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Merge pull request #276 from commaai/python3 

Python3
master
George Hotz 2019-09-26 17:25:09 -07:00 committed by GitHub
parent 9893a842a7 d3268690c9
commit 11b7151180
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
65 changed files with 354 additions and 285 deletions
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19
Dockerfile
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@ -17,11 +17,15 @@ RUN apt-get update && apt-get install -y \
gperf \
help2man \
iputils-ping \
libbz2-dev \
libexpat-dev \
libffi-dev \
libssl-dev \
libstdc++-arm-none-eabi-newlib \
libtool \
libtool-bin \
libusb-1.0-0 \
locales \
make \
ncurses-dev \
network-manager \
@ -38,7 +42,20 @@ RUN apt-get update && apt-get install -y \
screen \
vim \
wget \
wireless-tools
wireless-tools \
zlib1g-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
RUN pip install --upgrade pip==18.0

4
board/tools/enter_download_mode.py
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@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import sys
import time

16
crypto/getcertheader.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import sys
import struct
from Crypto.PublicKey import RSA
@ -26,7 +26,7 @@ def to_c_uint32(x):
nums = []
for i in range(0x20):
nums.append(x%(2**32))
x /= (2**32)
x //= (2**32)
return "{"+'U,'.join(map(str, nums))+"U}"
for fn in sys.argv[1:]:
@ -36,11 +36,11 @@ for fn in sys.argv[1:]:
cname = fn.split("/")[-1].split(".")[0] + "_rsa_key"
print 'RSAPublicKey '+cname+' = {.len = 0x20,'
print ' .n0inv = %dU,' % n0inv
print ' .n = %s,' % to_c_uint32(rsa.n)
print ' .rr = %s,' % to_c_uint32(rr)
print ' .exponent = %d,' % rsa.e
print '};'
print('RSAPublicKey '+cname+' = {.len = 0x20,')
print(' .n0inv = %dU,' % n0inv)
print(' .n = %s,' % to_c_uint32(rsa.n))
print(' .rr = %s,' % to_c_uint32(rr))
print(' .exponent = %d,' % rsa.e)
print('};')

18
crypto/sign.py
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@ -1,16 +1,17 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import os
import sys
import struct
import hashlib
from Crypto.PublicKey import RSA
import binascii
rsa = RSA.importKey(open(sys.argv[3]).read())
with open(sys.argv[1]) as f:
with open(sys.argv[1], "rb") as f:
dat = f.read()
print "signing", len(dat), "bytes"
print("signing", len(dat), "bytes")
with open(sys.argv[2], "wb") as f:
if os.getenv("SETLEN") is not None:
@ -20,10 +21,11 @@ with open(sys.argv[2], "wb") as f:
else:
x = dat
dd = hashlib.sha1(dat).digest()
print "hash:",dd.encode("hex")
dd = "\x00\x01" + "\xff"*0x69 + "\x00" + dd
rsa_out = pow(int(dd.encode("hex"), 16), rsa.d, rsa.n)
sig = (hex(rsa_out)[2:-1].rjust(0x100, '0')).decode("hex")
x += sig
print("hash:", str(binascii.hexlify(dd), "utf-8"))
dd = b"\x00\x01" + b"\xff"*0x69 + b"\x00" + dd
rsa_out = pow(int.from_bytes(dd, byteorder='big', signed=False), rsa.d, rsa.n)
sig = (hex(rsa_out)[2:].rjust(0x100, '0'))
x += binascii.unhexlify(sig)
f.write(x)

18
examples/can_bit_transition.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import binascii
import csv
@ -13,13 +13,13 @@ class Message():
def printBitDiff(self, other):
"""Prints bits that transition from always zero to always 1 and vice versa."""
for i in xrange(len(self.ones)):
for i in range(len(self.ones)):
zero_to_one = other.zeros[i] & self.ones[i]
if zero_to_one:
print 'id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one)
print('id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one))
one_to_zero = other.ones[i] & self.zeros[i]
if one_to_zero:
print 'id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero)
print('id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero))
class Info():
@ -56,7 +56,7 @@ class Info():
new_message = True
message = self.messages[message_id]
bytes = bytearray.fromhex(data)
for i in xrange(len(bytes)):
for i in range(len(bytes)):
ones = int(bytes[i])
message.ones[i] = ones if new_message else message.ones[i] & ones
# Inverts the data and masks it to a byte to get the zeros as ones.
@ -65,11 +65,11 @@ class Info():
def PrintUnique(log_file, low_range, high_range):
# find messages with bits that are always low
start, end = map(float, low_range.split('-'))
start, end = list(map(float, low_range.split('-')))
low = Info()
low.load(log_file, start, end)
# find messages with bits that are always high
start, end = map(float, high_range.split('-'))
start, end = list(map(float, high_range.split('-')))
high = Info()
high.load(log_file, start, end)
# print messages that go from low to high
@ -78,10 +78,10 @@ def PrintUnique(log_file, low_range, high_range):
if message_id in low.messages:
high.messages[message_id].printBitDiff(low.messages[message_id])
found = True
if not found: print 'No messages that transition from always low to always high found!'
if not found: print('No messages that transition from always low to always high found!')
if __name__ == "__main__":
if len(sys.argv) < 4:
print 'Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0]
print('Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0])
sys.exit(0)
PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3])

4
examples/can_logger.py
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@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import binascii
import csv
import sys

