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108 lines
3.0 KiB
108 lines
3.0 KiB
#!/usr/bin/env python3
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import argparse
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import os
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import time
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import usb1
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import threading
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os.environ['FILEREADER_CACHE'] = '1'
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from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
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from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
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from openpilot.tools.lib.logreader import LogReader
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from panda import Panda, PandaJungle
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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_can_speed_kbps(i, 500)
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s.set_can_data_speed_kbps(i, 500)
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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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try:
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s.can_send_many(snd)
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except usb1.USBErrorTimeout:
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# timeout is fine, just means the CAN TX buffer is full
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pass
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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 s in PandaJungle.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=(PandaJungle(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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if t is not None:
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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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parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
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args = parser.parse_args()
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def process(lr):
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return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
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print("Loading log...")
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if args.route_or_segment_name is None:
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args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
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sr = LogReader(args.route_or_segment_name)
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CAN_MSGS = sr.run_across_segments(24, process)
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print("Finished loading...")
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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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