mirror of https://github.com/commaai/panda.git
Created python package and implemented industry best practices.
Supports python 2 and 3 (to the best of my testing ability at the time)
This commit is contained in:
Jessy Diamond Exum
parent
0e46ca4a5d
commit
6a25791fea
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@ -2,4 +2,5 @@
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.*.swp
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*.o
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a.out
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*~
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.#*
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@ -1 +0,0 @@
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obj/*
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@ -1,14 +1,18 @@
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# python library to interface with panda
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from __future__ import print_function
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import binascii
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import struct
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import hashlib
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import socket
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import usb1
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from usb1 import USBErrorIO, USBErrorOverflow
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try:
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from hexdump import hexdump
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except:
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pass
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__version__ = '0.0.1'
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class PandaHashMismatchException(Exception):
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def __init__(self, hash_, expected_hash):
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super(PandaHashMismatchException, self).__init__(
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"Hash '%s' did not match the expected hash '%s'"%\
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(binascii.hexlify(hash_), binascii.hexlify(expected_hash)))
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def parse_can_buffer(dat):
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ret = []
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@ -33,7 +37,7 @@ class PandaWifiStreaming(object):
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def can_recv(self):
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ret = []
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while 1:
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while True:
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try:
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dat, addr = self.sock.recvfrom(0x200*0x10)
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if addr == (self.ip, self.port):
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@ -61,7 +65,8 @@ class WifiHandle(object):
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return self.__recv()
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def bulkWrite(self, endpoint, data, timeout=0):
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assert len(data) <= 0x10
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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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self.sock.send(struct.pack("HH", endpoint, len(data))+data)
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self.__recv() # to /dev/null
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@ -73,10 +78,12 @@ class WifiHandle(object):
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self.sock.close()
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class Panda(object):
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REQUEST_TYPE = usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
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def __init__(self, serial=None, claim=True):
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if serial == "WIFI":
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self.handle = WifiHandle()
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print "opening WIFI device"
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print("opening WIFI device")
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else:
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context = usb1.USBContext()
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@ -84,7 +91,7 @@ class Panda(object):
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
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if serial is None or device.getSerialNumber() == serial:
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print "opening device", device.getSerialNumber()
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print("opening device", device.getSerialNumber())
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self.handle = device.open()
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if claim:
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self.handle.claimInterface(0)
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@ -109,7 +116,7 @@ class Panda(object):
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# ******************* health *******************
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def health(self):
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dat = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 13)
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dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd2, 0, 0, 13)
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a = struct.unpack("IIBBBBB", dat)
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return {"voltage": a[0], "current": a[1],
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"started": a[2], "controls_allowed": a[3],
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@ -121,82 +128,79 @@ class Panda(object):
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def enter_bootloader(self):
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try:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
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except Exception:
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xd1, 0, 0, b'')
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except Exception as e:
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print(e)
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pass
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def get_serial(self):
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dat = str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd0, 0, 0, 0x20))
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assert dat[0x1c:] == hashlib.sha1(dat[0:0x1c]).digest()[0:4]
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dat = self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 0, 0, 0x20)
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hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
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if hashsig != calc_hash:
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raise PandaHashMismatchException(calc_hash, hashsig)
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return [dat[0:0x10], dat[0x10:0x10+10]]
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def get_secret(self):
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dat = str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd0, 1, 0, 0x10))
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return dat.encode("hex")
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return self.handle.controlRead(Panda.REQUEST_TYPE, 0xd0, 1, 0, 0x10)
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# ******************* configuration *******************
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def set_controls_allowed(self, on):
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if on:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdc, 0x1337, 0, '')
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else:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdc, 0, 0, '')
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdc, (0x1337 if on else 0), 0, b'')
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def set_gmlan(self, on, bus=2):
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if on:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 1, bus, '')
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else:
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xdb, 0, bus, '')
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xdb, 1, bus, b'')
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def set_uart_baud(self, uart, rate):
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe1, uart, rate, '')
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe1, uart, rate, b'')
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def set_uart_parity(self, uart, parity):
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# parity, 0=off, 1=even, 2=odd
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe2, uart, parity, '')
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe2, uart, parity, b'')
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def set_uart_callback(self, uart, install):
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self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe3, uart, int(install), '')
