mirror of https://github.com/commaai/panda.git
54 lines
1.4 KiB
Python
54 lines
1.4 KiB
Python
import struct
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import signal
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from .base import BaseHandle
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class CanHandle(BaseHandle):
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def __init__(self, p, bus):
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self.p = p
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self.bus = bus
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def transact(self, dat):
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def _handle_timeout(signum, frame):
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# will happen on reset or can error
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raise TimeoutError
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signal.signal(signal.SIGALRM, _handle_timeout)
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signal.alarm(1)
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try:
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self.p.isotp_send(1, dat, self.bus, recvaddr=2)
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finally:
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signal.alarm(0)
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signal.signal(signal.SIGALRM, _handle_timeout)
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signal.alarm(1)
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try:
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ret = self.p.isotp_recv(2, self.bus, sendaddr=1)
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finally:
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signal.alarm(0)
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return ret
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def close(self):
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pass
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def controlWrite(self, request_type, request, value, index, data, timeout=0, expect_disconnect=False):
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# ignore data in reply, panda doesn't use it
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return self.controlRead(request_type, request, value, index, 0, timeout)
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def controlRead(self, request_type, request, value, index, length, timeout=0):
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dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
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return self.transact(dat)
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def bulkWrite(self, endpoint, data, timeout=0):
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if len(data) > 0x10:
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raise ValueError("Data must not be longer than 0x10")
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dat = struct.pack("HH", endpoint, len(data)) + data
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return self.transact(dat)
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def bulkRead(self, endpoint, length, timeout=0):
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dat = struct.pack("HH", endpoint, 0)
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return self.transact(dat)
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