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 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 send_thread(serial):
panda = Panda(serial)
panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
panda.set_can_loopback(False)
can_sock = messaging.sub_sock(service_list['can'].port)
while True:
# Send messages one bus 0 and 1
tsc = messaging.recv_one(can_sock)
snd = can_capnp_to_can_list(tsc.can)
snd = filter(lambda x: x[-1] <= 2, snd)
panda.can_send_many(snd)
# Drain panda message buffer
panda.can_recv()
def car_speed_pub():
# Create a set up the publisher for car speed:
pub = rospy.Publisher('car_speed', Float64, queue_size=10)
rospy.init_node('car_speed_pub', anonymous=True)
pub_rate = rospy.Rate(10) # 10 Hz
# Interface to Panda:
panda = Panda()
# Run endlessly while ROS is running:
while not rospy.is_shutdown():
# Get the CAN message from the Panda:
data = panda.can_recv()
# Find and parse wheel speed data message:
for i in range(0, len(data)):
if data[i][0] == 597:
wheel_speed = data[i][2]
wheel_speed_b = wheel_speed[0]
for i in range(1, len(wheel_speed)):
wheel_speed_b = (wheel_speed_b << 8) + wheel_speed[i]
WS_FL = KPH_TO_MPS * wheel_speed[0]
WS_FR = KPH_TO_MPS * wheel_speed[1]
WS_RL = KPH_TO_MPS * wheel_speed[2]
WS_RR = KPH_TO_MPS * wheel_speed[3]
#print "WS_FL = " + str(WS_FL) + "; WS_FR = " + str(WS_FR) + "; WS_RL = " + str(WS_RL) + "; WS_RR = " + str(WS_RR)
pub.publish(0.25 * (WS_FL + WS_FR + WS_RL + WS_RR))
pub_rate.sleep()
def send_thread(serial):
try:
panda = Panda(serial)
panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
panda.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))
panda.can_send_many(snd)
# Drain panda message buffer
panda.can_recv()
except Exception:
traceback.print_exc()
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 connect_wo_esp():
# connect to the panda
p = Panda()
# power down the ESP
p.set_esp_power(False)
return p
# clear old junk
while len(p.can_recv()) > 0:
pass
class Prius(object):
def __init__(self):
panda_list = Panda.list()
# choose panda serial prot
if len(panda_list) > 1:
for i, s in enumerate(panda_list, 1):
print('{}) {}'.format(i, s))
serial = panda_list[input('Please input 1, 2,.... or 10 number: ')
- 1]
else:
serial = panda_list[0]
# Connect to panda
if serial in panda_list:
self.panda = Panda(serial)
self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
self.panda.can_clear(0)
self.frame = 0
print('Connect Panda [Send]')
else:
print('Not Panda connect')
exit()
def send_speed(self, speed=0):
can_send = []
# speedometer
can_send.append(create_speedometer(self.frame, 0xB4, speed, 0, True))
can_send.append(create_speedometer2(self.frame, 0xB1, speed, 0, True))
can_send.append(create_speedometer3(self.frame, 0xB3, speed, 0, True))
can_send.append(create_speedometer4(self.frame, 0x3ca, speed, 0))
self.frame += 1
self.panda.can_send_many(can_send)
def send_door_lock(self, lock=True):
can_send = []
if lock:
msg = struct.pack('!BBB', 0xe4, 0x81, 0x00)
can_send.append([0x5B6, 0, msg, 0])
self.panda.can_send_many(can_send)
else:
msg = struct.pack('!BBB', 0xe4, 0x00, 0x00)
can_send.append([0x5B6, 0, msg, 0])
self.panda.can_send_many(can_send)
def recv(self):
can_msgs = self.panda.can_recv()
can_msgs_bytes = []
for address, _, dat, src in can_msgs:
can_msgs_bytes.append((address, 0, bytes(dat), src))
if address == 0xb4:
print("Address: {}\t Data: {}\t src: {}".format(
address, binary_show(dat), src))
class PandaBridge(object):
def __init__(self, rate=200):
self.can_pub = rospy.Publisher('can_frame_msgs', Frame, queue_size=10)
rospy.loginfo("Setting up publisher to: " +
str(self.can_pub.resolved_name))
self.rate = rate
rospy.loginfo("Reading from panda board at " + str(self.rate) + " Hz.")