18
examples/can_unique.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# Given an interesting CSV file of CAN messages and a list of background CAN
# messages, print which bits in the interesting file have never appeared
@ -28,15 +28,15 @@ class Message():
def printBitDiff(self, other):
"""Prints bits that are set or cleared compared to other background."""
for i in xrange(len(self.ones)):
for i in range(len(self.ones)):
new_ones = ((~other.ones[i]) & 0xff) & self.ones[i]
if new_ones:
print 'id %s new one at byte %d bitmask %d' % (
self.message_id, i, new_ones)
print('id %s new one at byte %d bitmask %d' % (
self.message_id, i, new_ones))
new_zeros = ((~other.zeros[i]) & 0xff) & self.zeros[i]
if new_zeros:
print 'id %s new zero at byte %d bitmask %d' % (
self.message_id, i, new_zeros)
print('id %s new zero at byte %d bitmask %d' % (
self.message_id, i, new_zeros))
class Info():
@ -67,7 +67,7 @@ class Info():
if data not in self.messages[message_id].data:
message.data[data] = True
bytes = bytearray.fromhex(data)
for i in xrange(len(bytes)):
for i in range(len(bytes)):
message.ones[i] = message.ones[i] | int(bytes[i])
# Inverts the data and masks it to a byte to get the zeros as ones.
message.zeros[i] = message.zeros[i] | ( (~int(bytes[i])) & 0xff)
@ -80,7 +80,7 @@ def PrintUnique(interesting_file, background_files):
interesting.load(interesting_file)
for message_id in sorted(interesting.messages):
if message_id not in background.messages:
print 'New message_id: %s' % message_id
print('New message_id: %s' % message_id)
else:
interesting.messages[message_id].printBitDiff(
background.messages[message_id])
@ -88,6 +88,6 @@ def PrintUnique(interesting_file, background_files):
if __name__ == "__main__":
if len(sys.argv) < 3:
print 'Usage:\n%s interesting.csv background*.csv' % sys.argv[0]
print('Usage:\n%s interesting.csv background*.csv' % sys.argv[0])
sys.exit(0)
PrintUnique(sys.argv[1], sys.argv[2:])

4
examples/get_panda_password.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from panda import Panda
def get_panda_password():
@ -17,4 +17,4 @@ def get_panda_password():
print("Password: " + wifi[1])
if __name__ == "__main__":
get_panda_password()
get_panda_password()

10
examples/query_vin_and_stats.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
import struct
from panda import Panda
@ -36,15 +36,15 @@ if __name__ == "__main__":
isotp_send(panda, "\x09\x02", 0x7df)
ret = isotp_recv(panda, 0x7e8)
hexdump(ret)
print "VIN: %s" % ret[2:]
print("VIN: %s" % ret[2:])
# 03 = get DTCS
isotp_send(panda, "\x03", 0x7e0)
dtcs = isotp_recv(panda, 0x7e8)
print "DTCs:", dtcs[2:].encode("hex")
print("DTCs:", dtcs[2:].encode("hex"))
supported_pids = get_supported_pids()
print "Supported PIDs:",supported_pids
print("Supported PIDs:",supported_pids)
while 1:
speed = struct.unpack(">B", get_current_data_for_pid(13)[2:])[0] # kph
@ -52,7 +52,7 @@ if __name__ == "__main__":
throttle = struct.unpack(">B", get_current_data_for_pid(17)[2:])[0]/255.0 * 100 # percent
temp = struct.unpack(">B", get_current_data_for_pid(5)[2:])[0] - 40 # degrees C
load = struct.unpack(">B", get_current_data_for_pid(4)[2:])[0]/255.0 * 100 # percent
print "%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load)
print("%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load))
time.sleep(0.2)

2
examples/tesla_tester.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import sys
import binascii
from panda import Panda

22
python/__init__.py
View File

@ -1,5 +1,5 @@
# python library to interface with panda
from __future__ import print_function
import binascii
import struct
import hashlib
@ -9,12 +9,12 @@ import os
import time
import traceback
import subprocess
from dfu import PandaDFU
from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release
from update import ensure_st_up_to_date
from serial import PandaSerial
from isotp import isotp_send, isotp_recv
from .dfu import PandaDFU
from .esptool import ESPROM, CesantaFlasher
from .flash_release import flash_release
from .update import ensure_st_up_to_date
from .serial import PandaSerial
from .isotp import isotp_send, isotp_recv
__version__ = '0.0.9'
@ -232,7 +232,7 @@ class Panda(object):
def flash_static(handle, code):
# confirm flasher is present
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
assert fr[4:8] == "\xde\xad\xd0\x0d"
assert fr[4:8] == b"\xde\xad\xd0\x0d"
# unlock flash
print("flash: unlocking")
@ -274,7 +274,7 @@ class Panda(object):
fn = os.path.join(BASEDIR, "board", fn)
if code is None:
with open(fn) as f:
with open(fn, "rb") as f:
code = f.read()
# get version
@ -364,7 +364,7 @@ class Panda(object):
pass
def get_version(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
@ -479,7 +479,7 @@ class Panda(object):
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD RECV, RETRYING")
time.sleep(0.1)
time.sleep(0.1)
return parse_can_buffer(dat)
def can_clear(self, bus):

2
python/dfu.py
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@ -1,4 +1,4 @@
from __future__ import print_function
import os
import usb1
import struct