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xe3, uart, int(install), b'')
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# ******************* can *******************
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def can_send_many(self, arr):
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snds = []
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transmit = 1
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extended = 4
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for addr, _, dat, bus in arr:
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transmit = 1
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extended = 4
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if addr >= 0x800:
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rir = (addr << 3) | transmit | extended
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else:
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rir = (addr << 21) | transmit
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snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
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snd = snd.ljust(0x10, '\x00')
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snd = snd.ljust(0x10, b'\x00')
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snds.append(snd)
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while 1:
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while True:
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try:
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self.handle.bulkWrite(3, ''.join(snds))
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print("DAT: %s"%b''.join(snds).__repr__())
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self.handle.bulkWrite(3, b''.join(snds))
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break
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except (USBErrorIO, USBErrorOverflow):
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print "CAN: BAD SEND MANY, RETRYING"
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except (usb1.USBErrorIO, usb1.USBErrorOverflow):
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print("CAN: BAD SEND MANY, RETRYING")
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def can_send(self, addr, dat, bus):
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self.can_send_many([[addr, None, dat, bus]])
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def can_recv(self):
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dat = ""
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while 1:
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dat = bytearray()
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while True:
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try:
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dat = self.handle.bulkRead(1, 0x10*256)
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break
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except (USBErrorIO, USBErrorOverflow):
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print "CAN: BAD RECV, RETRYING"
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except (usb1.USBErrorIO, usb1.USBErrorOverflow):
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print("CAN: BAD RECV, RETRYING")
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return parse_can_buffer(dat)
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# ******************* serial *******************
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def serial_read(self, port_number):
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return self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, port_number, 0, 0x40)
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return self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, port_number, 0, 0x40)
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def serial_write(self, port_number, ln):
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return self.handle.bulkWrite(2, chr(port_number) + ln)
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# pulse low for wakeup
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def kline_wakeup(self):
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ret = self.handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xf0, 0, 0, "")
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self.handle.controlWrite(Panda.REQUEST_TYPE, 0xf0, 0, 0, b'')
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def kline_drain(self, bus=2):
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# drain buffer
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bret = ""
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while 1:
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ret = self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, 0x40)
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bret = bytearray()
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while True:
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ret = self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, 0x40)
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if len(ret) == 0:
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break
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bret += str(ret)
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bret += ret
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return bret
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def kline_ll_recv(self, cnt, bus=2):
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echo = ""
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echo = bytearray()
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while len(echo) != cnt:
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echo += str(self.handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xe0, bus, 0, cnt-len(echo)))
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echo += self.handle.controlRead(Panda.REQUEST_TYPE, 0xe0, bus, 0, cnt-len(echo))
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return echo
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def kline_send(self, x, bus=2, checksum=True):
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@ -238,13 +242,12 @@ class Panda(object):
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self.handle.bulkWrite(2, chr(bus)+ts)
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echo = self.kline_ll_recv(len(ts), bus=bus)
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if echo != ts:
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print "**** ECHO ERROR %d ****" % i
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print echo.encode("hex")
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print ts.encode("hex")
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print("**** ECHO ERROR %d ****" % i)
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print(binascii.hexlify(echo))
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print(binascii.hexlify(ts))
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assert echo == ts
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def kline_recv(self, bus=2):
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msg = self.kline_ll_recv(2, bus=bus)
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msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
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return msg
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@ -0,0 +1,64 @@
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#-*- coding: utf-8 -*-
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"""
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Panda CAN Controller Dongle
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~~~~~
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Setup
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`````
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$ pip install . # or python setup.py install
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"""
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import codecs
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import os
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import re
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from setuptools import setup, Extension
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here = os.path.abspath(os.path.dirname(__file__))
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def read(*parts):
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"""Taken from pypa pip setup.py:
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intentionally *not* adding an encoding option to open, See:
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https://github.com/pypa/virtualenv/issues/201#issuecomment-3145690
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"""
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return codecs.open(os.path.join(here, *parts), 'r').read()
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def find_version(*file_paths):
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version_file = read(*file_paths)
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version_match = re.search(r"^__version__ = ['\"]([^'\"]*)['\"]",
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version_file, re.M)
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if version_match:
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return version_match.group(1)
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raise RuntimeError("Unable to find version string.")
