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CAN: health message for each CAN module (#1067)

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* initial can health pkt

* MISRA: variable scope

* MISRA 10.4

* typo

* add total_fwd_cnt

* check size of can_health_t

* improve

* comment

* that's better

* move

* add health check to tests

* why?

* ...

* revert later

* meh

* Revert "meh"

This reverts commit 0eb84321942a494454c17c242e7309deb8a92341.

* Revert "revert later"

This reverts commit 2d98957a8fd5350d50ebb1d26c9912f984d72043.

* adjust test
This commit is contained in:
Igor Biletskyy
2022-09-15 13:04:10 -07:00
committed by GitHub
parent 38257a93e4
commit 0eef8cf333
11 changed files with 193 additions and 86 deletions
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55
python/__init__.py
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@@ -117,6 +117,16 @@ def ensure_can_packet_version(fn):
return fn(self, *args, **kwargs)
return wrapper
def ensure_can_health_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.can_health_version < self.CAN_HEALTH_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated CAN health packet definition. Reflash panda firmware.")
elif self.can_health_version > self.CAN_HEALTH_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated CAN health packet definition. Update panda python library.")
return fn(self, *args, **kwargs)
return wrapper
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
@@ -176,7 +186,9 @@ class Panda:
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 9
CAN_HEALTH_PACKET_VERSION = 1
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBHBBBHIfB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIII")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -273,7 +285,7 @@ class Panda:
assert self._handle is not None
self._mcu_type = self.get_mcu_type()
self.health_version, self.can_version = self.get_packets_versions()
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
print("connected")
# disable openpilot's heartbeat checks
@@ -460,6 +472,39 @@ class Panda:
"fan_power": a[21],
}
@ensure_can_health_packet_version
def can_health(self, can_number):
LEC_ERROR_CODE = {
0: "No error",
1: "Stuff error",
2: "Form error",
3: "AckError",
4: "Bit1Error",
5: "Bit0Error",
6: "CRCError",
7: "NoChange",
}
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc2, int(can_number), 0, self.CAN_HEALTH_STRUCT.size)
a = self.CAN_HEALTH_STRUCT.unpack(dat)
return {
"bus_off": a[0],
"bus_off_cnt": a[1],
"error_warning": a[2],
"error_passive": a[3],
"last_error": LEC_ERROR_CODE[a[4]],
"last_stored_error": LEC_ERROR_CODE[a[5]],
"last_data_error": LEC_ERROR_CODE[a[6]],
"last_data_stored_error": LEC_ERROR_CODE[a[7]],
"receive_error_cnt": a[8],
"transmit_error_cnt": a[9],
"total_error_cnt": a[10],
"total_tx_lost_cnt": a[11],
"total_rx_lost_cnt": a[12],
"total_tx_cnt": a[13],
"total_rx_cnt": a[14],
"total_fwd_cnt": a[15],
}
# ******************* control *******************
def enter_bootloader(self):
@@ -494,12 +539,12 @@ class Panda:
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2)
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 3)
if dat:
a = struct.unpack("BB", dat)
return (a[0], a[1])
a = struct.unpack("BBB", dat)
return (a[0], a[1], a[2])
else:
return (0, 0)
return (0, 0, 0)
def get_mcu_type(self):
hw_type = self.get_type()