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110 lines
3.0 KiB
110 lines
3.0 KiB
#!/usr/bin/env python3
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import os
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import time
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import threading
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import multiprocessing
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from tqdm import tqdm
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os.environ['FILEREADER_CACHE'] = '1'
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from common.basedir import BASEDIR
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from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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from tools.plotjuggler.juggle import load_segment
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from panda import Panda
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try:
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# this bool can be replaced when mypy understands this pattern
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panda_jungle_imported = True
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from panda_jungle import PandaJungle # pylint: disable=import-error # type: ignore
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except ImportError:
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PandaJungle = None
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panda_jungle_imported = False
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def send_thread(s, flock):
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if "Jungle" in str(type(s)):
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if "FLASH" in os.environ:
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with flock:
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s.flash()
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for i in [0, 1, 2, 3, 0xFFFF]:
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s.can_clear(i)
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s.set_ignition(False)
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time.sleep(5)
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s.set_ignition(True)
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s.set_panda_power(True)
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else:
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s.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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s.set_can_loopback(False)
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idx = 0
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ign = True
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rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
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while True:
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# handle ignition cycling
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if ENABLE_IGN:
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i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
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if i != ign:
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ign = i
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s.set_ignition(ign)
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snd = CAN_MSGS[idx]
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snd = list(filter(lambda x: x[-1] <= 2, snd))
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s.can_send_many(snd)
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idx = (idx + 1) % len(CAN_MSGS)
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# Drain panda message buffer
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s.can_recv()
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rk.keep_time()
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def connect():
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config_realtime_process(3, 55)
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serials = {}
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flashing_lock = threading.Lock()
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while True:
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# look for new devices
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for p in [Panda, PandaJungle]:
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if p is None:
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continue
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for s in p.list():
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if s not in serials:
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print("starting send thread for", s)
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serials[s] = threading.Thread(target=send_thread, args=(p(s), flashing_lock))
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serials[s].start()
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# try to join all send threads
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cur_serials = serials.copy()
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for s, t in cur_serials.items():
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t.join(0.01)
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if not t.is_alive():
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del serials[s]
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time.sleep(1)
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if __name__ == "__main__":
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if not panda_jungle_imported:
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print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
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print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
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print("Loading log...")
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ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
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REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available
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CAN_MSGS = []
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logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
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with multiprocessing.Pool(24) as pool:
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for lr in tqdm(pool.map(load_segment, logs)):
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CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
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# set both to cycle ignition
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IGN_ON = int(os.getenv("ON", "0"))
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IGN_OFF = int(os.getenv("OFF", "0"))
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ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
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if ENABLE_IGN:
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print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
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connect()
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