From 6a25791fea953e525bbf0ae167bbf8fe116f9acd Mon Sep 17 00:00:00 2001 From: Jessy Diamond Exum Date: Tue, 13 Jun 2017 18:50:47 -0700 Subject: [PATCH] Created python package and implemented industry best practices. Supports python 2 and 3 (to the best of my testing ability at the time) --- .gitignore | 3 +- board/.gitignore | 1 - lib/__init__.py | 0 lib/panda.py => panda/__init__.py | 103 +++++++++++++++--------------- setup.cfg | 2 + setup.py | 64 +++++++++++++++++++ tests/__init__.py | 0 tests/can_printer.py | 12 ++-- tests/debug_console.py | 15 +++-- tests/loopback_test.py | 33 +++++----- tests/standalone_test.py | 18 +++--- tests/throughput_test.py | 30 +++++---- 12 files changed, 180 insertions(+), 101 deletions(-) delete mode 100644 board/.gitignore delete mode 100644 lib/__init__.py rename lib/panda.py => panda/__init__.py (69%) create mode 100644 setup.cfg create mode 100644 setup.py delete mode 100644 tests/__init__.py diff --git a/.gitignore b/.gitignore index 3634d48d2..f17c3fb51 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ .*.swp *.o a.out - +*~ +.#* \ No newline at end of file diff --git a/board/.gitignore b/board/.gitignore deleted file mode 100644 index 94053f292..000000000 --- a/board/.gitignore +++ /dev/null @@ -1 +0,0 @@ -obj/* diff --git a/lib/__init__.py b/lib/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/lib/panda.py b/panda/__init__.py similarity index 69% rename from lib/panda.py rename to panda/__init__.py index 16c8e997a..b856934e8 100644 --- a/lib/panda.py +++ b/panda/__init__.py @@ -1,14 +1,18 @@ # python library to interface with panda +from __future__ import print_function +import binascii import struct import hashlib import socket import usb1 -from usb1 import USBErrorIO, USBErrorOverflow -try: - from hexdump import hexdump -except: - pass +__version__ = '0.0.1' + +class PandaHashMismatchException(Exception): + def __init__(self, hash_, expected_hash): + super(PandaHashMismatchException, self).__init__( + "Hash '%s' did not match the expected hash '%s'"%\ + (binascii.hexlify(hash_), binascii.hexlify(expected_hash))) def parse_can_buffer(dat): ret = [] @@ -33,7 +37,7 @@ class PandaWifiStreaming(object): def can_recv(self): ret = [] - while 1: + while True: try: dat, addr = self.sock.recvfrom(0x200*0x10) if addr == (self.ip, self.port): @@ -61,7 +65,8 @@ class WifiHandle(object): return self.__recv() def bulkWrite(self, endpoint, data, timeout=0): - assert len(data) <= 0x10 + if len(data) > 0x10: + raise ValueError("Data must not be longer than 0x10") self.sock.send(struct.pack("HH", endpoint, len(data))+data) self.__recv() # to /dev/null @@ -73,10 +78,12 @@ class WifiHandle(object): self.sock.close() class Panda(object): + REQUEST_TYPE = usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE + def __init__(self, serial=None, claim=True): if serial == "WIFI": self.handle = WifiHandle() - print "opening WIFI device" + print("opening WIFI device") else: context = usb1.USBContext() @@ -84,7 +91,7 @@ class Panda(object): for device in context.getDeviceList(skip_on_error=True): if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc: if serial is None or device.getSerialNumber() == serial: - print "opening device", device.getSerialNumber() + print("opening device", device.getSerialNumber()) self.handle = device.open() if claim: self.handle.claimInterface(0) @@ -109,7 +116,7 @@ class Panda(object): # ******************* health ******************* def health(self): - dat = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 13) + dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd2, 0, 0, 13) a = struct.unpack("IIBBBBB", dat) return {"voltage": a[0], "current": a[1], "started": a[2], "controls_allowed": a[3], @@ -121,82 +128,79 @@ class Panda(object): def enter_bootloader(self): try: - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '') - except Exception: + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xd1, 0, 0, b'') + except Exception as e: + print(e) pass def get_serial(self): - dat = str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd0, 0, 0, 0x20)) - assert dat[0x1c:] == hashlib.sha1(dat[0:0x1c]).digest()[0:4] + dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 0, 0, 0x20) + hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4] + if hashsig != calc_hash: + raise PandaHashMismatchException(calc_hash, hashsig) return [dat[0:0x10], dat[0x10:0x10+10]] def get_secret(self): - dat = str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd0, 