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setup(
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name='panda',
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version=find_version("panda", "__init__.py"),
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url='https://github.com/commaai/panda',
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author='Comma.ai',
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author_email='',
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packages=[
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'panda',
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],
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platforms='any',
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license='MIT',
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install_requires=[
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'libusb1 >= 1.6.4',
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'hexdump >= 3.3',
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'pycrypto >= 2.6.1',
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'tqdm >= 4.14.0',
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],
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ext_modules = [],
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description="Code powering the comma.ai panda",
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long_description=open(os.path.join(os.path.dirname(__file__),
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'README.md')).read(),
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classifiers=[
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'Development Status :: 2 - Pre-Alpha',
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"Natural Language :: English",
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"Programming Language :: Python :: 2",
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"Programming Language :: Python :: 3",
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"Topic :: System :: Hardware",
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],
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)
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@ -1,9 +1,12 @@
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#!/usr/bin/env python
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from __future__ import print_function
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import os
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import struct
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import sys
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import time
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from collections import defaultdict
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from panda.lib.panda import Panda
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda
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# fake
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def sec_since_boot():
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@ -16,7 +19,7 @@ def can_printer():
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lp = sec_since_boot()
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msgs = defaultdict(list)
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canbus = int(os.getenv("CAN", 0))
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while 1:
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while True:
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can_recv = p.can_recv()
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for address, _, dat, src in can_recv:
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if src == canbus:
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@ -27,9 +30,8 @@ def can_printer():
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dd += "%5.2f\n" % (sec_since_boot() - start)
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for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
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dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
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print dd
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print(dd)
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lp = sec_since_boot()
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if __name__ == "__main__":
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can_printer()
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|
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@ -1,10 +1,12 @@
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#!/usr/bin/env python
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from __future__ import print_function
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import os
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import sys
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import usb1
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import time
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import select
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from panda.lib.panda import Panda
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda
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setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
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unsetcolor = "\033[00m"
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@ -17,17 +19,16 @@ if __name__ == "__main__":
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serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
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pandas = map(lambda x: Panda(x, False), serials)
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while 1:
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while True:
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for i, panda in enumerate(pandas):
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while 1:
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while True:
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ret = panda.serial_read(port_number)
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if len(ret) > 0:
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sys.stdout.write(setcolor[i] + ret + unsetcolor)
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sys.stdout.write(setcolor[i] + ret.decode('utf8') + unsetcolor)
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sys.stdout.flush()
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else:
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break
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if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
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if select.select([sys.stdin], [], [], 0)[0][0] == sys.stdin:
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ln = sys.stdin.readline()
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panda.serial_write(port_number, ln)
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time.sleep(0.01)
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|
|
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@ -1,23 +1,25 @@
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#!/usr/bin/env python
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from __future__ import print_function
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import os
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import sys
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import time
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import usb1
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import random
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import struct