126
python/esptool.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
# NB: Before sending a PR to change the above line to '#!/usr/bin/env python2', please read https://github.com/themadinventor/esptool/issues/21
# NB: Before sending a PR to change the above line to '#!/usr/bin/env python3', please read https://github.com/themadinventor/esptool/issues/21
#
# ESP8266 ROM Bootloader Utility
# https://github.com/themadinventor/esptool
@ -48,7 +48,7 @@ class FakePort(object):
@baudrate.setter
def baudrate(self, x):
print "set baud to", x
print("set baud to", x)
self.panda.set_uart_baud(1, x)
def write(self, buf):
@ -114,7 +114,7 @@ class ESPROM(object):
""" Read a SLIP packet from the serial port """
def read(self):
return self._slip_reader.next()
return next(self._slip_reader)
""" Write bytes to the serial port while performing SLIP escaping """
def write(self, packet):
@ -140,7 +140,7 @@ class ESPROM(object):
# same operation as the request or a retries limit has
# exceeded. This is needed for some esp8266s that
# reply with more sync responses than expected.
for retry in xrange(100):
for retry in range(100):
p = self.read()
if len(p) < 8:
continue
@ -156,14 +156,14 @@ class ESPROM(object):
""" Perform a connection test """
def sync(self):
self.command(ESPROM.ESP_SYNC, '\x07\x07\x12\x20' + 32 * '\x55')
for i in xrange(7):
for i in range(7):
self.command()
""" Try connecting repeatedly until successful, or giving up """
def connect(self):
print 'Connecting...'
print('Connecting...')
for _ in xrange(4):
for _ in range(4):
# issue reset-to-bootloader:
# RTS = either CH_PD or nRESET (both active low = chip in reset)
# DTR = GPIO0 (active low = boot to flasher)
@ -180,7 +180,7 @@ class ESPROM(object):
# worst-case latency timer should be 255ms (probably <20ms)
self._port.timeout = 0.3
for _ in xrange(4):
for _ in range(4):
try:
self._port.flushInput()
self._slip_reader = slip_reader(self._port)
@ -250,7 +250,7 @@ class ESPROM(object):
result = self.command(ESPROM.ESP_FLASH_BEGIN,
struct.pack('<IIII', erase_size, num_blocks, ESPROM.ESP_FLASH_BLOCK, offset))[1]
if size != 0:
print "Took %.2fs to erase flash block" % (time.time() - t)
print("Took %.2fs to erase flash block" % (time.time() - t))
if result != "\0\0":
raise FatalError.WithResult('Failed to enter Flash download mode (result "%s")', result)
self._port.timeout = old_tmo
@ -349,10 +349,10 @@ class ESPROM(object):
self.mem_finish(stub['entry'])
if read_output:
print 'Stub executed, reading response:'
print('Stub executed, reading response:')
while True:
p = self.read()
print hexify(p)
print(hexify(p))
if p == '':
return
@ -452,7 +452,7 @@ class ESPFirmwareImage(BaseFirmwareImage):
if magic != ESPROM.ESP_IMAGE_MAGIC or segments > 16:
raise FatalError('Invalid firmware image magic=%d segments=%d' % (magic, segments))
for i in xrange(segments):
for i in range(segments):
self.load_segment(load_file)
self.checksum = self.read_checksum(load_file)
@ -480,7 +480,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
raise FatalError('Invalid V2 image magic=%d' % (magic))
if segments != 4:
# segment count is not really segment count here, but we expect to see '4'
print 'Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments
print('Warning: V2 header has unexpected "segment" count %d (usually 4)' % segments)
# irom segment comes before the second header
self.load_segment(load_file, True)
@ -501,7 +501,7 @@ class OTAFirmwareImage(BaseFirmwareImage):
raise FatalError('Invalid V2 second header magic=%d segments=%d' % (magic, segments))
# load all the usual segments
for _ in xrange(segments):
for _ in range(segments):
self.load_segment(load_file)
self.checksum = self.read_checksum(load_file)
@ -543,13 +543,13 @@ class ELFFile(object):
tool_nm = "xt-nm"
proc = subprocess.Popen([tool_nm, self.name], stdout=subprocess.PIPE)
except OSError:
print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm
print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_nm)
sys.exit(1)
for l in proc.stdout:
fields = l.strip().split()
try:
if fields[0] == "U":
print "Warning: ELF binary has undefined symbol %s" % fields[1]
print("Warning: ELF binary has undefined symbol %s" % fields[1])
continue
if fields[0] == "w":
continue # can skip weak symbols
@ -568,7 +568,7 @@ class ELFFile(object):
try:
proc = subprocess.Popen([tool_readelf, "-h", self.name], stdout=subprocess.PIPE)
except OSError:
print "Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf
print("Error calling %s, do you have Xtensa toolchain in PATH?" % tool_readelf)
sys.exit(1)
for l in proc.stdout:
fields = l.strip().split()
@ -599,7 +599,7 @@ class CesantaFlasher(object):
CMD_BOOT_FW = 6
def __init__(self, esp, baud_rate=0):
print 'Running Cesanta flasher stub...'
print('Running Cesanta flasher stub...')
if baud_rate <= ESPROM.ESP_ROM_BAUD: # don't change baud rates if we already synced at that rate
baud_rate = 0
self._esp = esp
@ -640,7 +640,7 @@ class CesantaFlasher(object):
raise FatalError('Expected digest, got: %s' % hexify(p))
digest = hexify(p).upper()
expected_digest = hashlib.md5(data).hexdigest().upper()
print
print()
if digest != expected_digest:
raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
p = self._esp.read()
@ -679,7 +679,7 @@ class CesantaFlasher(object):
raise FatalError('Expected digest, got: %s' % hexify(p))
expected_digest = hexify(p).upper()
digest = hashlib.md5(data).hexdigest().upper()
print
print()
if digest != expected_digest:
raise FatalError('Digest mismatch: expected %s, got %s' % (expected_digest, digest))
p = self._esp.read()
@ -791,7 +791,7 @@ def binutils_safe_path(p):
try:
return subprocess.check_output(["cygpath", "-w", p]).rstrip('\n')
except subprocess.CalledProcessError:
print "WARNING: Failed to call cygpath to sanitise Cygwin path."
print("WARNING: Failed to call cygpath to sanitise Cygwin path.")
return p
@ -837,9 +837,9 @@ class FatalError(RuntimeError):
def load_ram(esp, args):
image = LoadFirmwareImage(args.filename)
print 'RAM boot...'
print('RAM boot...')
for (offset, size, data) in image.segments:
print 'Downloading %d bytes at %08x...' % (size, offset),
print('Downloading %d bytes at %08x...' % (size, offset), end=' ')
sys.stdout.flush()
esp.mem_begin(size, div_roundup(size, esp.ESP_RAM_BLOCK), esp.ESP_RAM_BLOCK, offset)
@ -848,31 +848,31 @@ def load_ram(esp, args):
esp.mem_block(data[0:esp.ESP_RAM_BLOCK], seq)
data = data[esp.ESP_RAM_BLOCK:]
seq += 1
print 'done!'
print('done!')
print 'All segments done, executing at %08x' % image.entrypoint
print('All segments done, executing at %08x' % image.entrypoint)
esp.mem_finish(image.entrypoint)
def read_mem(esp, args):
print '0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address))
print('0x%08x = 0x%08x' % (args.address, esp.read_reg(args.address)))
def write_mem(esp, args):
esp.write_reg(args.address, args.value, args.mask, 0)
print 'Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address)
print('Wrote %08x, mask %08x to %08x' % (args.value, args.mask, args.address))
def dump_mem(esp, args):
f = file(args.filename, 'wb')
for i in xrange(args.size / 4):
for i in range(args.size / 4):
d = esp.read_reg(args.address + (i * 4))
f.write(struct.pack('<I', d))
if f.tell() % 1024 == 0:
print '\r%d bytes read... (%d %%)' % (f.tell(),
f.tell() * 100 / args.size),
print('\r%d bytes read... (%d %%)' % (f.tell(),
f.tell() * 100 / args.size), end=' ')
sys.stdout.flush()
print 'Done!'
print('Done!')
def detect_flash_size(esp, args):
@ -881,10 +881,10 @@ def detect_flash_size(esp, args):
size_id = flash_id >> 16
args.flash_size = {18: '2m', 19: '4m', 20: '8m', 21: '16m', 22: '32m'}.get(size_id)
if args.flash_size is None:
print 'Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id)
print('Warning: Could not auto-detect Flash size (FlashID=0x%x, SizeID=0x%x), defaulting to 4m' % (flash_id, size_id))
args.flash_size = '4m'
else:
print 'Auto-detected Flash size:', args.flash_size
print('Auto-detected Flash size:', args.flash_size)
def write_flash(esp, args):
@ -900,10 +900,10 @@ def write_flash(esp, args):
image = argfile.read()
argfile.seek(0) # rewind in case we need it again
if address + len(image) > int(args.flash_size.split('m')[0]) * (1 << 17):
print 'WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size'
print('WARNING: Unlikely to work as data goes beyond end of flash. Hint: Use --flash_size')
# Fix sflash config data.
if address == 0 and image[0] == '\xe9':
print 'Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq)
print('Flash params set to 0x%02x%02x' % (flash_mode, flash_size_freq))
image = image[0:2] + flash_params + image[4:]
# Pad to sector size, which is the minimum unit of writing (erasing really).
if len(image) % esp.ESP_FLASH_SECTOR != 0:
@ -911,11 +911,11 @@ def write_flash(esp, args):
t = time.time()
flasher.flash_write(address, image, not args.no_progress)
t = time.time() - t
print ('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
print('\rWrote %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
% (len(image), address, t, len(image) / t * 8 / 1000))
print 'Leaving...'
print('Leaving...')
if args.verify:
print 'Verifying just-written flash...'
print('Verifying just-written flash...')
_verify_flash(flasher, args, flash_params)
flasher.boot_fw()
@ -923,18 +923,18 @@ def write_flash(esp, args):
def image_info(args):
image = LoadFirmwareImage(args.filename)
print('Image version: %d' % image.version)
print('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set'
print '%d segments' % len(image.segments)
print
print(('Entry point: %08x' % image.entrypoint) if image.entrypoint != 0 else 'Entry point not set')
print('%d segments' % len(image.segments))
print()
checksum = ESPROM.ESP_CHECKSUM_MAGIC
for (idx, (offset, size, data)) in enumerate(image.segments):
if image.version == 2 and idx == 0:
print 'Segment 1: %d bytes IROM0 (no load address)' % size
print('Segment 1: %d bytes IROM0 (no load address)' % size)
else:
print 'Segment %d: %5d bytes at %08x' % (idx + 1, size, offset)
print('Segment %d: %5d bytes at %08x' % (idx + 1, size, offset))
checksum = ESPROM.checksum(data, checksum)
print
print 'Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!')
print()
print('Checksum: %02x (%s)' % (image.checksum, 'valid' if image.checksum == checksum else 'invalid!'))
def make_image(args):
@ -979,7 +979,7 @@ def elf2image(args):
if irom_offs < 0:
raise FatalError('Address of symbol _irom0_text_start in ELF is located before flash mapping address. Bad linker script?')
if (irom_offs & 0xFFF) != 0: # irom0 isn't flash sector aligned
print "WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs
print("WARNING: irom0 section offset is 0x%08x. ELF is probably linked for 'elf2image --version=2'" % irom_offs)
with open(args.output + "0x%05x.bin" % irom_offs, "wb") as f:
f.write(data)
f.close()
@ -991,21 +991,21 @@ def elf2image(args):
def read_mac(esp, args):
mac = esp.read_mac()
print 'MAC: %s' % ':'.join(map(lambda x: '%02x' % x, mac))
print('MAC: %s' % ':'.join(['%02x' % x for x in mac]))
def chip_id(esp, args):
chipid = esp.chip_id()
print 'Chip ID: 0x%08x' % chipid
print('Chip ID: 0x%08x' % chipid)
def erase_flash(esp, args):
flasher = CesantaFlasher(esp, args.baud)
print 'Erasing flash (this may take a while)...'
print('Erasing flash (this may take a while)...')
t = time.time()
flasher.flash_erase_chip()
t = time.time() - t
print 'Erase took %.1f seconds' % t
print('Erase took %.1f seconds' % t)
def run(esp, args):
@ -1015,8 +1015,8 @@ def run(esp, args):
def flash_id(esp, args):
flash_id = esp.flash_id()
esp.flash_finish(False)
print 'Manufacturer: %02x' % (flash_id & 0xff)
print 'Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff)
print('Manufacturer: %02x' % (flash_id & 0xff))
print('Device: %02x%02x' % ((flash_id >> 8) & 0xff, (flash_id >> 16) & 0xff))
def read_flash(esp, args):
@ -1024,7 +1024,7 @@ def read_flash(esp, args):
t = time.time()
data = flasher.flash_read(args.address, args.size, not args.no_progress)
t = time.time() - t
print ('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
% (len(data), args.address, t, len(data) / t * 8 / 1000))
file(args.filename, 'wb').write(data)
@ -1037,26 +1037,26 @@ def _verify_flash(flasher, args, flash_params=None):
if address == 0 and image[0] == '\xe9' and flash_params is not None:
image = image[0:2] + flash_params + image[4:]
image_size = len(image)
print 'Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name)
print('Verifying 0x%x (%d) bytes @ 0x%08x in flash against %s...' % (image_size, image_size, address, argfile.name))
# Try digest first, only read if there are differences.
digest, _ = flasher.flash_digest(address, image_size)
digest = hexify(digest).upper()
expected_digest = hashlib.md5(image).hexdigest().upper()
if digest == expected_digest:
print '-- verify OK (digest matched)'
print('-- verify OK (digest matched)')
continue
else:
differences = True
if getattr(args, 'diff', 'no') != 'yes':
print '-- verify FAILED (digest mismatch)'
print('-- verify FAILED (digest mismatch)')
continue
flash = flasher.flash_read(address, image_size)
assert flash != image
diff = [i for i in xrange(image_size) if flash[i] != image[i]]
print '-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0])
diff = [i for i in range(image_size) if flash[i] != image[i]]
print('-- verify FAILED: %d differences, first @ 0x%08x' % (len(diff), address + diff[0]))
for d in diff:
print ' %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d]))
print(' %08x %02x %02x' % (address + d, ord(flash[d]), ord(image[d])))
if differences:
raise FatalError("Verify failed.")
@ -1067,7 +1067,7 @@ def verify_flash(esp, args, flash_params=None):
def version(args):
print __version__
print(__version__)
#
# End of operations functions
@ -1203,12 +1203,12 @@ def main():
'version', help='Print esptool version')
# internal sanity check - every operation matches a module function of the same name
for operation in subparsers.choices.keys():
for operation in list(subparsers.choices.keys()):
assert operation in globals(), "%s should be a module function" % operation
args = parser.parse_args()
print 'esptool.py v%s' % __version__
print('esptool.py v%s' % __version__)
# operation function can take 1 arg (args), 2 args (esp, arg)
# or be a member function of the ESPROM class.
@ -1310,5 +1310,5 @@ if __name__ == '__main__':
try:
main()
except FatalError as e:
print '\nA fatal error occurred: %s' % e
print('\nA fatal error occurred: %s' % e)
sys.exit(2)