rospy.loginfo("Connecting to Panda board...")
self.panda = Panda()
self.panda.set_safety_mode(self.panda.SAFETY_HONDA)
rospy.loginfo("Connected.")
def run(self):
rate = rospy.Rate(self.rate)
while not rospy.is_shutdown():
# Reading gives us up to 256 messages
can_msg_block = self.panda.can_recv()
# print can_msg_block
# A message looks like:
# [(420, 55639, bytearray(b'\x00f\x00\x00\x00\x00\x00:'), 0),
# (428, 55761, bytearray(b'\x7f\xff\x00\x00\x00\x08\x002'), 0),
# ... ]
if can_msg_block:
for msg in can_msg_block:
frame = self.convert_panda_to_msg(msg)
self.can_pub.publish(frame)
rate.sleep()
def convert_panda_to_msg(self, can_msg):
frame = Frame()
frame.id = can_msg[0]
frame.dlc = 8
frame.is_error = 0
frame.is_rtr = 0
frame.is_extended = 0
# hacky conversion to uint8
frame.data = str(can_msg[2])
frame.header.frame_id = ""
frame.header.stamp = rospy.get_rostime()
return frame
def can_proxy():
print("Trying to connect to Panda over USB...")
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.can_clear(0)
try:
while True:
can_recv = p.can_recv()
for address, _, dat, src in can_recv:
if src == 2:
if address == 0x180:
dat = can_modify(dat)
p.can_send(address, bytearray(dat), 0)
print("sent message")
except KeyboardInterrupt:
print("\nNow exiting.")
def can_logger():
try:
p = Panda()
outputfile = open('output.csv', 'wb')
csvwriter = csv.writer(outputfile)
#Write Header
csvwriter.writerow(['Bus', 'MessageID', 'Message'])
print("Writing csv file. Press Ctrl-C to exit...")
while True:
can_recv = p.can_recv()
for address, _, dat, src in can_recv:
csvwriter.writerow([str(src), str(address), binascii.hexlify(dat)])
except KeyboardInterrupt:
print("Exiting...")
outputfile.close()
def can_printer():
p = Panda()
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", 0))
while True:
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()
def panda_bridge_ros():
can_pub_ = rospy.Publisher('can_frame_msgs', Frame, queue_size=10)
rospy.init_node('can_bridge', anonymous=True)
rate = rospy.Rate(200) # 10hz
panda = Panda()
while not rospy.is_shutdown():
can_msg = panda.can_recv()
if can_msg:
frame = convert_panda_to_msg(can_msg[0])
frame.header.frame_id = ""
frame.header.stamp = rospy.get_rostime()
can_pub_.publish(frame)
rate.sleep()
def can_printer():
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", 0))
while True:
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(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())])):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
print(dd)
lp = sec_since_boot()
def can_logger():
p = Panda()
try:
outputfile = open('output.csv', 'w')
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)), f"0x{dat.hex()}",
len(dat)])
if src == 0:
bus0_msg_cnt += 1
elif src == 1:
bus1_msg_cnt += 1
elif src == 2:
bus2_msg_cnt += 1
print(
f"Message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}",
end='\r')
except KeyboardInterrupt:
print(
f"\nNow exiting. Final message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}"
)
outputfile.close()
def can_printer():
p = Panda()
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", 0))
while True:
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()
#p_in = Panda("02001b000f51363038363036")
p_in = Panda("WIFI")
print(p_in.get_serial())
p_in = PandaWifiStreaming() # type: ignore
#while True:
# p_in.can_recv()
#sys.exit(0)
p_out.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
