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54 lines
1.3 KiB
54 lines
1.3 KiB
#!/usr/bin/env python
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import sys
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import time
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import signal
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from panda import Panda
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from multiprocessing import Pool
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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def initializer():
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"""Ignore CTRL+C in the worker process.
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source: https://stackoverflow.com/a/44869451 """
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signal.signal(signal.SIGINT, signal.SIG_IGN)
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def send_thread(serial):
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panda = Panda(serial)
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panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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panda.set_can_loopback(False)
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can_sock = messaging.sub_sock(service_list['can'].port)
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while True:
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# Send messages one bus 0 and 1
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tsc = messaging.recv_one(can_sock)
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snd = can_capnp_to_can_list(tsc.can)
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snd = filter(lambda x: x[-1] <= 2, snd)
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panda.can_send_many(snd)
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# Drain panda message buffer
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panda.can_recv()
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if __name__ == "__main__":
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serials = Panda.list()
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num_pandas = len(serials)
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if num_pandas == 0:
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print("No pandas found. Exiting")
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sys.exit(1)
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else:
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print("%d pandas found. Starting broadcast" % num_pandas)
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pool = Pool(num_pandas, initializer=initializer)
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pool.map_async(send_thread, serials)
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while True:
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try:
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time.sleep(10)
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except KeyboardInterrupt:
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pool.terminate()
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pool.join()
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raise
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