1, 0, 0x10)) - return dat.encode("hex") + return self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 1, 0, 0x10) # ******************* configuration ******************* def set_controls_allowed(self, on): - if on: - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdc, 0x1337, 0, '') - else: - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdc, 0, 0, '') + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdc, (0x1337 if on else 0), 0, b'') def set_gmlan(self, on, bus=2): - if on: - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 1, bus, '') - else: - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 0, bus, '') + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdb, 1, bus, b'') def set_uart_baud(self, uart, rate): - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe1, uart, rate, '') + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe1, uart, rate, b'') def set_uart_parity(self, uart, parity): # parity, 0=off, 1=even, 2=odd - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe2, uart, parity, '') + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe2, uart, parity, b'') def set_uart_callback(self, uart, install): - self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe3, uart, int(install), '') + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe3, uart, int(install), b'') # ******************* can ******************* def can_send_many(self, arr): snds = [] + transmit = 1 + extended = 4 for addr, _, dat, bus in arr: - transmit = 1 - extended = 4 if addr >= 0x800: rir = (addr << 3) | transmit | extended else: rir = (addr << 21) | transmit snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat - snd = snd.ljust(0x10, '\x00') + snd = snd.ljust(0x10, b'\x00') snds.append(snd) - while 1: + while True: try: - self.handle.bulkWrite(3, ''.join(snds)) + print("DAT: %s"%b''.join(snds).__repr__()) + self.handle.bulkWrite(3, b''.join(snds)) break - except (USBErrorIO, USBErrorOverflow): - print "CAN: BAD SEND MANY, RETRYING" + 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_recv(self): - dat = "" - while 1: + dat = bytearray() + while True: try: dat = self.handle.bulkRead(1, 0x10*256) break - except (USBErrorIO, USBErrorOverflow): - print "CAN: BAD RECV, RETRYING" + except (usb1.USBErrorIO, usb1.USBErrorOverflow): + print("CAN: BAD RECV, RETRYING") return parse_can_buffer(dat) # ******************* serial ******************* def serial_read(self, port_number): - return self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, port_number, 0, 0x40) + return self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, port_number, 0, 0x40) def serial_write(self, port_number, ln): return self.handle.bulkWrite(2, chr(port_number) + ln) @@ -205,22 +209,22 @@ class Panda(object): # pulse low for wakeup def kline_wakeup(self): - ret = self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xf0, 0, 0, "") + self.handle.controlWrite(Panda.REQUEST_TYPE, 0xf0, 0, 0, b'') def kline_drain(self, bus=2): # drain buffer - bret = "" - while 1: - ret = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, 0x40) + bret = bytearray() + while True: + ret = self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, 0x40) if len(ret) == 0: break - bret += str(ret) + bret += ret return bret def kline_ll_recv(self, cnt, bus=2): - echo = "" + echo = bytearray() while len(echo) != cnt: - echo += str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, cnt-len(echo))) + echo += self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, cnt-len(echo)) return echo def kline_send(self, x, bus=2, checksum=True): @@ -238,13 +242,12 @@ class Panda(object): self.handle.bulkWrite(2, chr(bus)+ts) echo = self.kline_ll_recv(len(ts), bus=bus) if echo != ts: - print "**** ECHO ERROR %d ****" % i - print echo.encode("hex") - print ts.encode("hex") + print("**** ECHO ERROR %d ****" % i) + print(binascii.hexlify(echo)) + print(binascii.hexlify(ts)) assert echo == ts def kline_recv(self, bus=2): msg = self.kline_ll_recv(2, bus=bus) msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus) return msg - diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 000000000..3480374bc --- /dev/null +++ b/setup.cfg @@ -0,0 +1,2 @@ +[bdist_wheel] +universal=1 \ No newline at end of file diff --git a/setup.py b/setup.py new file mode 100644 index 000000000..f3c4695d2 --- /dev/null +++ b/setup.py @@ -0,0 +1,64 @@ +#-*- coding: utf-8 -*- + +""" + Panda CAN Controller Dongle + ~~~~~ + + Setup + ````` + + $ pip install . # or