set_out, set_in = set(), set()
# drain
p_out.can_recv()
p_in.can_recv()
BATCH_SIZE = 16
for a in tqdm(list(range(0, 10000, BATCH_SIZE))):
for b in range(0, BATCH_SIZE):
msg = b"\xaa" * 4 + struct.pack("I", a + b)
if a % 1 == 0:
p_out.can_send(0xaa, msg, 0)
dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
if len(dat_in) != 0:
print(len(dat_in))
num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
from redis import StrictRedis
from panda import Panda
import time
import binascii
panda = Panda()
r = StrictRedis()
messages = 0
last = time.time()
seen = set()
while True:
can_recv = panda.can_recv()
for can_message in can_recv:
can_id = can_message[0]
if can_id in [
# g sensors
145,
146
]:
continue
if bytes(can_message[2]) in seen:
continue
if r.sismember("can:%s" % (can_message[0]), bytes(can_message[2])):
continue
print(
can_message[0],
''.join(format(ord(byte), '08b') for byte in str(can_message[2])))
seen.add(bytes(can_message[2]))
#p_in = Panda("02001b000f51363038363036")
p_in = Panda("WIFI")
print(p_in.get_serial())
p_in = PandaWifiStreaming()
#while True:
# p_in.can_recv()
#sys.exit(0)
p_out.set_controls_allowed(True)
set_out, set_in = set(), set()
# drain
p_out.can_recv()
p_in.can_recv()
BATCH_SIZE = 16
for a in tqdm(range(0, 10000, BATCH_SIZE)):
for b in range(0, BATCH_SIZE):
msg = b"\xaa"*4 + struct.pack("I", a+b)
if a%1 == 0:
p_out.can_send(0xaa, msg, 0)
dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
if len(dat_in) != 0:
print(len(dat_in))
num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
from panda import Panda
import binascii
panda = Panda()
raw_input("press any key to start background logging")
msgs = {}
def get_bits(bytes):
return list(bin(int(binascii.hexlify(bytes), base=16)).zfill(len(binascii.hexlify(bytes)*8)))
try:
while True:
data = panda.can_recv()
for addr, _, dat, src in data:
bits = get_bits(dat)
if addr not in msgs[src]:
msgs[src][addr] = bits
else:
for bit in msgs[src][addr]:
bit = 2 if bit != bits.pop(0) else bit
except KeyboardInterrupt:
pass
raw_input("press any key to start logging again")
try:
while True:
def can_logger(car_dbc=None,
leddar_dbc=None,
port=None,
sample_time=0.2,
filename=None,
ni_device='Dev1'):
try:
print("Trying to connect to Panda over USB...")
if port != None:
p = Panda(port)
else:
p = Panda() # default port
p.can_clear(0xFFFF)
print('Buffer cleaned')
# Send leddar request to start transmitting - Read LeddarVu 8 documentation
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
dat = '0301000000000000'
p.can_send(0x740, dat.decode('hex'), 1)
p.serial_clear(1)
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:
columns = [
'time_rel', 'timestamp', 'vehicle_speed_mph', 'eng_speed_rpm',
'pedal_per', 'gap_m', 'latitude_deg', 'longitude_deg',
'axle_torque_ch_0_V', 'axle_torque_ch_1_V'
]
df = pd.DataFrame(columns=columns)
rel_time = 0
dt = sample_time
while True:
time.sleep(dt)
row = {}
row[columns[0]] = rel_time
row[columns[1]] = str(datetime.now())
can_recv = p.can_recv()
gps = p.serial_read(1)
for address, _, dat, _ in can_recv:
if address == 0x215:
msg = car_dbc.decode_message(address, dat)
row[columns[2]] = (
msg['Veh_wheel_speed_RR_CAN_kph_'] +
msg['Veh_wheel_speed_FL_CAN_kph_'] +
msg['Veh_wheel_speed_RL_CAN_kph_'] +
msg['Veh_wheel_speed_FR_CAN_kph_']) * 0.25 * 0.62137119
elif address == 0x201:
msg = car_dbc.decode_message(address, dat)
row[columns[3]] = msg['Eng_speed_CAN_rpm_']
