From 0f532dfbadcff17dd6338db6e42096dcb5f0c78b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Aug 2022 23:09:21 -0700 Subject: [PATCH] remove old boardd stuff old-commit-hash: ddb7f91c9ba7d3aee7fe5da020db9598dc07cf5c --- selfdrive/boardd/tests/boardd_old.py | 245 ---------------------- selfdrive/boardd/tests/replay_many.py | 83 -------- selfdrive/boardd/tests/test_boardd_api.py | 77 ------- 3 files changed, 405 deletions(-) delete mode 100755 selfdrive/boardd/tests/boardd_old.py delete mode 100755 selfdrive/boardd/tests/replay_many.py delete mode 100644 selfdrive/boardd/tests/test_boardd_api.py diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py deleted file mode 100755 index fad29f6f34..0000000000 --- a/selfdrive/boardd/tests/boardd_old.py +++ /dev/null @@ -1,245 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file - -# This file is not used by openpilot. Only boardd.cc is used. -# The python version is slower, but has more options for development. - -# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and -# delete this python version of boardd - -import os -import struct -import time - -import cereal.messaging as messaging -from common.realtime import Ratekeeper -from system.swaglog import cloudlog -from selfdrive.boardd.boardd import can_capnp_to_can_list -from cereal import car - -SafetyModel = car.CarParams.SafetyModel - -# USB is optional -try: - import usb1 - from usb1 import USBErrorIO, USBErrorOverflow # pylint: disable=no-name-in-module -except Exception: - pass - -# *** serialization functions *** -def can_list_to_can_capnp(can_msgs, msgtype='can'): - dat = messaging.new_message(msgtype, len(can_msgs)) - for i, can_msg in enumerate(can_msgs): - if msgtype == 'sendcan': - cc = dat.sendcan[i] - else: - cc = dat.can[i] - cc.address = can_msg[0] - cc.busTime = can_msg[1] - cc.dat = bytes(can_msg[2]) - cc.src = can_msg[3] - return dat - - -# *** can driver *** -def can_health(): - while 1: - try: - dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x16) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD HEALTH, RETRYING") - v, i = struct.unpack("II", dat[0:8]) - ign_line, ign_can = struct.unpack("BB", dat[20:22]) - return {"voltage": v, "current": i, "ignition_line": bool(ign_line), "ignition_can": bool(ign_can)} - -def __parse_can_buffer(dat): - ret = [] - for j in range(0, len(dat), 0x10): - ddat = dat[j:j+0x10] - f1, f2 = struct.unpack("II", ddat[0:8]) - ret.append((f1 >> 21, f2 >> 16, ddat[8:8 + (f2 & 0xF)], (f2 >> 4) & 0xFF)) - return ret - -def can_send_many(arr): - snds = [] - for addr, _, dat, alt in arr: - if addr < 0x800: # only support 11 bit addr - snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat - snd = snd.ljust(0x10, b'\x00') - snds.append(snd) - while 1: - try: - handle.bulkWrite(3, b''.join(snds)) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD SEND MANY, RETRYING") - -def can_recv(): - dat = b"" - while 1: - try: - dat = handle.bulkRead(1, 0x10*256) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD RECV, RETRYING") - return __parse_can_buffer(dat) - -def can_init(): - global handle, context - handle = None - cloudlog.info("attempting can init") - - context = usb1.USBContext() - #context.setDebug(9) - - for device in context.getDeviceList(skip_on_error=True): - if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc: - handle = device.open() - handle.claimInterface(0) - handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'') - - if handle is None: - cloudlog.warning("CAN NOT FOUND") - exit(-1) - - cloudlog.info("got handle") - cloudlog.info("can init done") - -def boardd_mock_loop(): - can_init() - handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'') - - logcan = messaging.sub_sock('can') - sendcan = messaging.pub_sock('sendcan') - - while 1: - tsc = messaging.drain_sock(logcan, wait_for_one=True) - snds = map(lambda x: can_capnp_to_can_list(x.can), tsc) - snd = [] - for s in snds: - snd += s - snd = list(filter(lambda x: x[-1] <= 2, snd)) - snd_0 = len(list(filter(lambda x: x[-1] == 0, snd))) - snd_1 = len(list(filter(lambda x: x[-1] == 1, snd))) - snd_2 = len(list(filter(lambda x: x[-1] == 2, snd))) - can_send_many(snd) - - # recv @ 100hz - can_msgs = can_recv() - got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs))) - got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs))) - got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs))) - print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" % - (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2)) - m = can_list_to_can_capnp(can_msgs, msgtype='sendcan') - sendcan.send(m.to_bytes()) - -def boardd_test_loop(): - can_init() - cnt = 0 - while 1: - can_send_many([[0xbb, 0, "\xaa\xaa\xaa\xaa", 0], [0xaa, 0, "\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt), 1]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]]) - # recv @ 100hz - can_msgs = can_recv() - print("got %d" % (len(can_msgs))) - time.sleep(0.01) - cnt += 1 - -# *** main loop *** -def boardd_loop(rate=100): - rk = Ratekeeper(rate) - - can_init() - - # *** publishes can and health - logcan = messaging.pub_sock('can') - health_sock = messaging.pub_sock('pandaStates') - - # *** subscribes to can send - sendcan = messaging.sub_sock('sendcan') - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # health packet @ 2hz - if (rk.frame % (rate // 2)) == 0: - health = can_health() - msg = messaging.new_message('pandaStates', 1) - - # store the health to be logged - msg.pandaState[0].voltage = health['voltage'] - msg.pandaState[0].current = health['current'] - msg.pandaState[0].ignitionLine = health['ignition_line'] - msg.pandaState[0].ignitionCan = health['ignition_can'] - msg.pandaState[0].controlsAllowed = True - - health_sock.send(msg.to_bytes()) - - # recv @ 100hz - can_msgs = can_recv() - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs).to_bytes() - logcan.send(dat) - - # send can if we have a packet - tsc = messaging.recv_sock(sendcan) - if tsc is not None: - can_send_many(can_capnp_to_can_list(tsc.sendcan)) - - rk.keep_time() - -# *** main loop *** -def boardd_proxy_loop(rate=100, address="192.168.2.251"): - rk = Ratekeeper(rate) - - can_init() - - # *** subscribes can - logcan = messaging.sub_sock('can', addr=address) - # *** publishes to can send - sendcan = messaging.pub_sock('sendcan') - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # recv @ 100hz - can_msgs = can_recv() - #for m in can_msgs: - # print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs, "sendcan") - sendcan.send(dat) - - # send can if we have a packet - tsc = messaging.recv_sock(logcan) - if tsc is not None: - cl = can_capnp_to_can_list(tsc.can) - #for m in cl: - # print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - can_send_many(cl) - - rk.keep_time() - -def main(): - if os.getenv("MOCK") is not None: - boardd_mock_loop() - elif os.getenv("PROXY") is not None: - boardd_proxy_loop() - elif os.getenv("BOARDTEST") is not None: - boardd_test_loop() - else: - boardd_loop() - -if __name__ == "__main__": - main() diff --git a/selfdrive/boardd/tests/replay_many.py b/selfdrive/boardd/tests/replay_many.py deleted file mode 100755 index 78aef07497..0000000000 --- a/selfdrive/boardd/tests/replay_many.