8
python/flash_release.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import sys
import time
import requests
import json
import StringIO
import io
def flash_release(path=None, st_serial=None):
from panda import Panda, PandaDFU, ESPROM, CesantaFlasher
@ -29,7 +29,7 @@ def flash_release(path=None, st_serial=None):
url = json.loads(r.text)['url']
r = requests.get(url)
print("Fetching firmware from %s" % url)
path = StringIO.StringIO(r.content)
path = io.StringIO(r.content)
zf = ZipFile(path)
zf.printdir()

8
python/isotp.py
View File

@ -2,7 +2,7 @@ DEBUG = False
def msg(x):
if DEBUG:
print "S:",x.encode("hex")
print("S:",x.encode("hex"))
if len(x) <= 7:
ret = chr(len(x)) + x
else:
@ -24,7 +24,7 @@ def recv(panda, cnt, addr, nbus):
# leave around
nmsgs.append((ids, ts, dat, bus))
kmsgs = nmsgs[-256:]
return map(str, ret)
return list(map(str, ret))
def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
msg = recv(panda, 1, addr, bus)[0]
@ -52,7 +52,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
tlen = ord(msg[1]) & 0xf
dat = msg[2:]
else:
print msg.encode("hex")
print(msg.encode("hex"))
assert False
return dat[0:tlen]
@ -129,7 +129,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
dat = dat[0:tlen]
if DEBUG:
print "R:",dat.encode("hex")
print("R:",dat.encode("hex"))
return dat

4
python/update.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import os
import time
@ -27,7 +27,7 @@ def ensure_st_up_to_date():
panda_dfu = PandaDFU(panda_dfu[0])
panda_dfu.recover()
print "waiting for board..."
print("waiting for board...")
time.sleep(1)
if panda.bootstub or not panda.get_version().startswith(repo_version):

8
tests/all_wifi_test.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/python
#!/usr/bin/env python3
import requests
import json
from automated.helpers import _connect_wifi
from .automated.helpers import _connect_wifi
from panda import Panda
from nose.tools import assert_equal
@ -12,12 +12,12 @@ if __name__ == "__main__":
for p in Panda.list():
dongle_id, pw = Panda(p).get_serial()
print dongle_id, pw
print(dongle_id, pw)
assert(dongle_id.isalnum())
_connect_wifi(dongle_id, pw)
r = requests.get("http://192.168.0.10/")
print r.text
print(r.text)
wifi_dongle_id = r.text.split("ssid: panda-")[1].split("<br/>")[0]
st_version = r.text.split("st version:")[1].strip().split("<br/>")[0]
esp_version = r.text.split("esp version:")[1].strip().split("<br/>")[0]

2
tests/automated/1_program.py
View File

@ -1,6 +1,6 @@
import os
from panda import Panda
from helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
from .helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
@test_all_pandas
@panda_connect_and_init

18
tests/automated/2_usb_to_can.py
View File

@ -1,10 +1,10 @@
from __future__ import print_function
import os
import sys
import time
from panda import Panda
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
from .helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
@test_all_pandas
@panda_connect_and_init
@ -30,8 +30,8 @@ def test_can_loopback(p):
# confirm receive both on loopback and send receipt
time.sleep(0.05)
r = p.can_recv()
sr = filter(lambda x: x[3] == 0x80 | bus, r)
lb = filter(lambda x: x[3] == bus, r)
sr = [x for x in r if x[3] == 0x80 | bus]
lb = [x for x in r if x[3] == bus]
assert len(sr) == 1
assert len(lb) == 1
@ -67,7 +67,7 @@ def test_reliability(p):
p.set_can_loopback(True)
p.set_can_speed_kbps(0, 1000)
addrs = range(100, 100+MSG_COUNT)
addrs = list(range(100, 100+MSG_COUNT))
ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
# 100 loops
@ -80,11 +80,11 @@ def test_reliability(p):
while len(r) < 200 and (time.time() - st) < 0.5:
r.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80, r)
loopback_resp = filter(lambda x: x[3] == 0, r)
sent_echo = [x for x in r if x[3] == 0x80]
loopback_resp = [x for x in r if x[3] == 0]
assert_equal(sorted(map(lambda x: x[0], loopback_resp)), addrs)
assert_equal(sorted(map(lambda x: x[0], sent_echo)), addrs)
assert_equal(sorted([x[0] for x in loopback_resp]), addrs)
assert_equal(sorted([x[0] for x in sent_echo]), addrs)
assert_equal(len(r), 200)
# take sub 20ms

4
tests/automated/3_wifi.py
View File

@ -1,8 +1,8 @@
from __future__ import print_function
import os
import time
from panda import Panda
from helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
from .helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
import requests
@test_all_pandas

4
tests/automated/4_wifi_functionality.py
View File

@ -1,7 +1,7 @@
from __future__ import print_function
import time
from panda import Panda
from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from nose.tools import timed, assert_equal, assert_less, assert_greater
@test_white

6
tests/automated/5_wifi_udp.py
View File

@ -1,7 +1,7 @@
from __future__ import print_function
import sys
import time
from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
from panda import Panda, PandaWifiStreaming
from nose.tools import timed, assert_equal, assert_less, assert_greater
@ -54,7 +54,7 @@ def test_udp_doesnt_drop(serials=None):
missing = True
while len(r) > 0:
r = p.can_recv()
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
r = [x for x in r if x[3] == bus and x[0] == msg_id]
if len(r) > 0:
missing = False
usb_ok_cnt += len(r)

4
tests/automated/6_two_panda.py
View File

@ -1,10 +1,10 @@
from __future__ import print_function
import os
import time
import random
from panda import Panda
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import time_many_sends, test_two_panda, test_two_black_panda, panda_type_to_serial, clear_can_buffers, panda_connect_and_init
from .helpers import time_many_sends, test_two_panda, test_two_black_panda, panda_type_to_serial, clear_can_buffers, panda_connect_and_init
@test_two_panda
@panda_type_to_serial