row[columns[4]] = msg['Pedal_accel_pos_CAN_per_']
elif (address == 0x752 or address == 0x753 or address == 0x754
or address == 0x755 or address == 0x756
or address == 0x757 or address == 0x758
or address == 0x759):
msg = leddar_dbc.decode_message(address, dat)
if msg['lidar_channel'] == 4:
row[columns[5]] = msg['lidar_distance_m']
# Clear the CAN bus to avoid the buffer
p.can_clear(0xFFFF)
lat, long = lat_longitude_from_serial(gps)
row[columns[6]] = lat
row[columns[7]] = long
# Add nidaqmx channels
with nidaqmx.Task() as task:
task.ai_channels.add_ai_voltage_chan(
device + "/ai0", terminal_config=TerminalConfiguration.RSE)
task.ai_channels.add_ai_voltage_chan(
device + "/ai1", terminal_config=TerminalConfiguration.RSE)
analog_channels = np.array(
task.read(number_of_samples_per_channel=100)).mean(axis=1)
row[columns[8]] = analog_channels[0]
row[columns[9]] = analog_channels[1]
print(row)
df = df.append(row, ignore_index=True)
rel_time += dt
except KeyboardInterrupt:
if filename == None:
filename = datetime.now().strftime("%Y%m%d%H%M%S") + '_output.csv'
else:
filename = datetime.now().strftime(
"%Y%m%d%H%M%S") + '_' + filename + '.csv'
df.to_csv(filename, index=False)
# Print and plot results in the screen
plt.figure()
plt.subplot(2, 1, 1)
plt.plot(df['time_rel'], df['gap_m'])
plt.ylabel('gap (m)')
plt.subplot(2, 1, 2)
plt.plot(df['time_rel'], df['axle_torque_ch_0_V'])
plt.plot(df['time_rel'], df['axle_torque_ch_1_V'])
plt.ylabel('torque voltages')
plt.xlabel('time (sec)')
plt.legend()
plt.show()
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_mode()
a = 0
while True:
# flood
msg = b"\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)
dat = p.can_recv()
if len(dat) > 0:
print(dat)
a += 1
print('Sending!')
msg = b"\xaa" * 4
packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]
] * NUM_MESSAGES_PER_BUS
panda.can_send_many(packet)
print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
if __name__ == "__main__":
serials = Panda.list()
if len(serials) != 2:
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1])
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# Start transmisson
threading.Thread(target=flood_tx, args=(sender, )).start()
# Receive as much as we can in a few second time period
rx = []
old_len = 0
start_time = time.time()
while time.time() - start_time < 2 or len(rx) > old_len:
old_len = len(rx)
rx.extend(receiver.can_recv())
print(f"Received {len(rx)} messages")
def test_udp_doesnt_drop(serials=None):
connect_wifi(serials[0])
p = Panda(serials[0])
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]:
saturation_pcts = []
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,
20) #sometimes the wifi can be slow...
assert_less(saturation_pct, 100)
saturation_pcts.append(saturation_pct)
if len(saturation_pcts) > 0:
assert_greater(sum(saturation_pcts) / len(saturation_pcts), 60)
time.sleep(5)
usb_ok_cnt = 0
REQ_USB_OK_CNT = 500
st = time.time()
msg_id = 0x1bb
bus = 0
last_missing_msg = 0
while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
p.can_send(msg_id, "message", bus)
time.sleep(0.01)
r = [1]
missing = True
while len(r) > 0:
r = p.can_recv()
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
if len(r) > 0:
missing = False
usb_ok_cnt += len(r)
if missing:
last_missing_msg = time.time()
et = time.time() - st
last_missing_msg = last_missing_msg - st
print(
"waited {} for panda to recv can on usb, {} msgs, last missing at {}".
