commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

python: non-zero default timeout (#1279) 

* non-zero default timeout

* respect timeout in spi
This commit is contained in:
Adeeb Shihadeh 2023-03-07 14:44:10 -08:00 committed by GitHub
parent df7952ec13
commit deaad254d9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 29 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
python/base.py
View File

@ -3,30 +3,32 @@ from typing import List
from .constants import McuType
TIMEOUT = int(15 * 1e3) # default timeout, in milliseconds
class BaseHandle(ABC):
"""
A handle to talk to a panda.
Borrows heavily from the libusb1 handle API.
"""
@abstractmethod
def close(self) -> None:
...
@abstractmethod
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0) -> int:
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
...
@abstractmethod
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0) -> bytes:
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes:
...
@abstractmethod
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
...
@abstractmethod
def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
...

34
python/spi.py
View File

@ -10,7 +10,7 @@ from contextlib import contextmanager
from functools import reduce
from typing import List, Optional
from .base import BaseHandle, BaseSTBootloaderHandle
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
from .constants import McuType, MCU_TYPE_BY_IDCODE
try:
@ -25,7 +25,7 @@ DACK = 0x85
NACK = 0x1F
CHECKSUM_START = 0xAB
ACK_TIMEOUT_SECONDS = 0.1
MIN_ACK_TIMEOUT_MS = 100
MAX_XFER_RETRY_COUNT = 5
USB_MAX_SIZE = 0x40
@ -96,9 +96,11 @@ class PandaSpiHandle(BaseHandle):
cksum ^= b
return cksum
def _wait_for_ack(self, spi, ack_val: int) -> None:
def _wait_for_ack(self, spi, ack_val: int, timeout: int) -> None:
timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
start = time.monotonic()
while (time.monotonic() - start) < ACK_TIMEOUT_SECONDS:
while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
dat = spi.xfer2(b"\x12")[0]
if dat == NACK:
raise PandaSpiNackResponse
@ -107,7 +109,7 @@ class PandaSpiHandle(BaseHandle):
raise PandaSpiMissingAck
def _transfer(self, spi, endpoint: int, data, max_rx_len: int = 1000) -> bytes:
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes:
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
logging.debug("==============================================")
@ -121,7 +123,7 @@ class PandaSpiHandle(BaseHandle):
spi.xfer2(packet)
logging.debug("- waiting for header ACK")
self._wait_for_ack(spi, HACK)
self._wait_for_ack(spi, HACK, timeout)
# send data
logging.debug("- sending data")
@ -129,7 +131,7 @@ class PandaSpiHandle(BaseHandle):
spi.xfer2(packet)
logging.debug("- waiting for data ACK")
self._wait_for_ack(spi, DACK)
self._wait_for_ack(spi, DACK, timeout)
# get response length, then response
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
@ -150,26 +152,26 @@ class PandaSpiHandle(BaseHandle):
def close(self):
self.dev.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0):
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
with self.dev.acquire() as spi:
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0))
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout)
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0):
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
with self.dev.acquire() as spi:
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length))
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length), timeout)
# TODO: implement these properly
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
with self.dev.acquire() as spi:
for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
self._transfer(spi, endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)])
self._transfer(spi, endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)], timeout)
return len(data)
def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
ret: List[int] = []
with self.dev.acquire() as spi:
for _ in range(math.ceil(length / USB_MAX_SIZE)):
d = self._transfer(spi, endpoint, [], max_rx_len=USB_MAX_SIZE)
d = self._transfer(spi, endpoint, [], timeout, max_rx_len=USB_MAX_SIZE)
ret += d
if len(d) < USB_MAX_SIZE:
break
@ -216,7 +218,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
elif data != self.ACK:
raise PandaSpiMissingAck
def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes:
def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = TIMEOUT, predata=None) -> bytes:
ret = b""
with self.dev.acquire() as spi:
# sync + command

10
python/usb.py
View File

@ -1,7 +1,7 @@
import struct
from typing import List
from .base import BaseHandle, BaseSTBootloaderHandle
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
from .constants import McuType
class PandaUsbHandle(BaseHandle):
@ -11,16 +11,16 @@ class PandaUsbHandle(BaseHandle):
def close(self):
self._libusb_handle.close()
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0):
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0):
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore
def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
return self._libusb_handle.bulkRead(endpoint, length, timeout) # type: ignore