boardd: prep for SPI + factor out USB (#26356)
* merge origin/spi-panda
* just prep
* boardd: factor out USB comms
* fix those
* add to release files
* little more
old-commit-hash: 06be96cae2
taco
Adeeb Shihadeh
3 years ago
committed by
GitHub
parent
6c8b431849
commit
5c123f01b4
7 changed files with 350 additions and 286 deletions
@ -1,9 +1,9 @@ |
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Import('env', 'envCython', 'common', 'cereal', 'messaging') |
Import('env', 'envCython', 'common', 'cereal', 'messaging') |
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libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] |
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] |
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env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs) |
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) |
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env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) |
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envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) |
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if GetOption('test'): |
if GetOption('test'): |
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env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) |
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) |
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@ -0,0 +1,232 @@ |
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#include "selfdrive/boardd/panda.h" |
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#include <cassert> |
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#include <stdexcept> |
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#include "common/swaglog.h" |
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static int init_usb_ctx(libusb_context **context) { |
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assert(context != nullptr); |
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int err = libusb_init(context); |
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if (err != 0) { |
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LOGE("libusb initialization error"); |
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return err; |
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} |
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#if LIBUSB_API_VERSION >= 0x01000106 |
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libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); |
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#else |
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libusb_set_debug(*context, 3); |
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#endif |
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return err; |
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} |
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PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { |
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// init libusb
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ssize_t num_devices; |
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libusb_device **dev_list = NULL; |
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int err = init_usb_ctx(&ctx); |
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if (err != 0) { goto fail; } |
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// connect by serial
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num_devices = libusb_get_device_list(ctx, &dev_list); |
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if (num_devices < 0) { goto fail; } |
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for (size_t i = 0; i < num_devices; ++i) { |
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libusb_device_descriptor desc; |
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libusb_get_device_descriptor(dev_list[i], &desc); |
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if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { |
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int ret = libusb_open(dev_list[i], &dev_handle); |
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if (dev_handle == NULL || ret < 0) { goto fail; } |
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unsigned char desc_serial[26] = { 0 }; |
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ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); |
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if (ret < 0) { goto fail; } |
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auto hw_serial = std::string((char *)desc_serial, ret); |
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if (serial.empty() || serial == hw_serial) { |
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break; |
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} |
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libusb_close(dev_handle); |
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dev_handle = NULL; |
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} |
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} |
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if (dev_handle == NULL) goto fail; |
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libusb_free_device_list(dev_list, 1); |
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dev_list = nullptr; |
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if (libusb_kernel_driver_active(dev_handle, 0) == 1) { |
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libusb_detach_kernel_driver(dev_handle, 0); |
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} |
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err = libusb_set_configuration(dev_handle, 1); |
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if (err != 0) { goto fail; } |
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err = libusb_claim_interface(dev_handle, 0); |
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if (err != 0) { goto fail; } |
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return; |
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fail: |
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if (dev_list != NULL) { |
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libusb_free_device_list(dev_list, 1); |
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} |
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cleanup(); |
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throw std::runtime_error("Error connecting to panda"); |
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} |
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PandaUsbHandle::~PandaUsbHandle() { |
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std::lock_guard lk(hw_lock); |
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cleanup(); |
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connected = false; |
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} |
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void PandaUsbHandle::cleanup() { |
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if (dev_handle) { |
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libusb_release_interface(dev_handle, 0); |
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libusb_close(dev_handle); |
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} |
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if (ctx) { |
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libusb_exit(ctx); |
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} |
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} |
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std::vector<std::string> PandaUsbHandle::list() { |
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// init libusb
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ssize_t num_devices; |
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libusb_context *context = NULL; |
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libusb_device **dev_list = NULL; |
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std::vector<std::string> serials; |
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int err = init_usb_ctx(&context); |
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if (err != 0) { return serials; } |
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num_devices = libusb_get_device_list(context, &dev_list); |
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if (num_devices < 0) { |
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LOGE("libusb can't get device list"); |
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goto finish; |
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} |
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for (size_t i = 0; i < num_devices; ++i) { |
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libusb_device *device = dev_list[i]; |
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libusb_device_descriptor desc; |
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libusb_get_device_descriptor(device, &desc); |
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if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { |
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libusb_device_handle *handle = NULL; |
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int ret = libusb_open(device, &handle); |
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if (ret < 0) { goto finish; } |
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unsigned char desc_serial[26] = { 0 }; |
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ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); |
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libusb_close(handle); |
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if (ret < 0) { goto finish; } |
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serials.push_back(std::string((char *)desc_serial, ret).c_str()); |
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} |
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} |
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finish: |
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if (dev_list != NULL) { |
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libusb_free_device_list(dev_list, 1); |
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} |
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if (context) { |
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libusb_exit(context); |
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} |
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return serials; |
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} |
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void PandaUsbHandle::handle_usb_issue(int err, const char func[]) { |
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LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); |
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if (err == LIBUSB_ERROR_NO_DEVICE) { |
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LOGE("lost connection"); |
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connected = false; |
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} |
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// TODO: check other errors, is simply retrying okay?