format(et, usb_ok_cnt, last_missing_msg))
assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"
class AllPublisher(object):
def __init__(self):
rp = RosPack()
pkgpath = rp.get_path('panda_bridge_ros')
pkgpath += '/config/honda_civic_touring_2016_can_for_cantools.dbc'
self.parser = load_dbc_file(pkgpath)
self.p = Panda()
self.p.set_safety_mode(self.p.SAFETY_ALLOUTPUT)
self.gas_val = 0
self.brake_val = 0
self.steer_val = 0
self.engine_modifier = 0.0
self.sub_engine = rospy.Subscriber('/joy',
Joy,
self.engine_cb,
queue_size=1)
self.sub_steer = rospy.Subscriber('/steering_amount',
Int16,
self.steer_cb,
queue_size=1)
self.sub_brake = rospy.Subscriber('/braking_amount',
Int16,
self.brake_cb,
queue_size=1)
def engine_cb(self, data):
self.engine_modifier = data.axes[1]
def steer_cb(self, data):
# print("steer_cb: " + str(data))
if data.data > 3840:
self.steer_val = 3840
elif data.data < -3840:
self.steer_val = -3840
self.steer_val = data.data
def brake_cb(self, data):
# print("brake_cb: " + str(data))
if data.data > 1023:
self.brake_val = 1023
elif data.data < 0:
self.brake_val = 0
self.brake_val = data.data
def run(self):
print("Publishing...")
idx_counter = 0
idx_counter_engine = 0
total_cmds_sent = 0
last_received_xmission_speed = 0
last_received_odometer = 0
last_received_xmission_speed_2 = 0
last_engine_rpm = 0
iterations = 0
while not rospy.is_shutdown():
# receive first
block = self.p.can_recv()
for msg in block:
# if its an engine message
if msg[0] == 344 and msg[3] == 0:
fields = self.parser.decode_message(msg[0], msg[2])
# print("we read engine message with speed:")
# print(fields['XMISSION_SPEED'])
last_received_xmission_speed = fields['XMISSION_SPEED']
last_received_odometer = fields['ODOMETER']
last_received_xmission_speed_2 = fields['XMISSION_SPEED2']
last_engine_rpm = fields['ENGINE_RPM']
break
# Engine rpm stuff
if self.engine_modifier != 0.0:
# we need to invert the modifier signal
# cause we are tricking the cruise control to go at the speed we want
# so we need to create a engine data message that ssays
# we are driving slower than we should in order for it to accelerate
# limit to +- 15kmph the max acceleration requested
speed = last_received_xmission_speed + \
(15.0 * self.engine_modifier * -1.0)
print("latest_received_xmission_speed: " +
str(last_received_xmission_speed))
print("we modify by: " +
str((15.0 * self.engine_modifier * -1.0)))
print("which results in: " + str(speed))
# (xmission_speed, engine_rpm=2000, odometer=3, idx=0):
cmd = create_engine_data(speed, last_engine_rpm,
last_received_odometer,
idx_counter_engine)
idx_counter_engine += 1
idx_counter_engine %= 4
print("command is: " + str(cmd))
print("Sending: " + str(cmd) + " (#" + str(total_cmds_sent) +
") engine modifier val: " + str(self.engine_modifier))
print("speed:" + str(speed) + " rpm: " + str(last_engine_rpm))
self.p.can_send(cmd[0], cmd[2], 0)
if iterations % 5 == 0:
cmd = create_steering_control(self.steer_val, idx_counter)[0]
# print("Sending: " + str(cmd) +
# " (#" + str(total_cmds_sent) +
# ") steer val: " + str(self.steer_val))
self.p.can_send(cmd[0], cmd[2], 1)
# (apply_brake, pcm_override, pcm_cancel_cmd, chime, idx):
cmd = create_brake_command(self.brake_val, 1, 0, 0,
idx_counter)
# print("Sending: " + str(cmd) +
# " (#" + str(total_cmds_sent) +
# ") brake val: " + str(self.brake_val))
self.p.can_send(cmd[0], cmd[2], 1)
idx_counter += 1
idx_counter %= 4
# its wrong, but who cares
total_cmds_sent += 1
time.sleep(0.002)
iterations += 1
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 True:
# flood
msg = b"\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)
dat = p.can_recv()
if len(dat) > 0:
print(dat)
a += 1
#!/usr/bin/env python
import time
from panda import Panda
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# hack anything on bus