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import time -import signal -import traceback -import usb1 -from panda import Panda, PandaDFU -from multiprocessing import Pool - -jungle = "JUNGLE" in os.environ -if jungle: - from panda_jungle import PandaJungle # pylint: disable=import-error - -import cereal.messaging as messaging -from selfdrive.boardd.boardd import can_capnp_to_can_list - -def initializer(): - """Ignore CTRL+C in the worker process. - source: https://stackoverflow.com/a/44869451 """ - signal.signal(signal.SIGINT, signal.SIG_IGN) - -def send_thread(sender_serial): - while True: - try: - if jungle: - sender = PandaJungle(sender_serial) - else: - sender = Panda(sender_serial) - sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - sender.set_can_loopback(False) - can_sock = messaging.sub_sock('can') - - while True: - tsc = messaging.recv_one(can_sock) - snd = can_capnp_to_can_list(tsc.can) - snd = list(filter(lambda x: x[-1] <= 2, snd)) - - try: - sender.can_send_many(snd) - except usb1.USBErrorTimeout: - pass - - # Drain panda message buffer - sender.can_recv() - except Exception: - traceback.print_exc() - time.sleep(1) - -if __name__ == "__main__": - if jungle: - serials = PandaJungle.list() - else: - serials = Panda.list() - num_senders = len(serials) - - if num_senders == 0: - print("No senders found. Exiting") - sys.exit(1) - else: - print("%d senders found. Starting broadcast" % num_senders) - - if "FLASH" in os.environ: - for s in PandaDFU.list(): - PandaDFU(s).recover() - - time.sleep(1) - for s in serials: - Panda(s).recover() - Panda(s).flash() - - pool = Pool(num_senders, initializer=initializer) - pool.map_async(send_thread, serials) - - while True: - try: - time.sleep(10) - except KeyboardInterrupt: - pool.terminate() - pool.join() - raise - diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py deleted file mode 100644 index f2bcd57a6b..0000000000 --- a/selfdrive/boardd/tests/test_boardd_api.py +++ /dev/null @@ -1,77 +0,0 @@ -import random -import numpy as np - -import selfdrive.boardd.tests.boardd_old as boardd_old -import selfdrive.boardd.boardd as boardd - -from common.realtime import sec_since_boot -from cereal import log -import unittest - - -def generate_random_can_data_list(): - can_list = [] - cnt = random.randint(1, 64) - for _ in range(cnt): - can_data = np.random.bytes(random.randint(1, 8)) - can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)]) - return can_list, cnt - - -class TestBoarddApiMethods(unittest.TestCase): - def test_correctness(self): - for i in range(1000): - can_list, _ = generate_random_can_data_list() - - # Sendcan - # Old API - m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() - # new API - m = boardd.can_list_to_can_capnp(can_list, 'sendcan') - - ev_old = log.Event.from_bytes(m_old) - ev = log.Event.from_bytes(m) - - self.assertEqual(ev_old.which(), ev.which()) - self.assertEqual(len(ev.sendcan), len(ev_old.sendcan)) - for i in range(len(ev.sendcan)): - attrs = ['address', 'busTime', 'dat', 'src'] - for attr in attrs: - self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old')) - - # Can - m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes() - # new API - m = boardd.can_list_to_can_capnp(can_list, 'can') - - ev_old = log.Event.from_bytes(m_old) - ev = log.Event.from_bytes(m) - self.assertEqual(ev_old.which(), ev.which()) - self.assertEqual(len(ev.can), len(ev_old.can)) - for i in range(len(ev.can)): - attrs = ['address', 'busTime', 'dat', 'src'] - for attr in attrs: - self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old')) - - def test_performance(self): - can_list, _ = generate_random_can_data_list() - recursions = 1000 - - n1 = sec_since_boot() - for _ in range(recursions): - boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() - n2 = sec_since_boot() - elapsed_old = n2 - n1 - - # print('Old API, elapsed time: {} secs'.format(elapsed_old)) - n1 = sec_since_boot() - for _ in range(recursions): - boardd.can_list_to_can_capnp(can_list) - n2 = sec_since_boot() - elapsed_new = n2 - n1 - # print('New API, elapsed time: {} secs'.format(elapsed_new)) - self.assertTrue(elapsed_new < elapsed_old / 2) - - -if __name__ == '__main__': - unittest.main()