7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
50 lines
1.3 KiB
Python
Executable File
50 lines
1.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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import threading
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from typing import Any
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from opendbc.car.structs import CarParams
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from panda import Panda
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JUNGLE = "JUNGLE" in os.environ
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if JUNGLE:
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from panda import PandaJungle
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# The TX buffers on pandas is 0x100 in length.
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NUM_MESSAGES_PER_BUS = 10000
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def flood_tx(panda):
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print('Sending!')
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msg = b"\xaa" * 4
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packet = [[0xaa, msg, 0], [0xaa, msg, 1], [0xaa, msg, 2]] * NUM_MESSAGES_PER_BUS
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panda.can_send_many(packet, timeout=10000)
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print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
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if __name__ == "__main__":
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serials = Panda.list()
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if JUNGLE:
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sender = Panda()
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receiver = PandaJungle()
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else:
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if len(serials) != 2:
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raise Exception("Connect two pandas to perform this test!")
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sender = Panda(serials[0])
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receiver = Panda(serials[1]) # type: ignore
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receiver.set_safety_mode(CarParams.SafetyModel.allOutput)
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sender.set_safety_mode(CarParams.SafetyModel.allOutput)
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# Start transmisson
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threading.Thread(target=flood_tx, args=(sender,)).start()
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# Receive as much as we can in a few second time period
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rx: list[Any] = []
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old_len = 0
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start_time = time.time()
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while time.time() - start_time < 3 or len(rx) > old_len:
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old_len = len(rx)
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print(old_len)
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rx.extend(receiver.can_recv())
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print(f"Received {len(rx)} messages")
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