p.set_gmlan(bus=2)
time.sleep(0.1)
while len(p.can_recv()) > 0:
print "clearing"
time.sleep(0.1)
print "cleared"
p.set_gmlan(bus=None)
iden = 18000
dat = "\x01\x02\x03\x04\x05\x06\x07\x08"
while 1:
iden += 1
p.can_send(iden, dat, bus=3)
time.sleep(0.01)
from panda import Panda
from binascii import hexlify, unhexlify
from time import sleep
CAN_BUS = 0x0
if __name__ == "__main__":
try:
panda = Panda()
# allow all output
panda.set_safety_mode(0x1337)
# clear tx buffer
panda.can_clear(0x0)
# clear rx buffer
panda.can_clear(0xFFFF)
data = unhexlify(b'10082324F0010098')
addr = 0x0
for i in range(0x800):
print('Try', hex(addr + i))
panda.can_send(addr + i, data, CAN_BUS)
sleep(0.1)
for _ in range(100):
messages = panda.can_recv()
for rx_addr, rx_ts, rx_data, rx_bus in messages:
if rx_data[0:1] == unhexlify(b'30'):
print('Found addr', hex(addr + i))
sys.exit(0)
except Exception as e:
print(e)
#!/usr/bin/env python3
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)),
".."))
from panda import Panda
# This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle.
# It sends a reversed response back for every message received containing b"test".
# Resend every CAN message that has been received on the same bus, but with the data reversed
if __name__ == "__main__":
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
while True:
incoming = p.can_recv()
for message in incoming:
address, notused, data, bus = message
if b'test' in data:
p.can_send(address, data[::-1], bus)
from panda import Panda
p1 = Panda('380016000551363338383037')
p2 = Panda('430026000951363338383037')
# this is a test, no safety
p1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p2.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# get versions
print(p1.get_version())
print(p2.get_version())
# this sets bus 2 to actually be GMLAN
p2.set_gmlan(bus=2)
# send w bitbang then without
#iden = 123
iden = 18000
#dat = "\x01\x02"
dat = "\x01\x02\x03\x04\x05\x06\x07\x08"
while 1:
iden += 1
p1.set_gmlan(bus=None)
p1.can_send(iden, dat, bus=3)
#p1.set_gmlan(bus=2)
#p1.can_send(iden, dat, bus=3)
time.sleep(0.01)
print(p2.can_recv())
#exit(0)
last_steer = 0
last_gas = 0
last_brake = 0
last_speed = 0
while True:
ret, frame = cap.read()
if not ret:
print('No Frame Detected')
raise KeyboardInterrupt
frame = invert_frame(frame)
can_recv = p.can_recv()
#print(can_recv)
steering_angle_codes = []
gas_pedal_codes = []
brake_pedal_codes = []
speed_codes = []
for address, _, dat, src in can_recv:
#dat = bytearray(dat)
#print(address)
#address = hex(address)
#print(dat)
#print(type(dat))
#print(hex(address))
#CONVERT DATA TO AN ARRAY OF HEX MESSAGES
def bulkRead(self, endpoint, length, timeout=0):
dat = struct.pack("HH", endpoint, 0)
return self.transact(dat)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Flash pedal over can')
parser.add_argument('--recover', action='store_true')
parser.add_argument("fn", type=str, nargs='?', help="flash file")
args = parser.parse_args()
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
while 1:
if len(p.can_recv()) == 0:
break
if args.recover:
p.can_send(0x366, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
exit(0)
else:
p.can_send(0x366, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
if args.fn:
time.sleep(0.1)
print("flashing", args.fn)
code = open(args.fn, "rb").read()
Panda.flash_static(CanHandle(p), code)
print("can flash done")
#!/usr/bin/env python3
import time
from panda import Panda
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_gmlan(bus=2)
#p.can_send(0xaaa, "\x00\x00", bus=3)
last_add = None
while 1:
ret = p.can_recv()
if len(ret) > 0:
add = ret[0][0]
if last_add is not None and add != last_add+1:
print("MISS %d %d" % (last_add, add))
last_add = add
print(ret)