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from panda.lib.panda import Panda
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from hexdump import hexdump
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from itertools import permutations
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda
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def get_test_string():
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return "test"+os.urandom(10)
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def run_test():
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pandas = Panda.list()
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print pandas
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print(pandas)
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if len(pandas) == 0:
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print "NO PANDAS"
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print("NO PANDAS")
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assert False
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if len(pandas) == 1:
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@ -27,17 +29,17 @@ def run_test():
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def run_test_w_pandas(pandas):
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h = map(lambda x: Panda(x), pandas)
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print h
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print(h)
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for hh in h:
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hh.set_controls_allowed(True)
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# test both directions
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for ho in permutations(range(len(h)), r=2):
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print "***************** TESTING", ho
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print("***************** TESTING", ho)
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# **** test health packet ****
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print "health", ho[0], h[ho[0]].health()
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print("health", ho[0], h[ho[0]].health())
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# **** test K/L line loopback ****
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for bus in [2,3]:
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|
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@ -55,11 +57,11 @@ def run_test_w_pandas(pandas):
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hexdump(st)
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hexdump(ret)
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assert st == ret
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print "K/L pass", bus, ho
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print("K/L pass", bus, ho)
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# **** test can line loopback ****
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for bus in [0,1,4,5,6]:
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print "test can", bus
|
||||
print("test can", bus)
|
||||
# flush
|
||||
cans_echo = h[ho[0]].can_recv()
|
||||
cans_loop = h[ho[1]].can_recv()
|
||||
|
|
@ -89,7 +91,7 @@ def run_test_w_pandas(pandas):
|
|||
cans_echo = h[ho[0]].can_recv()
|
||||
cans_loop = h[ho[1]].can_recv()
|
||||
|
||||
print bus, cans_echo, cans_loop
|
||||
print(bus, cans_echo, cans_loop)
|
||||
|
||||
assert len(cans_echo) == 1
|
||||
assert len(cans_loop) == 1
|
||||
|
|
@ -102,10 +104,10 @@ def run_test_w_pandas(pandas):
|
|||
|
||||
assert cans_echo[0][3] == bus+2
|
||||
if cans_loop[0][3] != bus:
|
||||
print "EXPECTED %d GOT %d" % (bus, cans_loop[0][3])
|
||||
print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
|
||||
assert cans_loop[0][3] == bus
|
||||
|
||||
print "CAN pass", bus, ho
|
||||
print("CAN pass", bus, ho)
|
||||
|
||||
if __name__ == "__main__":
|
||||
if len(sys.argv) > 1:
|
||||
|
|
@ -113,8 +115,7 @@ if __name__ == "__main__":
|
|||
run_test()
|
||||
else :
|
||||
i = 0
|
||||
while 1:
|
||||
print "************* testing %d" % i
|
||||
while True:
|
||||
print("************* testing %d" % i)
|
||||
run_test()
|
||||
i += 1
|
||||
|
||||
|
|
|
|||
|
|
@ -1,29 +1,32 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import sys
|
||||
import struct
|
||||
import time
|
||||
from panda.lib.panda import Panda
|
||||
|
||||
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
|
||||
from panda import Panda
|
||||
|
||||
if __name__ == "__main__":
|
||||
if os.getenv("WIFI") is not None:
|
||||
p = Panda("WIFI")
|
||||
else:
|
||||
p = Panda()
|
||||
print p.get_serial()
|
||||
print p.health()
|
||||
print(p.get_serial())
|
||||
print(p.health())
|
||||
|
||||
t1 = time.time()
|
||||
for i in range(100):
|
||||
p.get_serial()
|
||||
t2 = time.time()
|
||||
print "100 requests took %.2f ms" % ((t2-t1)*1000)
|
||||
print("100 requests took %.2f ms" % ((t2-t1)*1000))
|
||||
|
||||
p.set_controls_allowed(True)
|
||||
|
||||
a = 0
|
||||
while 1:
|
||||
while True:
|
||||
# flood
|
||||
msg = "\xaa"*4 + struct.pack("I", a)
|
||||
msg = b"\xaa"*4 + struct.pack("I", a)
|
||||
p.can_send(0xaa, msg, 0)
|
||||
p.can_send(0xaa, msg, 1)
|
||||
p.can_send(0xaa, msg, 4)
|
||||
|
|
@ -31,6 +34,5 @@ if __name__ == "__main__":
|
|||
|
||||
dat = p.can_recv()
|
||||
if len(dat) > 0:
|
||||
print dat
|
||||
print(dat)
|
||||
a += 1
|
||||
|
||||
|
|
|
|||
|
|
@ -1,25 +1,29 @@
|
|||
#!/usr/bin/env python
|
||||
from __future__ import print_function
|
||||
import os
|
||||
import sys
|
||||
import struct
|
||||
import time
|
||||
from panda.lib.panda import Panda, PandaWifiStreaming
|
||||
from tqdm import tqdm
|
||||
|
||||
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
|
||||
from panda import Panda, PandaWifiStreaming
|
||||
|
||||
# test throughput between USB and wifi
|
||||
|
||||
if __name__ == "__main__":
|
||||
print Panda.list()
|
||||
print(Panda.list())
|
||||
p_out = Panda("108018800f51363038363036")
|
||||
print p_out.get_serial()
|
||||
print(p_out.get_serial())
|
||||
#p_in = Panda("02001b000f51363038363036")
|
||||
p_in = Panda("WIFI")
|
||||
print p_in.get_serial()
|
||||
print(p_in.get_serial())
|
||||
|
||||
p_in = PandaWifiStreaming()
|
||||
|
||||
#while 1:
|
||||
#while True:
|
||||
# p_in.can_recv()
|
||||
#exit(0)
|
||||
#sys.exit(0)
|
||||
|
||||
p_out.set_controls_allowed(True)
|
||||
|
||||
|
|
@ -32,13 +36,13 @@ if __name__ == "__main__":
|
|||
BATCH_SIZE = 16
|
||||
for a in tqdm(range(0, 10000, BATCH_SIZE)):
|
||||
for b in range(0, BATCH_SIZE):
|
||||
msg = "\xaa"*4 + struct.pack("I", a+b)
|
||||
msg = b"\xaa"*4 + struct.pack("I", a+b)
|
||||
if a%1 == 0:
|
||||
p_out.can_send(0xaa, msg, 0)
|
||||
|
||||
dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
|
||||
if len(dat_in) != 0:
|
||||
print len(dat_in)
|
||||
print(len(dat_in))
|
||||
|
||||
num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
|
||||
num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
|
||||
|
|
@ -47,14 +51,14 @@ if __name__ == "__main__":
|
|||
set_out.update(num_out)
|
||||
|
||||
# swag
|
||||
print "waiting for packets"
|
||||
print("waiting for packets")
|
||||
time.sleep(2.0)
|
||||
dat_in = p_in.can_recv()
|
||||
print len(dat_in)
|
||||
print(len(dat_in))
|
||||
num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
|
||||
set_in.update(num_in)
|
||||
|
||||
if len(set_out - set_in):
|
||||
print "MISSING %d" % len(set_out - set_in)
|
||||
print("MISSING %d" % len(set_out - set_in))
|
||||
if len(set_out - set_in) < 256:
|
||||
print map(hex, sorted(list(set_out - set_in)))
|
||||
print(map(hex, sorted(list(set_out - set_in))))
|
||||
|
|
|
|||
Loading…
Reference in New Issue