#!/usr/bin/env python3
import os
import usb1
import time
import struct
import itertools
import threading
from typing import Any
from panda import Panda
JUNGLE = "JUNGLE" in os.environ
if JUNGLE:
from panda import PandaJungle
# Generate unique messages
NUM_MESSAGES_PER_BUS = 10000
messages = [bytes(struct.pack("Q", i)) for i in range(NUM_MESSAGES_PER_BUS)]
tx_messages = list(itertools.chain.from_iterable([[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] for msg in messages))
[docs]
def flood_tx(panda):
print('Sending!')
transferred = 0
while True:
try:
print(f"Sending block {transferred}-{len(tx_messages)}: ", end="")
panda.can_send_many(tx_messages[transferred:], timeout=10)
print("OK")
break
except usb1.USBErrorTimeout as e:
transferred += (e.transferred // 16)
print("timeout, transferred: ", transferred)
print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
if __name__ == "__main__":
serials = Panda.list()
receiver: Panda | PandaJungle
if JUNGLE:
sender = Panda()
receiver = PandaJungle()
else:
if len(serials) != 2:
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1])
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# Start transmisson
threading.Thread(target=flood_tx, args=(sender,)).start()
# Receive as much as we can, and stop when there hasn't been anything for a second
rx: list[Any] = []
old_len = 0
last_change = time.monotonic()
while time.monotonic() - last_change < 1:
if old_len < len(rx):
last_change = time.monotonic()
old_len = len(rx)
rx.extend(receiver.can_recv())
print(f"Received {len(rx)} messages")
# Check if we received everything
for bus in range(3):
received_msgs = {bytes(m[2]) for m in filter(lambda m, b=bus: m[3] == b, rx)} # type: ignore
dropped_msgs = set(messages).difference(received_msgs)
print(f"Bus {bus} dropped msgs: {len(list(dropped_msgs))} / {len(messages)}")