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Fix bulk transfer dropping messages sometimes (#729)

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* fix max messages per bulk transfer

* retry on partial send

* need 2x the packet size for some reason

* improve bulk write test
This commit is contained in:
Greg Hogan
2021-10-15 18:14:55 -07:00
committed by GitHub
parent f5c7e1ada1
commit c5adfa4ece
3 changed files with 16 additions and 5 deletions
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3
board/main.c
View File

@@ -236,7 +236,8 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
}
void usb_cb_ep3_out_complete(void) {
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
// TODO: how does a second USB packet sneek in? (why multiply by 2)
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER * 2U)) {
usb_outep3_resume_if_paused();
}
}

8
python/__init__.py
View File

@@ -533,7 +533,13 @@ class Panda(object):
for s in snds:
self._handle.bulkWrite(3, s)
else:
self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
dat = b''.join(snds)
while True:
bs = self._handle.bulkWrite(3, dat, timeout=timeout)
dat = dat[bs:]
if len(dat) == 0:
break
print("CAN: PARTIAL SEND MANY, RETRYING")
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")

10
tests/automated/4_can_loopback.py
View File

@@ -214,8 +214,12 @@ def test_bulk_write(p):
def flood_tx(panda):
print('Sending!')
msg = b"\xaa" * 4
packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
msg = b"\xaa" * 8
packet = []
# start with many messages on a single bus (higher contention for single TX ring buffer)
packet += [[0xaa, None, msg, 0]] * NUM_MESSAGES_PER_BUS
# end with many messages on multiple buses
packet += [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
# Disable timeout
panda.can_send_many(packet, timeout=0)
@@ -241,7 +245,7 @@ def test_bulk_write(p):
print(f"Received {len(rx)} messages")
# All messages should have been received
if len(rx) != 3 * NUM_MESSAGES_PER_BUS:
if len(rx) != 4 * NUM_MESSAGES_PER_BUS:
Exception("Did not receive all messages!")
# Set back to silent mode