def wrapper(*args, **kwargs):
p = Panda()
for i in [0, 1, 2, 0xFFFF]:
p.can_clear(i)
p.reset()
p.close()
f(*args, **kwargs)
def wrapper():
p = Panda()
for i in [0, 1, 2, 0xFFFF]:
p.can_clear(i)
p.reset()
p.close()
fn()
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 wrapper(*args, **kwargs):
for serial in Panda.list():
p = Panda(serial)
for i in [0, 1, 2, 3, 0xFFFF]:
p.can_clear(i)
p.reset()
p.close()
f(*args, **kwargs)
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 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 init_panda_serials():
global panda_jungle, _panda_serials
_panda_serials = []
panda_jungle.set_panda_power(True)
time.sleep(5)
for serial in Panda.list():
if serial not in PANDAS_EXCLUDE:
p = Panda(serial=serial)
_panda_serials.append((serial, p.get_type()))
p.close()
print(f"Found {len(_panda_serials)} pandas")
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m" + x + "\033[00m")
if st_serial is not None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception(
"panda not found, make sure it's connected and your user can access it"
)
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path is None:
print(
"Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get(
"https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json"
)
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = io.BytesIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version").decode()
status("0. Preparing to flash " + str(version))
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.reset(enter_bootstub=True)
panda.reset(enter_bootloader=True)
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# check for connection
status("4. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert (str(version) == str(my_version))
# done!
status("6. Success!")
class ELMCarSimulator():
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)
@property
def panda(self):
return self.__p
def stop(self):
if self.__lin_timer:
self.__lin_timer.cancel()
self.__lin_timeout_handler()
self.__stop = True
def join(self):
if self.__lin_monitor_thread.is_alive():
self.__lin_monitor_thread.join()
if self.__can_monitor_thread.is_alive():
self.__can_monitor_thread.join()
if self.__p:
print("closing handle")
self.__p.close()
def set_enable(self, on):
self.__on = on
def start(self):
self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
if self.__lin_enable:
self.__lin_monitor_thread.start()
if self.__can_enable:
self.__can_monitor_thread.start()
#########################
# LIN related functions #
#########################
def __lin_monitor(self):
print("STARTING LIN THREAD")
self.panda.set_uart_baud(2, 10400)
self.panda.kline_drain() # Toss whatever was already there
lin_buff = bytearray()
while not self.__stop:
lin_msg = self.panda.serial_read(2)
if not lin_msg:
continue
lin_buff += lin_msg
#print(" ** Buff", lin_buff)
if lin_buff.endswith(
b'\x00\xc1\x33\xf1\x81\x66'): # Leading 0 is wakeup
lin_buff = bytearray()
self.__lin_active = True
print("GOT LIN (KWP FAST) WAKEUP SIGNAL")
self._lin_send(0x10, b'\xC1\x8F\xE9')
self.__reset_lin_timeout()
continue
if self.__lin_active:
msglen = lin_buff[0] & 0x7
if lin_buff[0] & 0xF8 not in (0x80, 0xC0):
print("Invalid bytes at start of message")
print(" BUFF", lin_buff)
continue
if len(lin_buff) < msglen + 4: continue
if lin_checksum(lin_buff[:-1]) != lin_buff[-1]: continue
self.__lin_process_msg(
lin_buff[0] & 0xF8, # Priority
lin_buff[1],
lin_buff[2],
lin_buff[3:-1])
lin_buff = bytearray()
def _lin_send(self, to_addr, msg):
if not self.__silent:
print(" LIN Reply (%x)" % to_addr, binascii.hexlify(msg))
PHYS_ADDR = 0x80
#FUNC_ADDR = 0xC0
RECV = 0xF1
#SEND = 0x33 # Car OBD Functional Address
headers = struct.pack("BBB", PHYS_ADDR | len(msg), RECV, to_addr)
if not self.__silent:
print(" Sending LIN", binascii.hexlify(headers + msg),
hex(sum(bytearray(headers + msg)) % 0x100))
self.panda.kline_send(headers + msg)
def __reset_lin_timeout(self):
if self.__lin_timer:
self.__lin_timer.cancel()
self.__lin_timer = threading.Timer(5, self.__lin_timeout_handler)
self.__lin_timer.start()
def __lin_timeout_handler(self):
print("LIN TIMEOUT")
self.__lin_timer = None
self.__lin_active = False