python setup.py install +""" + +import codecs +import os +import re +from setuptools import setup, Extension + +here = os.path.abspath(os.path.dirname(__file__)) + +def read(*parts): + """Taken from pypa pip setup.py: + intentionally *not* adding an encoding option to open, See: + https://github.com/pypa/virtualenv/issues/201#issuecomment-3145690 + """ + return codecs.open(os.path.join(here, *parts), 'r').read() + + +def find_version(*file_paths): + version_file = read(*file_paths) + version_match = re.search(r"^__version__ = ['\"]([^'\"]*)['\"]", + version_file, re.M) + if version_match: + return version_match.group(1) + raise RuntimeError("Unable to find version string.") + +setup( + name='panda', + version=find_version("panda", "__init__.py"), + url='https://github.com/commaai/panda', + author='Comma.ai', + author_email='', + packages=[ + 'panda', + ], + platforms='any', + license='MIT', + install_requires=[ + 'libusb1 >= 1.6.4', + 'hexdump >= 3.3', + 'pycrypto >= 2.6.1', + 'tqdm >= 4.14.0', + ], + ext_modules = [], + description="Code powering the comma.ai panda", + long_description=open(os.path.join(os.path.dirname(__file__), + 'README.md')).read(), + classifiers=[ + 'Development Status :: 2 - Pre-Alpha', + "Natural Language :: English", + "Programming Language :: Python :: 2", + "Programming Language :: Python :: 3", + "Topic :: System :: Hardware", + ], +) diff --git a/tests/__init__.py b/tests/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/tests/can_printer.py b/tests/can_printer.py index 46e1d9b7c..a74a54810 100755 --- a/tests/can_printer.py +++ b/tests/can_printer.py @@ -1,9 +1,12 @@ #!/usr/bin/env python +from __future__ import print_function import os -import struct +import sys import time from collections import defaultdict -from panda.lib.panda import Panda + +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..")) +from panda import Panda # fake def sec_since_boot(): @@ -16,7 +19,7 @@ def can_printer(): lp = sec_since_boot() msgs = defaultdict(list) canbus = int(os.getenv("CAN", 0)) - while 1: + while True: can_recv = p.can_recv() for address, _, dat, src in can_recv: if src == canbus: @@ -27,9 +30,8 @@ def can_printer(): dd += "%5.2f\n" % (sec_since_boot() - start) for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))): dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v) - print dd + print(dd) lp = sec_since_boot() if __name__ == "__main__": can_printer() - diff --git a/tests/debug_console.py b/tests/debug_console.py index 0e9b4404c..31b165f99 100755 --- a/tests/debug_console.py +++ b/tests/debug_console.py @@ -1,10 +1,12 @@ #!/usr/bin/env python +from __future__ import print_function import os import sys -import usb1 import time import select -from panda.lib.panda import Panda + +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..")) +from panda import Panda setcolor = ["\033[1;32;40m", "\033[1;31;40m"] unsetcolor = "\033[00m" @@ -17,17 +19,16 @@ if __name__ == "__main__": serials = filter(lambda x: x==os.getenv("SERIAL"), serials) pandas = map(lambda x: Panda(x, False), serials) - while 1: + while True: for i, panda in enumerate(pandas): - while 1: + while True: ret = panda.serial_read(port_number) if len(ret) > 0: - sys.stdout.write(setcolor[i] + ret + unsetcolor) + sys.stdout.write(setcolor[i] + ret.decode('utf8') + unsetcolor) sys.stdout.flush() else: break - if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []): + if select.select([sys.stdin], [], [], 0)[0][0] == sys.stdin: ln = sys.stdin.readline() panda.serial_write(port_number, ln) time.sleep(0.01) - diff --git a/tests/loopback_test.py b/tests/loopback_test.py index 66f594db6..5c1dec71b 100755 --- a/tests/loopback_test.py +++ b/tests/loopback_test.py @@ -1,23 +1,25 @@ #!/usr/bin/env python +from __future__ import print_function import os import sys import time -import usb1 import random -import struct -from panda.lib.panda import Panda + from hexdump import hexdump from itertools import permutations +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..")) +from panda import Panda + def get_test_string(): return "test"+os.urandom(10) def run_test(): pandas = Panda.list() - print pandas + print(pandas) if len(pandas) == 0: - print "NO PANDAS" + print("NO PANDAS") assert False if len(pandas) == 1: @@ -27,17 +29,17 @@ def run_test(): def run_test_w_pandas(pandas): h = map(lambda x: Panda(x), pandas) - print h + print(h) for hh in h: hh.set_controls_allowed(True) # test both directions for ho in