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pandad: forward debug logs to cloudlog (#34859)

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forward debug logs to cloudlog
This commit is contained in:
Dean Lee
2025-03-14 01:40:26 +08:00
committed by GitHub
parent 3652dff77a
commit 1cd6ca467d
3 changed files with 29 additions and 0 deletions
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19
selfdrive/pandad/panda.cc
View File

@@ -66,6 +66,25 @@ void Panda::set_alternative_experience(uint16_t alternative_experience) {
handle->control_write(0xdf, alternative_experience, 0);
}
std::string Panda::serial_read(int port_number) {
std::string ret;
char buffer[USBPACKET_MAX_SIZE] = {};
while (true) {
int bytes_read = handle->control_read(0xe0, port_number, 0, (unsigned char *)buffer, USBPACKET_MAX_SIZE);
if (bytes_read <= 0) {
break;
}
ret.append(buffer, bytes_read);
}
return ret;
}
void Panda::set_uart_baud(int uart, int rate) {
handle->control_write(0xe4, uart, int(rate / 300));
}
cereal::PandaState::PandaType Panda::get_hw_type() {
unsigned char hw_query[1] = {0};

2
selfdrive/pandad/panda.h
View File

@@ -64,6 +64,8 @@ public:
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience);
std::string serial_read(int port_number = 0);
void set_uart_baud(int uart, int rate);
void set_fan_speed(uint16_t fan_speed);
uint16_t get_fan_speed();
void set_ir_pwr(uint16_t ir_pwr);

8
selfdrive/pandad/pandad.cc
View File

@@ -452,6 +452,14 @@ void pandad_run(std::vector<Panda *> &pandas) {
send_peripheral_state(peripheral_panda, &pm);
}
// Forward logs from pandas to cloudlog if available
for (auto *panda : pandas) {
std::string log = panda->serial_read();
if (!log.empty()) {
LOGD("%s", log.c_str());
}
}
rk.keepTime();
}