@property
def lin_active(self):
return self.__lin_active
def __lin_process_msg(self, priority, toaddr, fromaddr, data):
self.__reset_lin_timeout()
if not self.__silent and data != b'\x3E':
print("LIN MSG", "Addr:", hex(toaddr), "obdLen:", len(data),
binascii.hexlify(data))
outmsg = None
#if data == b'\x3E':
# print("KEEP ALIVE")
#el
if len(data) > 1:
outmsg = self._process_obd(data[0], data[1])
if outmsg:
obd_header = struct.pack("BB", 0x40 | data[0], data[1])
if len(outmsg) <= 5:
self._lin_send(0x10, obd_header + outmsg)
else:
first_msg_len = min(4, len(outmsg) % 4) or 4
self._lin_send(
0x10, obd_header + b'\x01' + b'\x00' *
(4 - first_msg_len) + outmsg[:first_msg_len])
for num, i in enumerate(range(first_msg_len, len(outmsg), 4)):
self._lin_send(
0x10, obd_header +
struct.pack('B', (num + 2) % 0x100) + outmsg[i:i + 4])
#########################
# CAN related functions #
#########################
def __can_monitor(self):
print("STARTING CAN THREAD")
self.panda.set_can_speed_kbps(0, self.__can_kbaud)
self.panda.can_recv() # Toss whatever was already there
while not self.__stop:
for address, ts, data, src in self.panda.can_recv():
if self.__on and src == 0 and len(data) == 8 and data[0] >= 2:
if not self.__silent:
print("Processing CAN message", src, hex(address),
binascii.hexlify(data))
self.__can_process_msg(data[1], data[2], address, ts, data,
src)
elif not self.__silent:
print("Rejecting CAN message", src, hex(address),
binascii.hexlify(data))
def can_mode_11b(self):
self.__can11b = True
self.__can29b = False
def can_mode_29b(self):
self.__can11b = False
self.__can29b = True
def can_mode_11b_29b(self):
self.__can11b = True
self.__can29b = True
def change_can_baud(self, kbaud):
self.__can_kbaud = kbaud
self.panda.set_can_speed_kbps(0, self.__can_kbaud)
def can_add_extra_noise(self, noise_msg, addr=None):
self.__can_extra_noise_msgs.append((addr, noise_msg))
def _can_send(self, addr, msg):
if not self.__silent:
print(" CAN Reply (%x)" % addr, binascii.hexlify(msg))
self.panda.can_send(addr, msg + b'\x00' * (8 - len(msg)), 0)
if self.__can_extra_noise_msgs:
noise = self.__can_extra_noise_msgs.popleft()
self.panda.can_send(noise[0] if noise[0] is not None else addr,
noise[1] + b'\x00' * (8 - len(noise[1])), 0)
def _can_addr_matches(self, addr):
if self.__can11b and (addr == 0x7DF or (addr & 0x7F8) == 0x7E0):
return True
if self.__can29b and (addr == 0x18db33f1 or
(addr & 0x1FFF00FF) == 0x18da00f1):
return True
return False
def __can_process_msg(self, mode, pid, address, ts, data, src):
if not self.__silent:
print("CAN MSG", binascii.hexlify(data[1:1 + data[0]]), "Addr:",
hex(address), "Mode:",
hex(mode)[2:].zfill(2), "PID:",
hex(pid)[2:].zfill(2), "canLen:", len(data),
binascii.hexlify(data))
if self._can_addr_matches(address) and len(data) == 8:
outmsg = None
if data[:3] == b'\x30\x00\x00' and len(self.__can_multipart_data):
if not self.__silent:
print("Request for more data")
outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
msgnum = 1
while (self.__can_multipart_data):
datalen = min(7, len(self.__can_multipart_data))
msgpiece = struct.pack(
"B",
0x20 | msgnum) + self.__can_multipart_data[:datalen]
self._can_send(outaddr, msgpiece)
self.__can_multipart_data = self.__can_multipart_data[7:]
msgnum = (msgnum + 1) % 0x10
time.sleep(0.01)
else:
outmsg = self._process_obd(mode, pid)
if outmsg:
outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
if len(outmsg) <= 5:
self._can_send(
outaddr,
struct.pack("BBB",
len(outmsg) + 2, 0x40 | data[1], pid) +
outmsg)
else:
first_msg_len = min(3, len(outmsg) % 7)
payload_len = len(outmsg) + 3
msgpiece = struct.pack("BBBBB", 0x10 |
((payload_len >> 8) & 0xF),
payload_len & 0xFF, 0x40 | data[1],
pid, 1) + outmsg[:first_msg_len]
self._can_send(outaddr, msgpiece)
self.__can_multipart_data = outmsg[first_msg_len:]
#########################
# General OBD functions #
#########################
def _process_obd(self, mode, pid):
if mode == 0x01: # Mode: Show current data
if pid == 0x00: # List supported things
return b"\xff\xff\xff\xfe" # b"\xBE\x1F\xB8\x10" #Bitfield, random features
elif pid == 0x01: # Monitor Status since DTC cleared