24
tests/automated/helpers.py
View File

@ -4,7 +4,7 @@ import time
import random
import subprocess
import requests
import thread
import _thread
from functools import wraps
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
@ -75,7 +75,7 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
print("WIFI: scanning %d" % cnt)
os.system("iwlist %s scanning > /dev/null" % wlan_interface)
os.system("nmcli device wifi rescan")
wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
wifi_scan = [x for x in subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n") if ssid in x]
if len(wifi_scan) != 0:
break
time.sleep(0.1)
@ -153,11 +153,11 @@ def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=F
while len(r_echo) < r_echo_len_exected and (time.time() - st) < 10:
r_echo.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r)
sent_echo.extend(filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r_echo))
resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
sent_echo = [x for x in r if x[3] == 0x80 | bus and x[0] == msg_id]
sent_echo.extend([x for x in r_echo if x[3] == 0x80 | bus and x[0] == msg_id])
resp = [x for x in r if x[3] == bus and x[0] == msg_id]
leftovers = filter(lambda x: (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id, r)
leftovers = [x for x in r if (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id]
assert_equal(len(leftovers), 0)
assert_equal(len(resp), msg_count)
@ -176,7 +176,7 @@ def panda_type_to_serial(fn):
if panda_type is not None:
if not isinstance(panda_type, list):
panda_type = [panda_type]
# If not done already, get panda serials and their type
global _panda_serials
if _panda_serials == None:
@ -185,7 +185,7 @@ def panda_type_to_serial(fn):
p = Panda(serial=serial)
_panda_serials.append((serial, p.get_type()))
p.close()
# Find a panda with the correct types and add the corresponding serial
serials = []
for p_type in panda_type:
@ -216,7 +216,7 @@ def panda_connect_and_init(fn):
if panda_serials is not None:
if not isinstance(panda_serials, list):
panda_serials = [panda_serials]
# Connect to pandas
pandas = []
for panda_serial in panda_serials:
@ -230,7 +230,7 @@ def panda_connect_and_init(fn):
for bus, speed in [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED_GMLAN)]:
panda.set_can_speed_kbps(bus, speed)
clear_can_buffers(panda)
thread.start_new_thread(heartbeat_thread, (panda,))
_thread.start_new_thread(heartbeat_thread, (panda,))
# Run test function
ret = fn(*pandas, **kwargs)
@ -247,7 +247,7 @@ def clear_can_buffers(panda):
# clear tx buffers
for i in range(4):
panda.can_clear(i)
# clear rx buffers
panda.can_clear(0xFFFF)
r = [1]
@ -257,4 +257,4 @@ def clear_can_buffers(panda):
time.sleep(0.05)
if (time.time() - st) > 10:
print("Unable to clear can buffers for panda ", panda.get_serial())
assert False
assert False

4
tests/black_loopback_test.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# Loopback test between two black pandas (+ harness and power)
# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
# To be sure, the test should be run with both harness orientations
from __future__ import print_function
import os
import sys
import time

4
tests/black_white_loopback_test.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# Loopback test between black panda (+ harness and power) and white/grey panda
# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
# To be sure, the test should be run with both harness orientations
from __future__ import print_function
import os
import sys
import time

4
tests/black_white_relay_endurance.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# Loopback test between black panda (+ harness and power) and white/grey panda
# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
# To be sure, the test should be run with both harness orientations
from __future__ import print_function
import os
import sys
import time

4
tests/black_white_relay_test.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# Relay test with loopback between black panda (+ harness and power) and white/grey panda
# Tests the relay switching multiple times / second by looking at the buses on which loop occurs.
from __future__ import print_function
import os
import sys
import time

18
tests/build/Dockerfile
View File

@ -1,8 +1,6 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2
RUN pip install pycrypto==2.6.1
RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2 locales curl zlib1g-dev libffi-dev libssl-dev
# Build esp toolchain
RUN mkdir -p /panda/boardesp
@ -14,4 +12,18 @@ RUN CT_ALLOW_BUILD_AS_ROOT_SURE=1 make STANDALONE=y
COPY . /panda
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
RUN pip install pycrypto==2.6.1
WORKDIR /panda

6
tests/can_printer.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import os
import sys
import time
@ -30,7 +30,7 @@ def can_printer():
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())])):
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
print(dd)
lp = sec_since_boot()

8
tests/debug_console.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import os
import sys
import time
@ -19,9 +19,9 @@ if __name__ == "__main__":
serials = Panda.list()
if os.getenv("SERIAL"):
serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
serials = [x for x in serials if x==os.getenv("SERIAL")]
pandas = list(map(lambda x: Panda(x, claim=claim), serials))
pandas = list([Panda(x, claim=claim) for x in serials])
if not len(pandas):
sys.exit("no pandas found")

2
tests/disable_esp.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from panda import Panda
Panda().set_esp_power(False)

4
tests/elm_car_simulator.py
View File

@ -1,6 +1,6 @@
#!/usr/bin/env python
#!/usr/bin/env python3
"""Used to Reverse/Test ELM protocol auto detect and OBD message response without a car."""
from __future__ import print_function
import sys
import os
import struct

4
tests/elm_throughput.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import socket
import threading
import select

4
tests/elm_wifi.py
View File

@ -1,4 +1,4 @@
from __future__ import print_function
import os
import sys
import time
@ -8,7 +8,7 @@ import pytest
import struct
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
import elm_car_simulator
from . import elm_car_simulator
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
from panda import Panda

2
tests/get_version.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from panda import Panda
if __name__ == "__main__":

6
tests/gmbitbang/recv.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
from panda import Panda
@ -12,6 +12,6 @@ while 1:
if len(ret) > 0:
add = ret[0][0]
if last_add is not None and add != last_add+1:
print "MISS %d %d" % (last_add, add)
print("MISS %d %d" % (last_add, add))
last_add = add
print ret
print(ret)

