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 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 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()
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))
# print chime, alert_id, hud_alert
fcw_display, steer_required, acc_alert = (4, 1, 1)
mph_shown_screen = 69
hud = HUDData(int(100), int(round(mph_shown_screen * 1.6)), 0x01, hud_car,
0xc1, 0x41, hud_lanes + steer_required, int(0), 0x48,
(0 << 5) + fcw_display, acc_alert)
# idx refers to the COUNTER field we see
# ui_cmd = create_ui_commands(pcm_speed, hud, CS.CP.carFingerprint, idx)
ui_cmd = create_ui_commands(0, hud, 0)
print ui_cmd
# Looks like:
# [[780, 0, '\x00\x00\x00\x00\x01\xc0\xc1\x0f', 0],
# [829, 0, 'A\x00\x00H\x04', 0],
# [862, 0, '\x00\x00\x00\x00\x00\x00\x00\x02', 0],
# [927, 0, '\x00\x00\x00\x00\xff\x7f\x00\t', 0]]
print("Press Enter to send ui commands")
idx_counter = 1
total_cmds_sent = 0
try:
while raw_input() == '':
print("Sending: " + str(ui_cmd) + " (#" + str(total_cmds_sent) +
")")
panda.can_send_many(ui_cmd)
idx_counter += 1
idx_counter %= 4
total_cmds_sent += 1
except KeyboardInterrupt:
panda.close()
scale = 1.0
if len(sys.argv) == 4:
scale = float(sys.argv[2])
# prepare msgs
print("Publishing...")
accum_to_send = to_sendeable_accum_original_bus(accum)
total_msgs = len(accum_to_send)
try:
for idx, block_msg in enumerate(accum_to_send):
if idx < len(accum_to_send):
ini_t = timestamps[idx]
next_t = timestamps[idx + 1]
sleep_time = next_t - ini_t
# print(block_msg)
p.can_send_many(block_msg)
# print("sleeping for: " + str(sleep_time))
time.sleep(sleep_time * scale)
else:
p.can_send_many(block_msg)
# Give some feedback
percent_msgs = int((float(idx) / float(total_msgs)) * 100.0)
if percent_msgs % 5 == 0 and percent_msgs > 0:
print("Replayed " + str(percent_msgs) + "% of messages...")
print("(" + str(idx) + " / " + str(total_msgs) +
" blocks of up to 256 msgs)")
except KeyboardInterrupt:
p.close()
print("Done")
for row in csv_reader:
try:
(timestamp, address, bus, data) = row
except:
pass
if rownumber >= 0 and float(timestamp) > 1.0 and int(bus) in (
0, ): #1,2,128,129,130):
if fingerprint.has_key(int(address)):
datBytes = fingerprint[int(address)]
else:
datBytes = 8
if int(bus) > 127:
bus = int(bus) - 128
if (len(out_cans) > 5 and sleepTime > 0) or len(out_cans) > 20:
p.can_send_many(out_cans)
print("total %d skipped %d sent %d lag %f" %
(rownumber, skipped, len(out_cans),
out_cans[len(out_cans) - 1][1] - out_cans[0][1]))
out_cans = []
sleepTime = startTime + float(timestamp) - time.time()
if sleepTime > 0:
#print(sleepTime)
time.sleep(sleepTime)
sleepTime = startTime + float(timestamp) - time.time()
out_cans.append([
int(address),
float(timestamp),
str(data).decode("hex")[:datBytes],
int(bus)
])
def test_latency(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.set_can_speed_kbps(0, 100)
p_recv.set_can_speed_kbps(0, 100)
time.sleep(0.05)
p_send.can_send_many([(0x1ba, 0, "testmsg", 0)] * 10)
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(0.1)
#clear can buffers
r = [1]
while len(r) > 0:
r = p_send.can_recv()
r = [1]
while len(r) > 0:
r = p_recv.can_recv()
time.sleep(0.05)
latencies = []
comp_kbps_list = []
saturation_pcts = []
num_messages = 100
for i in range(num_messages):
st = time.time()
p_send.can_send(0x1ab, "message", bus)
r = []
while len(r) < 1 and (time.time() - st) < 5:
r = p_recv.can_recv()
et = time.time()
r_echo = []
while len(r_echo) < 1 and (time.time() - st) < 10:
r_echo = p_send.can_recv()
if len(r) == 0 or len(r_echo) == 0:
print("r: {}, r_echo: {}".format(r, r_echo))
assert_equal(len(r), 1)
assert_equal(len(r_echo), 1)
et = (et - st) * 1000.0
comp_kbps = (1 + 11 + 1 + 1 + 1 + 4 + 8 * 8 + 15 + 1 + 1 + 1 +
7) / et
latency = et - (
(1 + 11 + 1 + 1 + 1 + 4 + 8 * 8 + 15 + 1 + 1 + 1 + 7) /
speed)
assert_less(latency, 5.0)
saturation_pct = (comp_kbps / speed) * 100.0
latencies.append(latency)
comp_kbps_list.append(comp_kbps)
saturation_pcts.append(saturation_pct)
average_latency = sum(latencies) / num_messages
assert_less(average_latency, 1.0)
average_comp_kbps = sum(comp_kbps_list) / num_messages
average_saturation_pct = sum(saturation_pcts) / num_messages
print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))
class Prius(object):
def __init__(self, dbc=False):
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()
# add dbc decoder
if dbc:
self.can_msg_parser = load_dbc_file(dbc)
print(self.can_msg_parser.messages)
self.upload_data = OrderedDict(
(('wheel_angle', 0), ('SPEED', 0), ('gear_1', 35), ('gear_2', 96),
('brake_LI', 0), ('brake_H', 0), ('handcrat', 0),
('LIGHT_SMALL', 0), ('LIGHT_BIG', 0), ('LIGHT_FLASH',
0), ('door_lock', 128)))
def send_speed(self, speed=0):
can_send = [
create_speedometer_B4(self.frame, speed, 0, True),
create_speedometer_B1(speed, 0, True),
create_speedometer_B3(speed, 0, True),
create_speedometer_3CA(speed, 0)
]
# speedometer
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_print(self, mode='all'):
can_msgs = self.panda.can_recv()
if mode == 'dbc':
for msg in can_msgs:
if msg[0] in fingerprint.keys():
try:
print(msg[0])
print(
self.can_msg_parser.decode_message(msg[0], msg[2]))
except:
pass
else:
can_msgs_bytes = []
for address, _, dat, src in can_msgs:
can_msgs_bytes.append((address, 0, bytes(dat), src))
if mode == 'all':
print("Address: {}\t Data: {}\t src: {}".format(
address, binary_show(dat), src))
elif address == 0xb4:
print("Address: {}\t Data: {}\t src: {}".format(
address, binary_show(dat), src))
def recv(self):
can_msgs = self.panda.can_recv()
for msg in can_msgs:
try:
if msg[0] in fingerprint.keys():
data_dict = self.can_msg_parser.decode_message(
msg[0], msg[2])
for i in fingerprint[msg[0]]:
self.upload_data[i] = data_dict[i]
except:
pass
return self.upload_data
