From 935b9ceb05418e5c6e78b7c556a0d6469d3b5f3c Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Mon, 1 Feb 2021 15:54:19 +0100
Subject: [PATCH] Add back replay_many script for unlogging over jungles

---
 selfdrive/boardd/tests/replay_many.py | 84 +++++++++++++++++++++++++++
 1 file changed, 84 insertions(+)
 create mode 100755 selfdrive/boardd/tests/replay_many.py

diff --git a/selfdrive/boardd/tests/replay_many.py b/selfdrive/boardd/tests/replay_many.py
new file mode 100755
index 0000000000..58ccd57991
--- /dev/null
+++ b/selfdrive/boardd/tests/replay_many.py
@@ -0,0 +1,84 @@
+#!/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):
+  global jungle
+  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
+