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85 lines
1.9 KiB
85 lines
1.9 KiB
5 years ago
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#!/usr/bin/env python3
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import os
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import sys
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import time
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import signal
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import traceback
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import usb1
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from panda import Panda, PandaDFU
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from multiprocessing import Pool
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jungle = "JUNGLE" in os.environ
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if jungle:
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from panda_jungle import PandaJungle # pylint: disable=import-error
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import cereal.messaging as messaging
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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def initializer():
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"""Ignore CTRL+C in the worker process.
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source: https://stackoverflow.com/a/44869451 """
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signal.signal(signal.SIGINT, signal.SIG_IGN)
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def send_thread(sender_serial):
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global jungle
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while True:
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try:
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if jungle:
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sender = PandaJungle(sender_serial)
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else:
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sender = Panda(sender_serial)
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sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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sender.set_can_loopback(False)
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can_sock = messaging.sub_sock('can')
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while True:
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tsc = messaging.recv_one(can_sock)
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snd = can_capnp_to_can_list(tsc.can)
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snd = list(filter(lambda x: x[-1] <= 2, snd))
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try:
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sender.can_send_many(snd)
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except usb1.USBErrorTimeout:
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pass
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# Drain panda message buffer
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sender.can_recv()
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except Exception:
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traceback.print_exc()
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time.sleep(1)
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if __name__ == "__main__":
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if jungle:
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serials = PandaJungle.list()
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else:
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serials = Panda.list()
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num_senders = len(serials)
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if num_senders == 0:
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print("No senders found. Exiting")
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sys.exit(1)
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else:
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print("%d senders found. Starting broadcast" % num_senders)
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if "FLASH" in os.environ:
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for s in PandaDFU.list():
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PandaDFU(s).recover()
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time.sleep(1)
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for s in serials:
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Panda(s).recover()
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Panda(s).flash()
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pool = Pool(num_senders, initializer=initializer)
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pool.map_async(send_thread, serials)
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while True:
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try:
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time.sleep(10)
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except KeyboardInterrupt:
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pool.terminate()
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pool.join()
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raise
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