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} |
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int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { |
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int err; |
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; |
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if (!connected) { |
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return LIBUSB_ERROR_NO_DEVICE; |
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} |
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std::lock_guard lk(hw_lock); |
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do { |
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); |
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if (err < 0) handle_usb_issue(err, __func__); |
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} while (err < 0 && connected); |
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return err; |
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} |
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int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { |
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int err; |
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; |
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if (!connected) { |
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return LIBUSB_ERROR_NO_DEVICE; |
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} |
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std::lock_guard lk(hw_lock); |
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do { |
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); |
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if (err < 0) handle_usb_issue(err, __func__); |
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} while (err < 0 && connected); |
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return err; |
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} |
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int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { |
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int err; |
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int transferred = 0; |
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if (!connected) { |
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return 0; |
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} |
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std::lock_guard lk(hw_lock); |
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do { |
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// Try sending can messages. If the receive buffer on the panda is full it will NAK
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// and libusb will try again. After 5ms, it will time out. We will drop the messages.
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); |
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if (err == LIBUSB_ERROR_TIMEOUT) { |
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LOGW("Transmit buffer full"); |
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break; |
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} else if (err != 0 || length != transferred) { |
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handle_usb_issue(err, __func__); |
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} |
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} while(err != 0 && connected); |
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return transferred; |
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} |
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int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { |
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int err; |
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int transferred = 0; |
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if (!connected) { |
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return 0; |
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} |
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std::lock_guard lk(hw_lock); |
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do { |
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); |
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if (err == LIBUSB_ERROR_TIMEOUT) { |
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break; // timeout is okay to exit, recv still happened
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} else if (err == LIBUSB_ERROR_OVERFLOW) { |
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comms_healthy = false; |
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LOGE_100("overflow got 0x%x", transferred); |
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} else if (err != 0) { |
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handle_usb_issue(err, __func__); |
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} |
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} while(err != 0 && connected); |
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return transferred; |
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} |
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@ -0,0 +1,51 @@ |
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#pragma once |
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#include <mutex> |
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#include <atomic> |
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#include <cstdint> |
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#include <vector> |
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#include <libusb-1.0/libusb.h> |
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#define TIMEOUT 0 |
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// comms base class
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class PandaCommsHandle { |
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public: |
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PandaCommsHandle(std::string serial) {}; |
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virtual ~PandaCommsHandle() {}; |
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virtual void cleanup() = 0; |
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std::atomic<bool> connected = true; |
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std::atomic<bool> comms_healthy = true; |
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static std::vector<std::string> list(); |
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// HW communication
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virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0; |
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virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; |
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virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; |
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virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; |
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protected: |
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std::mutex hw_lock; |
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}; |
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class PandaUsbHandle : public PandaCommsHandle { |
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public: |
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PandaUsbHandle(std::string serial); |
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~PandaUsbHandle(); |
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); |
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); |
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); |
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); |
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void cleanup(); |
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static std::vector<std::string> list(); |
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private: |
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libusb_context *ctx = NULL; |
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libusb_device_handle *dev_handle = NULL; |
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std::vector<uint8_t> recv_buf; |
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void handle_usb_issue(int err, const char func[]); |
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}; |
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