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add power cycling to can_replay

This commit is contained in:
Adeeb Shihadeh 2024-02-21 11:12:56 -08:00
parent c3e3103830
commit e7695c3f32
1 changed files with 29 additions and 27 deletions
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56
tools/replay/can_replay.py
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@ -12,43 +12,47 @@ from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
from openpilot.tools.lib.logreader import LogReader
from panda import Panda, PandaJungle
def send_thread(s, flock):
if "Jungle" in str(type(s)):
if "FLASH" in os.environ:
with flock:
s.flash()
# set both to cycle power or ignition
PWR_ON = int(os.getenv("PWR_ON", "0"))
PWR_OFF = int(os.getenv("PWR_OFF", "0"))
IGN_ON = int(os.getenv("ON", "0"))
IGN_OFF = int(os.getenv("OFF", "0"))
ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0
for i in [0, 1, 2, 3, 0xFFFF]:
s.can_clear(i)
s.set_can_speed_kbps(i, 500)
s.set_can_data_speed_kbps(i, 500)
s.set_ignition(False)
time.sleep(5)
s.set_ignition(True)
s.set_panda_power(True)
else:
s.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
def send_thread(s, flock):
if "FLASH" in os.environ:
with flock:
s.flash()
for i in [0, 1, 2, 3, 0xFFFF]:
s.can_clear(i)
s.set_can_speed_kbps(i, 500)
s.set_can_data_speed_kbps(i, 500)
s.set_ignition(False)
time.sleep(5)
s.set_ignition(True)
s.set_panda_power(True)
s.set_can_loopback(False)
idx = 0
ign = True
rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
while True:
# handle ignition cycling
# handle cycling
if ENABLE_PWR:
i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON
s.set_panda_power(i)
if ENABLE_IGN:
i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
if i != ign:
ign = i
s.set_ignition(ign)
s.set_ignition(i)
snd = CAN_MSGS[idx]
snd = CAN_MSGS[rk.frame % len(CAN_MSGS)]
snd = list(filter(lambda x: x[-1] <= 2, snd))
try:
s.can_send_many(snd)
except usb1.USBErrorTimeout:
# timeout is fine, just means the CAN TX buffer is full
pass
idx = (idx + 1) % len(CAN_MSGS)
# Drain panda message buffer
s.can_recv()
@ -98,10 +102,8 @@ if __name__ == "__main__":
print("Finished loading...")
# set both to cycle ignition
IGN_ON = int(os.getenv("ON", "0"))
IGN_OFF = int(os.getenv("OFF", "0"))
ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
if ENABLE_PWR:
print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")
if ENABLE_IGN:
print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")