaud = can_kbaud
self.__can_extra_noise_msgs = deque()
self.__can_enable = can
self.__can11b = can11b
self.__can29b = can29b
self.__can_monitor_thread = threading.Thread(target=self.__can_monitor)
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 wrapper(panda_serials=None, **kwargs):
# Change panda_serials to a list
if panda_serials is not None:
if not isinstance(panda_serials, list):
panda_serials = [panda_serials]
# Connect to pandas
pandas = []
for panda_serial in panda_serials:
pandas.append(Panda(serial=panda_serial))
# Initialize pandas
for panda in pandas:
panda.set_can_loopback(False)
panda.set_gmlan(None)
panda.set_esp_power(False)
for bus, speed in [(0, SPEED_NORMAL), (1, SPEED_NORMAL),
(2, SPEED_NORMAL), (3, SPEED_GMLAN)]:
panda.set_can_speed_kbps(bus, speed)
clear_can_buffers(panda)
_thread.start_new_thread(heartbeat_thread, (panda, ))
panda.set_power_save(False)
# Run test function
ret = fn(*pandas, **kwargs)
# Close all connections
for panda in pandas:
panda.close()
# Return test function result
return ret
def test_udp_doesnt_drop():
connect_wifi()
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = PandaWifiStreaming()
while 1:
if len(pwifi.can_recv()) == 0:
break
for msg_count in [1, 100]:
for i in range({1: 0x80, 100: 0x20}[msg_count]):
pwifi.kick()
speed = 500
p.set_can_speed_kbps(0, speed)
comp_kbps = time_many_sends(p,
0,
pwifi,
msg_count=msg_count,
msg_id=0x100 + i)
saturation_pct = (comp_kbps / speed) * 100.0
if msg_count == 1:
sys.stdout.write(".")
sys.stdout.flush()
else:
print(
"UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f"
% (msg_count, speed, comp_kbps, saturation_pct))
assert_greater(saturation_pct, 40)
assert_less(saturation_pct, 100)
print("")
def wrapper(panda_type=None, **kwargs):
# Change panda_types to a list
if panda_type is not None:
if not isinstance(panda_type, list):
panda_type = [panda_type]
# If not done already, get panda serials and their type
global _panda_serials
if _panda_serials == None:
_panda_serials = []
for serial in Panda.list():
p = Panda(serial=serial)
_panda_serials.append((serial, p.get_type()))
p.close()
# Find a panda with the correct types and add the corresponding serial
serials = []
for p_type in panda_type:
found = False
for serial, pt in _panda_serials:
# Never take the same panda twice
if (pt == p_type) and (serial not in serials):
serials.append(serial)
found = True
break
if not found:
raise IOError(
"No unused panda found for type: {}".format(p_type))
return fn(serials, **kwargs)
def __generatePandas(self): """ Generate randomly positioned pandas in a way that there is a minimum distance between them and the spikes """ i = 0 while(i < self.pandaNumber): colisionDetected = False x = randrange(50 - self.gameWidth/2, -50 + self.gameWidth/2) y = randrange(50 - self.gameHeight/2, -50 + self.gameHeight/2) pandaPoint = Point3(x, y, 1.5) for panda in Panda.pandaList: point = panda.pandaHandle.getPos(self.render) dist = (point.getXy() - pandaPoint.getXy()).lengthSquared() if dist < 100: colisionDetected = True break if colisionDetected: continue for spike in Spike.spikeNormalList: point = spike.spikeHandle.getPos(self.render) dist = (point.getXy() - pandaPoint.getXy()).lengthSquared() if dist < 100: colisionDetected = True break if colisionDetected: continue self.ga.internalPop[i].setParams(pandaId = i) Panda(self, x, y, self.ga.internalPop[i]) i += 1
def test_are_pandas_connected(self):
self.network.make_friends(self.peshko, self.marto)
self.assertTrue(
self.network.connection_level(self.peshko, self.marto) != 0)
ivo = Panda("Ivo", "*****@*****.**", "male")
self.assertFalse(self.network.connection_level(self.peshko, ivo) != 0)
def update_panda():
panda = None
panda_dfu = None
cloudlog.info("Connecting to panda")
while True:
# break on normal mode Panda
panda_list = Panda.list()
if len(panda_list) > 0:
cloudlog.info("Panda found, connecting")
panda = Panda(panda_list[0])
break
# flash on DFU mode Panda
panda_dfu = PandaDFU.list()
if len(panda_dfu) > 0:
cloudlog.info("Panda in DFU mode found, flashing recovery")
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
time.sleep(1)
fw_fn = get_firmware_fn()
fw_signature = get_expected_signature(fw_fn)
try:
serial = panda.get_serial()[0].decode("utf-8")
except Exception:
serial = None
panda_version = "bootstub" if panda.bootstub else panda.get_version()
panda_signature = b"" if panda.bootstub else panda.get_signature()
cloudlog.warning(
"Panda %s connected, version: %s, signature %s, expected %s" % (
serial,
panda_version,
panda_signature.hex(),
fw_signature.hex(),
))
if panda.bootstub or panda_signature != fw_signature:
cloudlog.info("Panda firmware out of date, update required")
panda.flash(fw_fn)
cloudlog.info("Done flashing")
if panda.bootstub:
cloudlog.info(
"Flashed firmware not booting, flashing development bootloader")
panda.recover()
cloudlog.info("Done flashing bootloader")
if panda.bootstub:
cloudlog.info("Panda still not booting, exiting")
raise AssertionError
panda_signature = panda.get_signature()
if panda_signature != fw_signature:
cloudlog.info("Version mismatch after flashing, exiting")
raise AssertionError
def __init__(self):
# create simulation
self.urdfRootPath = pybullet_data.getDataPath()
p.connect(p.GUI) # DIRECT or GUI
p.setGravity(0, 0, -9.81)
# set up camera
self._set_camera()
# load some scene objects
p.loadURDF(os.path.join(self.urdfRootPath, "plane.urdf"),
basePosition=[0, 0, -0.65])
p.loadURDF(os.path.join(self.urdfRootPath, "table/table.urdf"),
basePosition=[0.5, 0, -0.65])
# obstacle
obj1 = YCBObject('003_cracker_box')
obj1.load()
p.resetBasePositionAndOrientation(obj1.body_id, [0.5, 0.0, 0.05],
[0, 0, 0, 1])
# target
obj2 = YCBObject('002_master_chef_can')
obj2.load()
p.resetBasePositionAndOrientation(obj2.body_id, [0.75, 0.0, 0.01],
[0, 0, 0, 1])
# load a panda robot
self.panda = Panda()
def update_panda():
with open(os.path.join(BASEDIR, "VERSION")) as f:
repo_version = f.read()
repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
panda = None
panda_dfu = None
cloudlog.info("Connecting to panda")
while True:
# break on normal mode Panda
panda_list = Panda.list()
if len(panda_list) > 0:
cloudlog.info("Panda found, connecting")
panda = Panda(panda_list[0])
break
# flash on DFU mode Panda
panda_dfu = PandaDFU.list()
if len(panda_dfu) > 0:
cloudlog.info("Panda in DFU mode found, flashing recovery")
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
print "waiting for board..."
time.sleep(1)
current_version = "bootstub" if panda.bootstub else str(
panda.get_version())
cloudlog.info("Panda connected, version: %s, expected %s" %
(current_version, repo_version))
if panda.bootstub or not current_version.startswith(repo_version):
cloudlog.info("Panda firmware out of date, update required")
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
if os.path.exists(signed_fn):
cloudlog.info("Flashing signed firmware")
panda.flash(fn=signed_fn)
else:
cloudlog.info("Building and flashing unsigned firmware")
panda.flash()
cloudlog.info("Done flashing")
if panda.bootstub:
cloudlog.info(
"Flashed firmware not booting, flashing development bootloader")
panda.recover()
cloudlog.info("Done flashing bootloader")
if panda.bootstub:
cloudlog.info("Panda still not booting, exiting")
raise AssertionError
version = str(panda.get_version())
if not version.startswith(repo_version):
cloudlog.info("Version mismatch after flashing, exiting")
raise AssertionError
def wrapper(*args, **kwargs):
p = Panda()
for i in [0, 1, 2, 0xFFFF]:
p.can_clear(i)
p.reset()
p.close()
f(*args, **kwargs)
