mawei/panda-meb
1
0
Fork 0
mirror of https://github.com/infiniteCable2/panda.git synced 2026-02-18 17:23:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

TX message guaranteed delivery (#421)

Browse Source 
* wait for tx slots before clearing nak

* fix bootstub

* Fixed misra

* Cleanup

* Added bulk write test to test USB NAK on bulk CAN messages

* Added automated bulk tx test

* Fixed linter

* Fixed latency test influence

* Added timeout to python API

* Disabled can write timeout in bulk write test

Co-authored-by: Robbe <robbe.derks@gmail.com>
This commit is contained in:
Greg Hogan
2020-04-06 16:49:42 -07:00
committed by GitHub
parent d8f618492b
commit da8e00f115
8 changed files with 143 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
python/__init__.py
View File

@@ -478,7 +478,12 @@ class Panda(object):
# ******************* can *******************
def can_send_many(self, arr):
# The panda will NAK CAN writes when there is CAN congestion.
# libusb will try to send it again, with a max timeout.
# Timeout is in ms. If set to 0, the timeout is infinite.
CAN_SEND_TIMEOUT_MS = 10
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = []
transmit = 1
extended = 4
@@ -501,13 +506,13 @@ class Panda(object):
for s in snds:
self._handle.bulkWrite(3, s)
else:
self._handle.bulkWrite(3, b''.join(snds))
self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")
def can_send(self, addr, dat, bus):
self.can_send_many([[addr, None, dat, bus]])
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
def can_recv(self):
dat = bytearray()