add throughput test, switch 1338 to use UDP
Firmware Batman
parent
d42335075c
commit
657fdb8469
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@ -27,9 +27,9 @@ struct espconn tcp_conn;
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// TCP specific protocol structure.
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esp_tcp tcp_proto;
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// interrupt communication on port 1338
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// interrupt communication on port 1338, UDP!
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struct espconn inter_conn;
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esp_tcp inter_proto;
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esp_udp inter_proto;
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uint32_t sendData[0x14] = {0};
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uint32_t recvData[0x40] = {0};
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@ -113,16 +113,19 @@ void ICACHE_FLASH_ATTR tcp_connect_cb(void *arg) {
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espconn_regist_recvcb(conn, tcp_rx_cb);
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}
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static volatile os_timer_t some_timer;
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void ICACHE_FLASH_ATTR some_timerfunc(void *arg) {
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// must be 0x44, because we can fit 4 more
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uint8_t buf[0x44*0x10];
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int queue_send_len = -1;
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void ICACHE_FLASH_ATTR poll_can(void *arg) {
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uint8_t timerRecvData[0x44] = {0};
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uint8_t buf[0x44*0x10];
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int i = 0;
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int j;
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while (i < 0x40) {
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int len = spi_comm("\x01\x00\x00\x00", 4, timerRecvData, 0x40);
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if (len == 0) break;
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if (len > 0x40) { os_printf("SPI LENGTH ERROR!"); break; }
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// if it sends it, assume it's valid CAN
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for (j = 0; j < len; j += 0x10) {
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@ -132,30 +135,27 @@ void ICACHE_FLASH_ATTR some_timerfunc(void *arg) {
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}
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if (i != 0) {
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espconn_send(&inter_conn, buf, i*0x10);
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int ret = espconn_sendto(&inter_conn, buf, i*0x10);
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if (ret != 0) {
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os_printf("send failed: %d\n", ret);
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queue_send_len = i*0x10;
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} else {
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queue_send_len = -1;
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}
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}
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}
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volatile int timer_started = 0;
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void ICACHE_FLASH_ATTR inter_disc_cb(void *arg) {
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if (timer_started) {
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os_timer_disarm(&some_timer);
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timer_started = 0;
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}
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}
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void ICACHE_FLASH_ATTR inter_connect_cb(void *arg) {
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struct espconn *conn = (struct espconn *)arg;
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espconn_set_opt(&inter_conn, ESPCONN_NODELAY);
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espconn_regist_disconcb(conn, inter_disc_cb);
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// setup timer at 200hz
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// TODO: disable when it runs out
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if (!timer_started) {
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os_timer_setfn(&some_timer, (os_timer_func_t *)some_timerfunc, NULL);
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os_timer_arm(&some_timer, 5, 1);
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timer_started = 1;
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int timer_started = 0;
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void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short length) {
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os_printf("UDP recv\n");
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remot_info *premot = NULL;
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if (espconn_get_connection_info(&inter_conn,&premot,0) == ESPCONN_OK) {
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timer_started = 1;
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inter_conn.proto.udp->remote_port = premot->remote_port;
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inter_conn.proto.udp->remote_ip[0] = premot->remote_ip[0];
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inter_conn.proto.udp->remote_ip[1] = premot->remote_ip[1];
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inter_conn.proto.udp->remote_ip[2] = premot->remote_ip[2];
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inter_conn.proto.udp->remote_ip[3] = premot->remote_ip[3];
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}
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}
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@ -217,12 +217,16 @@ void ICACHE_FLASH_ATTR wifi_init() {
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// setup inter server
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inter_proto.local_port = 1338;
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inter_conn.type = ESPCONN_TCP;
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inter_conn.state = ESPCONN_NONE;
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inter_conn.proto.tcp = &inter_proto;
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espconn_regist_connectcb(&inter_conn, inter_connect_cb);
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espconn_accept(&inter_conn);
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espconn_regist_time(&inter_conn, 60, 0); // 60s timeout for all connections
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const char udp_remote_ip[4] = {255, 255, 255, 255};
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os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
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inter_proto.remote_port = 1338;
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inter_conn.type = ESPCONN_UDP;
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inter_conn.proto.udp = &inter_proto;
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espconn_regist_recvcb(&inter_conn, inter_recv_cb);
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espconn_create(&inter_conn);
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}
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#define LOOP_PRIO 2
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@ -284,10 +288,21 @@ void ICACHE_FLASH_ATTR user_init()
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// jump to OS
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system_os_task(loop, LOOP_PRIO, my_queue, QUEUE_SIZE);
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system_os_post(LOOP_PRIO, 0, 0);
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}
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void ICACHE_FLASH_ATTR loop(os_event_t *events) {
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if (timer_started) {
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if (queue_send_len == -1) {
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poll_can(NULL);
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} else {
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int ret = espconn_sendto(&inter_conn, buf, queue_send_len);
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if (ret == 0) {
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queue_send_len = -1;
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}
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}
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}
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system_os_post(LOOP_PRIO, 0, 0);
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}
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47
lib/panda.py
47
lib/panda.py
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@ -1,6 +1,5 @@
