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247 lines
6.6 KiB
247 lines
6.6 KiB
#!/usr/bin/env python
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# This file is not used by OpenPilot. Only boardd.cc is used.
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# The python version is slower, but has more options for development.
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# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
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# delete this python version of boardd
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import os
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import struct
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import zmq
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import time
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import selfdrive.messaging as messaging
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from common.realtime import Ratekeeper
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from selfdrive.services import service_list
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from selfdrive.swaglog import cloudlog
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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# USB is optional
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try:
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import usb1
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from usb1 import USBErrorIO, USBErrorOverflow #pylint: disable=no-name-in-module
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except Exception:
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pass
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SAFETY_NOOUTPUT = 0
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SAFETY_HONDA = 1
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SAFETY_TOYOTA = 2
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SAFETY_CHRYSLER = 9
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SAFETY_TOYOTA_NOLIMITS = 0x1336
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SAFETY_ALLOUTPUT = 0x1337
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# *** serialization functions ***
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def can_list_to_can_capnp(can_msgs, msgtype='can'):
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dat = messaging.new_message()
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dat.init(msgtype, len(can_msgs))
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for i, can_msg in enumerate(can_msgs):
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if msgtype == 'sendcan':
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cc = dat.sendcan[i]
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else:
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cc = dat.can[i]
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cc.address = can_msg[0]
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cc.busTime = can_msg[1]
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cc.dat = str(can_msg[2])
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cc.src = can_msg[3]
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return dat
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# *** can driver ***
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def can_health():
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while 1:
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try:
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dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x10)
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break
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except (USBErrorIO, USBErrorOverflow):
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cloudlog.exception("CAN: BAD HEALTH, RETRYING")
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v, i, started = struct.unpack("IIB", dat[0:9])
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# TODO: units
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return {"voltage": v, "current": i, "started": bool(started)}
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def __parse_can_buffer(dat):
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ret = []
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for j in range(0, len(dat), 0x10):
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ddat = dat[j:j+0x10]
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f1, f2 = struct.unpack("II", ddat[0:8])
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ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF))
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return ret
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def can_send_many(arr):
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snds = []
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for addr, _, dat, alt in arr:
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if addr < 0x800: # only support 11 bit addr
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snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
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snd = snd.ljust(0x10, '\x00')
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snds.append(snd)
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while 1:
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try:
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handle.bulkWrite(3, ''.join(snds))
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break
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except (USBErrorIO, USBErrorOverflow):
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cloudlog.exception("CAN: BAD SEND MANY, RETRYING")
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def can_recv():
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dat = ""
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while 1:
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try:
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dat = handle.bulkRead(1, 0x10*256)
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break
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except (USBErrorIO, USBErrorOverflow):
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cloudlog.exception("CAN: BAD RECV, RETRYING")
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return __parse_can_buffer(dat)
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def can_init():
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global handle, context
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handle = None
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cloudlog.info("attempting can init")
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context = usb1.USBContext()
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#context.setDebug(9)
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
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handle = device.open()
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handle.claimInterface(0)
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handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
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if handle is None:
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cloudlog.warn("CAN NOT FOUND")
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exit(-1)
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cloudlog.info("got handle")
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cloudlog.info("can init done")
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def boardd_mock_loop():
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context = zmq.Context()
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can_init()
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handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
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logcan = messaging.sub_sock(context, service_list['can'].port)
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sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
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while 1:
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tsc = messaging.drain_sock(logcan, wait_for_one=True)
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snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
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snd = []
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for s in snds:
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snd += s
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snd = filter(lambda x: x[-1] <= 1, snd)
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can_send_many(snd)
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# recv @ 100hz
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can_msgs = can_recv()
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print("sent %d got %d" % (len(snd), len(can_msgs)))
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m = can_list_to_can_capnp(can_msgs, msgtype='sendcan')
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sendcan.send(m.to_bytes())
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def boardd_test_loop():
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can_init()
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cnt = 0
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while 1:
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can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]])
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#can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
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#can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
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# recv @ 100hz
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can_msgs = can_recv()
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print("got %d" % (len(can_msgs)))
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time.sleep(0.01)
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cnt += 1
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# *** main loop ***
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def boardd_loop(rate=200):
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rk = Ratekeeper(rate)
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context = zmq.Context()
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can_init()
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# *** publishes can and health
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logcan = messaging.pub_sock(context, service_list['can'].port)
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health_sock = messaging.pub_sock(context, service_list['health'].port)
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# *** subscribes to can send
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sendcan = messaging.sub_sock(context, service_list['sendcan'].port)
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# drain sendcan to delete any stale messages from previous runs
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messaging.drain_sock(sendcan)
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while 1:
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# health packet @ 1hz
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if (rk.frame%rate) == 0:
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health = can_health()
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msg = messaging.new_message()
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msg.init('health')
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# store the health to be logged
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msg.health.voltage = health['voltage']
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msg.health.current = health['current']
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msg.health.started = health['started']
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msg.health.controlsAllowed = True
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health_sock.send(msg.to_bytes())
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# recv @ 100hz
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can_msgs = can_recv()
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# publish to logger
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# TODO: refactor for speed
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if len(can_msgs) > 0:
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dat = can_list_to_can_capnp(can_msgs).to_bytes()
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logcan.send(dat)
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# send can if we have a packet
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tsc = messaging.recv_sock(sendcan)
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if tsc is not None:
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can_send_many(can_capnp_to_can_list(tsc.sendcan))
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rk.keep_time()
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# *** main loop ***
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def boardd_proxy_loop(rate=200, address="192.168.2.251"):
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rk = Ratekeeper(rate)
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context = zmq.Context()
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can_init()
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# *** subscribes can
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logcan = messaging.sub_sock(context, service_list['can'].port, addr=address)
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# *** publishes to can send
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sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
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# drain sendcan to delete any stale messages from previous runs
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messaging.drain_sock(sendcan)
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while 1:
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# recv @ 100hz
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can_msgs = can_recv()
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#for m in can_msgs:
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# print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
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# publish to logger
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# TODO: refactor for speed
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if len(can_msgs) > 0:
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dat = can_list_to_can_capnp(can_msgs, "sendcan")
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sendcan.send(dat)
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# send can if we have a packet
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tsc = messaging.recv_sock(logcan)
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if tsc is not None:
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cl = can_capnp_to_can_list(tsc.can)
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#for m in cl:
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# print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
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can_send_many(cl)
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rk.keep_time()
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def main(gctx=None):
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if os.getenv("MOCK") is not None:
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boardd_mock_loop()
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elif os.getenv("PROXY") is not None:
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boardd_proxy_loop()
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elif os.getenv("BOARDTEST") is not None:
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boardd_test_loop()
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else:
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boardd_loop()
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if __name__ == "__main__":
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main()
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