return b"\x00\x00\x00\x00" # Bitfield, random features
elif pid == 0x04: # Calculated engine load
return b"\x2f"
elif pid == 0x05: # Engine coolant temperature
return b"\x3c"
elif pid == 0x0B: # Intake manifold absolute pressure
return b"\x90"
elif pid == 0x0C: # Engine RPM
return b"\x1A\xF8"
elif pid == 0x0D: # Vehicle Speed
return b"\x53"
elif pid == 0x10: # MAF air flow rate
return b"\x01\xA0"
elif pid == 0x11: # Throttle Position
return b"\x90"
elif pid == 0x33: # Absolute Barometric Pressure
return b"\x90"
elif mode == 0x09: # Mode: Request vehicle information
if pid == 0x02: # Show VIN
return b"1D4GP00R55B123456"
if pid == 0xFC: # test long multi message. Ligned up for LIN responses
return b''.join((struct.pack(">BBH", 0xAA, 0xAA, num + 1)
for num in range(80)))
if pid == 0xFD: # test long multi message
parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num)
for num in range(80))
return b'\xAA\xAA\xAA' + b''.join(parts)
if pid == 0xFE: # test very long multi message
parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num)
for num in range(584))
return b'\xAA\xAA\xAA' + b''.join(parts) + b'\xAA'
if pid == 0xFF:
return b'\xAA\x00\x00' + \
b"".join(((b'\xAA' * 5) + struct.pack(">H", num + 1) for num in range(584)))
# 'COMPUTER_BRAKE_REQUEST': 1,
# 'COMPUTER_BRAKE_REQUEST_2': 1,
# 'COUNTER': 0,
# 'CRUISE_BOH2': 0,
# 'CRUISE_BOH3': 0,
# 'CRUISE_CANCEL_CMD': 1,
# 'CRUISE_FAULT_CMD': 0,
# 'CRUISE_OVERRIDE': 1,
# 'CRUISE_STATES': 0,
# 'FCW': 'no_fcw',
# 'SET_ME_0X80': 128,
# 'ZEROS_BOH': 0,
# 'ZEROS_BOH4': 0,
# 'ZEROS_BOH6': 0}
print("Press Enter to send braking commands")
idx_counter = 1
total_cmds_sent = 0
try:
while raw_input() == '':
for i in range(100):
cmd = create_brake_command(True, True, True, 0, idx_counter)
print("Sending: " + str(cmd) + " (#" + str(total_cmds_sent) +
")")
panda.can_send(cmd[0], cmd[2], 0)
idx_counter += 1
idx_counter %= 4
total_cmds_sent += 1
except KeyboardInterrupt:
panda.close()
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()
if len(_panda_serials) < 2:
print("Minimum two H7 type pandas should be connected.")
assert False
def canfd_test(p_send, p_recv):
for _ in range(500):
sent_msgs = defaultdict(set)
to_send = []
for _ in range(200):
bus = random.randrange(3)
for dlc in range(len(DLC_TO_LEN)):
address = random.randrange(1, 1 << 29)
data = bytes(
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m" + x + "\033[00m")
if st_serial == None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception(
"panda not found, make sure it's connected and your user can access it"
)
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path == None:
print(
"Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get(
"https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json"
)
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = io.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version")
status("0. Preparing to flash " + version)
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
code_boot_15 = zf.read("boot_v1.5.bin")
code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
code_user1 = zf.read("user1.bin")
code_user2 = zf.read("user2.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.enter_bootloader()
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# flashing ESP
if panda.is_white():
status("4. Flashing ESP (slow!)")
align = lambda x, sz=0x1000: x + "\xFF" * ((sz - len(x)) % sz)
esp = ESPROM(st_serial)
esp.connect()
flasher = CesantaFlasher(esp, 230400)
flasher.flash_write(0x0, align(code_boot_15), True)
flasher.flash_write(0x1000, align(code_user1), True)
flasher.flash_write(0x81000, align(code_user2), True)
flasher.flash_write(0x3FE000, "\xFF" * 0x1000)
flasher.boot_fw()
del flasher
del esp
time.sleep(1)
else:
status("4. No ESP in non-white panda")
# check for connection
status("5. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert (str(version) == str(my_version))
# done!
status("6. Success!")
class HondaCivicCan(object):
def __init__(self):
print("Loading CAN DBC file...")
self.can_msg_parser = load_dbc_file(
'honda_civic_touring_2016_can_for_cantools.dbc')
print("Connecting to Panda board...")
self.panda = Panda()
print("Ready.")