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# python library to interface with panda
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import struct
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import hashlib
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import socket
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import usb1
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@ -11,6 +10,38 @@ try:
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except:
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pass
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def parse_can_buffer(dat):
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ret = []
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for j in range(0, len(dat), 0x10):
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ddat = dat[j:j+0x10]
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f1, f2 = struct.unpack("II", ddat[0:8])
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extended = 4
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if f1 & extended:
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address = f1 >> 3
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else:
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address = f1 >> 21
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ret.append((address, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xf))
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return ret
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class PandaWifiStreaming(object):
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def __init__(self, ip="192.168.0.10", port=1338):
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.sendto("hello", (ip, port))
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self.sock.setblocking(0)
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self.ip = ip
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self.port = port
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def can_recv(self):
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ret = []
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while 1:
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try:
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dat, addr = self.sock.recvfrom(0x200*0x10)
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if addr == (self.ip, self.port):
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ret += parse_can_buffer(dat)
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except socket.error:
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break
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return ret
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# stupid tunneling of USB over wifi and SPI
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class WifiHandle(object):
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def __init__(self, ip="192.168.0.10", port=1337):
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@ -153,18 +184,6 @@ class Panda(object):
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self.can_send_many([[addr, None, dat, bus]])
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def can_recv(self):
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def __parse_can_buffer(dat):
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ret = []
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for j in range(0, len(dat), 0x10):
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ddat = dat[j:j+0x10]
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f1, f2 = struct.unpack("II", ddat[0:8])
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extended = 4
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if f1 & extended:
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address = f1 >> 3
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else:
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address = f1 >> 21
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ret.append((address, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xf))
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return ret
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dat = ""
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while 1:
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try:
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@ -172,7 +191,7 @@ class Panda(object):
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break
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except (USBErrorIO, USBErrorOverflow):
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print "CAN: BAD RECV, RETRYING"
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return __parse_can_buffer(dat)
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return parse_can_buffer(dat)
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# ******************* serial *******************
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@ -13,6 +13,9 @@ if __name__ == "__main__":
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port_number = int(os.getenv("PORT", 0))
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serials = Panda.list()
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if os.getenv("SERIAL"):
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serials = filter(lambda x: x==os.getenv("SERIAL"), serials)
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pandas = map(lambda x: Panda(x, False), serials)
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while 1:
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for i, panda in enumerate(pandas):
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@ -0,0 +1,59 @@
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#!/usr/bin/env python
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import os
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import struct
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import time
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from panda.lib.panda import Panda, PandaWifiStreaming
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from tqdm import tqdm
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# test throughput between USB and wifi
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if __name__ == "__main__":
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print Panda.list()
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p_out = Panda("108018800f51363038363036")
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print p_out.get_serial()
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#p_in = Panda("02001b000f51363038363036")
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p_in = Panda("WIFI")
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print p_in.get_serial()
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p_in = PandaWifiStreaming()
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#while 1:
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# p_in.can_recv()
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#exit(0)
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p_out.set_controls_allowed(True)
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set_out, set_in = set(), set()
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# drain
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p_out.can_recv()
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p_in.can_recv()
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BATCH_SIZE = 1
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for a in tqdm(range(0, 10000, BATCH_SIZE)):
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for b in range(0, BATCH_SIZE):
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msg = "\xaa"*4 + struct.pack("I", a+b)
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if a%2 == 0:
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p_out.can_send(0xaa, msg, 0)
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dat_out, dat_in = p_out.can_recv(), p_in.can_recv()
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if len(dat_in) != 0:
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print len(dat_in)
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num_out = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_out]
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num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
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set_in.update(num_in)
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set_out.update(num_out)
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# swag
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print "waiting for packets"
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time.sleep(1.0)
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dat_in = p_in.can_recv()
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num_in = [struct.unpack("I", i[4:])[0] for _, _, i, _ in dat_in]
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set_in.update(num_in)
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if len(set_out - set_in):
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print "MISSING %d" % len(set_out - set_in)
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if len(set_out - set_in) < 100:
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print map(hex, sorted(list(set_out - set_in)))
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