permutations(range(len(h)), r=2): - print "***************** TESTING", ho + print("***************** TESTING", ho) # **** test health packet **** - print "health", ho[0], h[ho[0]].health() + print("health", ho[0], h[ho[0]].health()) # **** test K/L line loopback **** for bus in [2,3]: @@ -55,11 +57,11 @@ def run_test_w_pandas(pandas): hexdump(st) hexdump(ret) assert st == ret - print "K/L pass", bus, ho + print("K/L pass", bus, ho) # **** test can line loopback **** for bus in [0,1,4,5,6]: - print "test can", bus + print("test can", bus) # flush cans_echo = h[ho[0]].can_recv() cans_loop = h[ho[1]].can_recv() @@ -89,7 +91,7 @@ def run_test_w_pandas(pandas): cans_echo = h[ho[0]].can_recv() cans_loop = h[ho[1]].can_recv() - print bus, cans_echo, cans_loop + print(bus, cans_echo, cans_loop) assert len(cans_echo) == 1 assert len(cans_loop) == 1 @@ -102,10 +104,10 @@ def run_test_w_pandas(pandas): assert cans_echo[0][3] == bus+2 if cans_loop[0][3] != bus: - print "EXPECTED %d GOT %d" % (bus, cans_loop[0][3]) + print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3])) assert cans_loop[0][3] == bus - print "CAN pass", bus, ho + print("CAN pass", bus, ho) if __name__ == "__main__": if len(sys.argv) > 1: @@ -113,8 +115,7 @@ if __name__ == "__main__": run_test() else : i = 0 - while 1: - print "************* testing %d" % i + while True: + print("************* testing %d" % i) run_test() i += 1 - diff --git a/tests/standalone_test.py b/tests/standalone_test.py index 8aeaa9b13..76df0235b 100755 --- a/tests/standalone_test.py +++ b/tests/standalone_test.py @@ -1,29 +1,32 @@ #!/usr/bin/env python import os +import sys import struct import time -from panda.lib.panda import Panda + +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..")) +from panda import Panda if __name__ == "__main__": if os.getenv("WIFI") is not None: p = Panda("WIFI") else: p = Panda() - print p.get_serial() - print p.health() + print(p.get_serial()) + print(p.health()) t1 = time.time() for i in range(100): p.get_serial() t2 = time.time() - print "100 requests took %.2f ms" % ((t2-t1)*1000) + print("100 requests took %.2f ms" % ((t2-t1)*1000)) p.set_controls_allowed(True) a = 0 - while 1: + while True: # flood - msg = "\xaa"*4 + struct.pack("I", a) + msg = b"\xaa"*4 + struct.pack("I", a) p.can_send(0xaa, msg, 0) p.can_send(0xaa, msg, 1) p.can_send(0xaa, msg, 4) @@ -31,6 +34,5 @@ if __name__ == "__main__": dat = p.can_recv() if len(dat) > 0: - print dat + print(dat) a += 1 - diff --git a/tests/throughput_test.py b/tests/throughput_test.py index c797f5cc8..5812ce42c 100755 --- a/tests/throughput_test.py +++ b/tests/throughput_test.py @@ -1,25 +1,29 @@ #!/usr/bin/env python +from __future__ import print_function import os +import sys import struct import time -from panda.lib.panda import Panda, PandaWifiStreaming from tqdm import tqdm +sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..")) +from panda import Panda, PandaWifiStreaming + # test throughput between USB and wifi if __name__ == "__main__": - print Panda.list() + print(Panda.list()) p_out = Panda("108018800f51363038363036") - print p_out.get_serial() + print(p_out.get_serial()) #p_in = Panda("02001b000f51363038363036") p_in = Panda("WIFI") - print p_in.get_serial() + print(p_in.get_serial()) p_in = PandaWifiStreaming() - #while 1: + #while True: # p_in.can_recv() - #exit(0) + #sys.exit(0) p_out.set_controls_allowed(True) @@ -28,17 +32,17 @@ if __name__ == "__main__": # drain p_out.can_recv() p_in.can_recv() - + BATCH_SIZE = 16 for a in tqdm(range(0, 10000, BATCH_SIZE)): for b in range(0, BATCH_SIZE): - msg = "\xaa"*4 + struct.pack("I", a+b) + msg = b"\xaa"*4 + struct.pack("I", a+b) if a%1 == 0: p_out.can_send(0xaa, msg, 0) dat_out, dat_in = p_out.can_recv(), p_in.can_recv() if len(dat_in) != 0: - print len(dat_in) + print(len(dat_in)) num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out] num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in] @@ -47,14 +51,14 @@ if __name__ == "__main__": set_out.update(num_out) # swag - print "waiting for packets" + print("waiting for packets") time.sleep(2.0) dat_in = p_in.can_recv() - print len(dat_in) + print(len(dat_in)) num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in] set_in.update(num_in) if len(set_out - set_in): - print "MISSING %d" % len(set_out - set_in) + print("MISSING %d" % len(set_out - set_in)) if len(set_out - set_in) < 256: - print map(hex, sorted(list(set_out - set_in))) + print(map(hex, sorted(list(set_out - set_in))))