# ROS subscribers to send the commands?
def decode_msg(self, message):
"""Return a dictionary with the decoded message
Looks like:
{'STEER_ANGLE_OFFSET': -0.5, 'CHECKSUM': 4, 'COUNTER': 0,
'STEER_ANGLE_RATE': -338, 'STEER_WHEEL_ANGLE': 86.5, 'STEER_ANGLE': 89.4}
"""
# A message looks like:
# (1024, 59709, bytearray(b'\x00\x00\x02\x00\x02'), 0)
return self.can_msg_parser.decode_message(message[0], message[2])
def encode_msg(self, frame_id, message):
"""Return the message in a dictionary encoded.
"""
return self.can_msg_parser.encode_message(frame_id, message)
def run(self):
self.panda.set_safety_mode(self.panda.SAFETY_HONDA)
try:
while True:
data = self.panda.can_recv()
for msg in data:
decoded_msg = None
try:
decoded_msg = self.decode_msg(msg)
except KeyError:
pass
except ValueError:
pass
if decoded_msg:
# print decoded_msg
# continue
for k in decoded_msg.keys():
if 'STEER_TORQUE' in k:
print decoded_msg
print msg
print "---"
steer_msg = create_steering_control(1000, 0)[0]
print steer_msg
print self.decode_msg(steer_msg)
print
self.panda.can_send(steer_msg[0], steer_msg[2],
0)
# msg_to_send = self.encode_msg(891, {'CHECKSUM': 15, 'COUNTER': 1, 'WIPERS': 1})
# self.panda.can_send(msg[0], '\x00\x00\x01 \x00\x00\x00\x00', 0)
# for pending_msg in self.pending_msg:
# panda.can_send(0xXXXX, pending_msg, 0)
except KeyboardInterrupt:
self.panda.close()
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
from zipfile import ZipFile
def status(x):
print("\033[1;32;40m"+x+"\033[00m")
if st_serial == None:
# look for Panda
panda_list = Panda.list()
if len(panda_list) == 0:
raise Exception("panda not found, make sure it's connected and your user can access it")
elif len(panda_list) > 1:
raise Exception("Please only connect one panda")
st_serial = panda_list[0]
print("Using panda with serial %s" % st_serial)
if path == None:
print("Fetching latest firmware from github.com/commaai/panda-artifacts")
r = requests.get("https://raw.githubusercontent.com/commaai/panda-artifacts/master/latest.json")
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = StringIO.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()
version = zf.read("version")
status("0. Preparing to flash "+version)
code_bootstub = zf.read("bootstub.panda.bin")
code_panda = zf.read("panda.bin")
code_boot_15 = zf.read("boot_v1.5.bin")
code_boot_15 = code_boot_15[0:2] + "\x00\x30" + code_boot_15[4:]
code_user1 = zf.read("user1.bin")
code_user2 = zf.read("user2.bin")
# enter DFU mode
status("1. Entering DFU mode")
panda = Panda(st_serial)
panda.enter_bootloader()
time.sleep(1)
# program bootstub
status("2. Programming bootstub")
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(st_serial))
dfu.program_bootstub(code_bootstub)
time.sleep(1)
# flash main code
status("3. Flashing main code")
panda = Panda(st_serial)
panda.flash(code=code_panda)
panda.close()
# flashing ESP
status("4. Flashing ESP (slow!)")
align = lambda x, sz=0x1000: x+"\xFF"*((sz-len(x)) % sz)
esp = ESPROM(st_serial)
esp.connect()
flasher = CesantaFlasher(esp, 230400)
flasher.flash_write(0x0, align(code_boot_15), True)
flasher.flash_write(0x1000, align(code_user1), True)
flasher.flash_write(0x81000, align(code_user2), True)
flasher.flash_write(0x3FE000, "\xFF"*0x1000)
flasher.boot_fw()
del flasher
del esp
time.sleep(1)
# check for connection
status("5. Verifying version")
panda = Panda(st_serial)
my_version = panda.get_version()
print("dongle id: %s" % panda.get_serial()[0])
print(my_version, "should be", version)
assert(str(version) == str(my_version))
# done!
status("6. Success!")
