From e7695c3f32e95bbd0ad31e2ef09075c93ba9f65b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 21 Feb 2024 11:12:56 -0800
Subject: [PATCH] add power cycling to can_replay

---
 tools/replay/can_replay.py | 56 ++++++++++++++++++++------------------
 1 file changed, 29 insertions(+), 27 deletions(-)

diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index ef6864f110..856dd80d49 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -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")