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106 lines
2.7 KiB
106 lines
2.7 KiB
#!/usr/bin/env python3
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import os
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import time
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from multiprocessing import Process
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from tqdm import tqdm
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os.environ['TESTING_CLOSET'] = '1'
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os.environ['FILEREADER_CACHE'] = '1'
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from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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from tools.lib.logreader import LogReader
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from panda import Panda
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try:
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from panda_jungle import PandaJungle # pylint: disable=import-error
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except Exception:
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PandaJungle = None # type: ignore
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ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
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NUM_SEGS = 2 # route has 82 segments available
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print("Loading log...")
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CAN_MSGS = []
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for i in tqdm(list(range(1, NUM_SEGS+1))):
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log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
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lr = LogReader(log_url)
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CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
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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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def send_thread(sender, core):
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config_realtime_process(core, 55)
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if "Jungle" in str(type(sender)):
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for i in [0, 1, 2, 3, 0xFFFF]:
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sender.can_clear(i)
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sender.set_ignition(False)
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time.sleep(5)
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sender.set_ignition(True)
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sender.set_panda_power(True)
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else:
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sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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sender.set_can_loopback(False)
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ignition = None
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if IGN_ON > 0 and IGN_OFF > 0:
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ignition = True
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print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
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log_idx = 0
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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 ignition is not None:
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ign = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
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if ign != ignition:
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ignition = ign
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sender.set_ignition(ignition)
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snd = CAN_MSGS[log_idx]
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log_idx = (log_idx + 1) % len(CAN_MSGS)
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snd = list(filter(lambda x: x[-1] <= 2, snd))
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sender.can_send_many(snd)
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# Drain panda message buffer
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sender.can_recv()
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rk.keep_time()
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def connect():
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serials = {}
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while True:
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# look for new devices
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for p in [Panda, PandaJungle]:
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if p is None:
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continue
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for s in p.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] = Process(target=send_thread, args=(p(s), 3))
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serials[s].start()
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# try to join all send procs
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cur_serials = serials.copy()
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for s, p in cur_serials.items():
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p.join(0.01)
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if p.exitcode is not None:
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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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time.sleep(1)
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if "FLASH" in os.environ and PandaJungle is not None:
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for s in PandaJungle.list():
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PandaJungle(s).flash()
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while True:
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try:
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connect()
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except Exception:
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pass
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