8
tests/gmbitbang/rigol.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import numpy as np
import visa
import matplotlib.pyplot as plt
resources = visa.ResourceManager()
print resources.list_resources()
print(resources.list_resources())
scope = resources.open_resource('USB0::0x1AB1::0x04CE::DS1ZA184652242::INSTR', timeout=2000, chunk_size=1024000)
print(scope.query('*IDN?').strip())
@ -17,7 +17,7 @@ scope.write(":WAV:POIN:MODE RAW")
scope.write(":WAV:DATA? CHAN1")[10:]
rawdata = scope.read_raw()
data = np.frombuffer(rawdata, 'B')
print data.shape
print(data.shape)
s1 = data[0:650]
s2 = data[650:]
@ -31,5 +31,5 @@ plt.plot(s2)
plt.show()
#data = (data - 130.0 - voltoffset/voltscale*25) / 25 * voltscale
print data
print(data)

4
tests/gmbitbang/test.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
from panda import Panda
@ -28,6 +28,6 @@ while 1:
#p1.set_gmlan(bus=2)
#p1.can_send(iden, dat, bus=3)
time.sleep(0.01)
print p2.can_recv()
print(p2.can_recv())
#exit(0)

6
tests/gmbitbang/test_one.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
from panda import Panda
@ -9,9 +9,9 @@ p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_gmlan(bus=2)
time.sleep(0.1)
while len(p.can_recv()) > 0:
print "clearing"
print("clearing")
time.sleep(0.1)
print "cleared"
print("cleared")
p.set_gmlan(bus=None)
iden = 18000

4
tests/health_test.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
from panda import Panda
if __name__ == "__main__":
panda_serials = Panda.list()
pandas = []

16
tests/language/Dockerfile
View File

@ -1,6 +1,18 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y make python python-pip
RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
RUN pip install -r /panda/tests/safety/requirements.txt
COPY . /panda

6
tests/language/test_language.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import subprocess
import sys
@ -18,11 +18,11 @@ if __name__ == "__main__":
try:
cmd = "cd ../../; grep -R -i -w " + suffix_cmd + " '" + line + "'"
res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
print res
print(res)
found_bad_language = True
except subprocess.CalledProcessError as e:
pass
if found_bad_language:
sys.exit("Failed: found bad language")
else:
print "Success"
print("Success")

12
tests/location_listener.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import os
import time
import sys
@ -18,20 +18,20 @@ if __name__ == "__main__":
ser = PandaSerial(panda, 1, 9600)
# power cycle by toggling reset
print "resetting"
print("resetting")
panda.set_esp_power(0)
time.sleep(0.5)
panda.set_esp_power(1)
time.sleep(0.5)
print "done"
print ser.read(1024)
print("done")
print(ser.read(1024))
# upping baud rate
baudrate = 460800
print "upping baud rate"
print("upping baud rate")
msg = add_nmea_checksum("$PUBX,41,1,0007,0003,%d,0" % baudrate)+"\r\n"
print msg
print(msg)
ser.write(msg)
time.sleep(0.1) # needs a wait for it to actually send

8
tests/loopback_test.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import os
import sys
import time
@ -29,14 +29,14 @@ def run_test(sleep_duration):
run_test_w_pandas(pandas, sleep_duration)
def run_test_w_pandas(pandas, sleep_duration):
h = list(map(lambda x: Panda(x), pandas))
h = list([Panda(x) for x in pandas])
print("H", h)
for hh in h:
hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# test both directions
for ho in permutations(range(len(h)), r=2):
for ho in permutations(list(range(len(h))), r=2):
print("***************** TESTING", ho)
panda0, panda1 = h[ho[0]], h[ho[1]]

6
tests/pedal/enter_canloader.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import sys
import time
import struct
@ -67,10 +67,10 @@ if __name__ == "__main__":
if args.fn:
time.sleep(0.1)
print "flashing", args.fn
print("flashing", args.fn)
code = open(args.fn).read()
Panda.flash_static(CanHandle(p), code)
print "can flash done"
print("can flash done")

16
tests/read_winusb_descriptors.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from panda import Panda
from hexdump import hexdump
@ -8,22 +8,22 @@ if __name__ == "__main__":
p = Panda()
len = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, 1)
print 'Microsoft OS String Descriptor'
print('Microsoft OS String Descriptor')
dat = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, len[0])
if DEBUG: print 'LEN: {}'.format(hex(len[0]))
if DEBUG: print('LEN: {}'.format(hex(len[0])))
hexdump("".join(map(chr, dat)))
ms_vendor_code = dat[16]
if DEBUG: print 'MS_VENDOR_CODE: {}'.format(hex(len[0]))
if DEBUG: print('MS_VENDOR_CODE: {}'.format(hex(len[0])))
print '\nMicrosoft Compatible ID Feature Descriptor'
print('\nMicrosoft Compatible ID Feature Descriptor')
len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, 1)
if DEBUG: print 'LEN: {}'.format(hex(len[0]))
if DEBUG: print('LEN: {}'.format(hex(len[0])))
dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, len[0])
hexdump("".join(map(chr, dat)))
print '\nMicrosoft Extended Properties Feature Descriptor'
print('\nMicrosoft Extended Properties Feature Descriptor')
len = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, 1)
if DEBUG: print 'LEN: {}'.format(hex(len[0]))
if DEBUG: print('LEN: {}'.format(hex(len[0])))
dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, len[0])
hexdump("".join(map(chr, dat)))

15
tests/safety/Dockerfile
View File

@ -1,6 +1,19 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y clang make python python-pip
RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
RUN pip install -r /panda/tests/safety/requirements.txt
COPY . /panda

2
tests/safety/requirements.txt
View File

@ -1,2 +1,2 @@
cffi==1.11.4
numpy==1.14.1
numpy==1.14.5

6
tests/safety/test_cadillac.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -183,8 +183,8 @@ class TestCadillacSafety(unittest.TestCase):
def test_fwd_hook(self):
# nothing allowed
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
for b in buss:
for m in msgs:

6
tests/safety/test_chrysler.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import csv
import glob
import unittest
@ -181,8 +181,8 @@ class TestChryslerSafety(unittest.TestCase):
self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
chrysler_camera_detected = [0, 1]
for ccd in chrysler_camera_detected:

6
tests/safety/test_gm.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -282,8 +282,8 @@ class TestGmSafety(unittest.TestCase):
def test_fwd_hook(self):
# nothing allowed
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
for b in buss:
for m in msgs:

6
tests/safety/test_honda.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -254,8 +254,8 @@ class TestHondaSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
long_controls_allowed = [0, 1]
fwd_brake = [False, True]

6
tests/safety/test_honda_bosch.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -21,8 +21,8 @@ class TestHondaSafety(unittest.TestCase):
return to_send
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
is_panda_black = self.safety.get_hw_type() == 3 # black panda
bus_rdr_cam = 2 if is_panda_black else 1
bus_rdr_car = 0 if is_panda_black else 2

