#!/usr/bin/env python3
import argparse
import os
import time
import usb1
import threading
os.environ['FILEREADER_CACHE'] = '1'
from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
from openpilot.tools.lib.logreader import LogReader
from panda import PandaJungle
# set both to cycle power or ignition
PWR_ON = int(os.getenv("PWR_ON", "0"))
PWR_OFF = int(os.getenv("PWR_OFF", "0"))
IGN_ON = int(os.getenv("ON", "0"))
IGN_OFF = int(os.getenv("OFF", "0"))
ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0
[docs]
def send_thread(j: PandaJungle, flock):
if "FLASH" in os.environ:
with flock:
j.flash()
j.reset()
for i in [0, 1, 2, 3, 0xFFFF]:
j.can_clear(i)
j.set_can_speed_kbps(i, 500)
j.set_ignition(True)
j.set_panda_power(True)
j.set_can_loopback(False)
rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
while True:
# handle cycling
if ENABLE_PWR:
i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON
j.set_panda_power(i)
if ENABLE_IGN:
i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
j.set_ignition(i)
snd = CAN_MSGS[rk.frame % len(CAN_MSGS)]
snd = list(filter(lambda x: x[-1] <= 2, snd))
try:
j.can_send_many(snd)
except usb1.USBErrorTimeout:
# timeout is fine, just means the CAN TX buffer is full
pass
# Drain panda message buffer
j.can_recv()
rk.keep_time()
[docs]
def connect():
config_realtime_process(3, 55)
serials = {}
flashing_lock = threading.Lock()
while True:
# look for new devices
for s in PandaJungle.list():
if s not in serials:
print("starting send thread for", s)
serials[s] = threading.Thread(target=send_thread, args=(PandaJungle(s), flashing_lock))
serials[s].start()
# try to join all send threads
cur_serials = serials.copy()
for s, t in cur_serials.items():
if t is not None:
t.join(0.01)
if not t.is_alive():
del serials[s]
time.sleep(1)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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.")
args = parser.parse_args()
def process(lr):
return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
print("Loading log...")
if args.route_or_segment_name is None:
args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
sr = LogReader(args.route_or_segment_name)
CP = sr.first("carParams")
print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
CAN_MSGS = sr.run_across_segments(24, process)
print("Finished loading...")
if ENABLE_PWR:
print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")
if ENABLE_IGN:
print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
connect()