mirror of https://github.com/commaai/panda.git
71 lines
2.1 KiB
Python
Executable File
71 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import usb1
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import time
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import struct
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import itertools
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import threading
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from typing import Any, List
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from panda import Panda
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JUNGLE = "JUNGLE" in os.environ
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if JUNGLE:
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from panda_jungle import PandaJungle # pylint: disable=import-error
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# Generate unique messages
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NUM_MESSAGES_PER_BUS = 10000
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messages = [bytes(struct.pack("Q", i)) for i in range(NUM_MESSAGES_PER_BUS)]
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tx_messages = list(itertools.chain.from_iterable(map(lambda msg: [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]], messages)))
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def flood_tx(panda):
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print('Sending!')
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transferred = 0
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while True:
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try:
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print(f"Sending block {transferred}-{len(tx_messages)}: ", end="")
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panda.can_send_many(tx_messages[transferred:], timeout=10)
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print("OK")
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break
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except usb1.USBErrorTimeout as e:
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transferred += (e.transferred // 16)
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print("timeout, transferred: ", transferred)
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print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
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if __name__ == "__main__":
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serials = Panda.list()
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if JUNGLE:
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sender = Panda()
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receiver = PandaJungle()
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else:
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if len(serials) != 2:
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raise Exception("Connect two pandas to perform this test!")
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sender = Panda(serials[0])
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receiver = Panda(serials[1])
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receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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sender.set_heartbeat_disabled()
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# Start transmisson
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threading.Thread(target=flood_tx, args=(sender,)).start()
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# Receive as much as we can, and stop when there hasn't been anything for a second
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rx: List[Any] = []
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old_len = 0
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last_change = time.monotonic()
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while time.monotonic() - last_change < 1:
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if old_len < len(rx):
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last_change = time.monotonic()
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old_len = len(rx)
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rx.extend(receiver.can_recv())
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print(f"Received {len(rx)} messages")
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# Check if we received everything
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for bus in range(3):
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received_msgs = set(map(lambda m: bytes(m[2]), filter(lambda m, b=bus: m[3] == b, rx))) # type: ignore
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dropped_msgs = set(messages).difference(received_msgs)
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print(f"Bus {bus} dropped msgs: {len(list(dropped_msgs))} / {len(messages)}")
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