6
tests/safety/test_hyundai.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -190,8 +190,8 @@ class TestHyundaiSafety(unittest.TestCase):
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
hyundai_giraffe_switch_2 = [0, 1]
self.safety.set_hyundai_camera_bus(2)

6
tests/safety/test_subaru.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -174,8 +174,8 @@ class TestSubaruSafety(unittest.TestCase):
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
blocked_msgs = [290, 356, 545, 802]
for b in buss:
for m in msgs:

6
tests/safety/test_toyota.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -281,8 +281,8 @@ class TestToyotaSafety(unittest.TestCase):
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
long_controls_allowed = [0, 1]
toyota_camera_forwarded = [0, 1]

4
tests/safety/test_toyota_ipas.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py
@ -135,7 +135,7 @@ class TestToyotaSafety(unittest.TestCase):
# test angle cmd too far from actual
angle_refs = [-10, 10]
deltas = range(-2, 3)
deltas = list(range(-2, 3))
expected_results = [False, True, True, True, False]
for a in angle_refs:

16
tests/safety_replay/Dockerfile
View File

@ -1,6 +1,18 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0
RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0 locales curl zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY tests/safety_replay/requirements.txt requirements.txt
RUN pip install -r requirements.txt
@ -17,4 +29,4 @@ COPY . /openpilot/panda
WORKDIR /openpilot/panda/tests/safety_replay
RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
WORKDIR tools
RUN git checkout feb724a14f0f5223c700c94317efaf46923fd48a
RUN git checkout d69c6bc85f221766305ec53956e9a1d3bf283160

1
tests/safety_replay/helpers.py
View File

@ -1,3 +1,4 @@
#!/usr/bin/env python3
import struct
import panda.tests.safety.libpandasafety_py as libpandasafety_py

18
tests/safety_replay/replay_drive.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import os
import sys
@ -25,7 +25,7 @@ def replay_drive(lr, safety_mode, param):
for msg in lr:
if start_t is None:
start_t = msg.logMonoTime
safety.set_timer(((msg.logMonoTime / 1000)) % 0xFFFFFFFF)
safety.set_timer(((msg.logMonoTime // 1000)) % 0xFFFFFFFF)
if msg.which() == 'sendcan':
for canmsg in msg.sendcan:
@ -37,7 +37,7 @@ def replay_drive(lr, safety_mode, param):
blocked_addrs.add(canmsg.address)
if "DEBUG" in os.environ:
print "blocked %d at %f" % (canmsg.address, (msg.logMonoTime - start_t)/(1e9))
print("blocked %d at %f" % (canmsg.address, (msg.logMonoTime - start_t)/(1e9)))
tx_controls += safety.get_controls_allowed()
tx_tot += 1
elif msg.which() == 'can':
@ -48,11 +48,11 @@ def replay_drive(lr, safety_mode, param):
to_push = package_can_msg(canmsg)
safety.safety_rx_hook(to_push)
print "total openpilot msgs:", tx_tot
print "total msgs with controls allowed:", tx_controls
print "blocked msgs:", tx_blocked
print "blocked with controls allowed:", tx_controls_blocked
print "blocked addrs:", blocked_addrs
print("total openpilot msgs:", tx_tot)
print("total msgs with controls allowed:", tx_controls)
print("blocked msgs:", tx_blocked)
print("blocked with controls allowed:", tx_controls_blocked)
print("blocked addrs:", blocked_addrs)
return tx_controls_blocked == 0
@ -64,7 +64,7 @@ if __name__ == "__main__":
param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
lr = LogReader(sys.argv[1])
print "replaying drive %s with safety mode %d and param %d" % (sys.argv[1], mode, param)
print("replaying drive %s with safety mode %d and param %d" % (sys.argv[1], mode, param))
replay_drive(lr, mode, param)

8
tests/safety_replay/test_safety_replay.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import os
import requests
@ -23,7 +23,7 @@ logs = [
if __name__ == "__main__":
for route, _, _ in logs:
if not os.path.isfile(route):
with open(route, "w") as f:
with open(route, "wb") as f:
f.write(requests.get(BASE_URL + route).content)
failed = []
@ -31,11 +31,11 @@ if __name__ == "__main__":
lr = LogReader(route)
m = safety_modes.get(mode, mode)
print "\nreplaying %s with safety mode %d and param %s" % (route, m, param)
print("\nreplaying %s with safety mode %d and param %s" % (route, m, param))
if not replay_drive(lr, m, int(param)):
failed.append(route)
for f in failed:
print "\n**** failed on %s ****" % f
print("\n**** failed on %s ****" % f)
assert len(failed) == 0, "\nfailed on %d logs" % len(failed)

2
tests/standalone_test.py
View File

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import os
import sys
import struct

8
tests/throughput_test.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import os
import sys
import struct
@ -34,7 +34,7 @@ if __name__ == "__main__":
p_in.can_recv()
BATCH_SIZE = 16
for a in tqdm(range(0, 10000, BATCH_SIZE)):
for a in tqdm(list(range(0, 10000, BATCH_SIZE))):
for b in range(0, BATCH_SIZE):
msg = b"\xaa"*4 + struct.pack("I", a+b)
if a%1 == 0:
@ -61,4 +61,4 @@ if __name__ == "__main__":
if len(set_out - set_in):
print("MISSING %d" % len(set_out - set_in))
if len(set_out - set_in) < 256:
print(map(hex, sorted(list(set_out - set_in))))
print(list(map(hex, sorted(list(set_out - set_in)))))

8
tests/tucan_loopback.py
View File

@ -1,5 +1,5 @@
#!/usr/bin/env python
from __future__ import print_function
#!/usr/bin/env python3
import os
import sys
import time
@ -29,14 +29,14 @@ def run_test(sleep_duration):
run_test_w_pandas(pandas, sleep_duration)
def run_test_w_pandas(pandas, sleep_duration):
h = list(map(lambda x: Panda(x), pandas))
h = list([Panda(x) for x in pandas])
print("H", h)
for hh in h:
hh.set_controls_allowed(True)
# test both directions
for ho in permutations(range(len(h)), r=2):
for ho in permutations(list(range(len(h))), r=2):
print("***************** TESTING", ho)
panda0, panda1 = h[ho[0]], h[ho[1]]