82 lines
1.8 KiB
Python
Executable File
82 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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import time
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda # noqa: E402
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WHITE_GMLAN_BUS = 3
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OTHER_GMLAN_BUS = 1
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def set_gmlan(p):
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if p.is_white():
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p.set_gmlan(2)
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else:
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p.set_obd(True)
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def set_speed_kbps(p, speed):
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if p.is_white():
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p.set_can_speed_kbps(WHITE_GMLAN_BUS, speed)
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else:
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p.set_can_speed_kbps(OTHER_GMLAN_BUS, speed)
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def send(p, id_, msg):
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if p.is_white():
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p.can_send(id_, msg, WHITE_GMLAN_BUS)
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else:
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p.can_send(id_, msg, OTHER_GMLAN_BUS)
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if __name__ == "__main__":
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pl = Panda.list()
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assert(len(pl) == 2)
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p0 = Panda(pl[1])
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p1 = Panda(pl[0])
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p0.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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p1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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print("0: ", p0.get_type())
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print("1: ", p1.get_type())
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set_gmlan(p0)
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set_gmlan(p1)
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p0.can_clear(0xFFFF)
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p1.can_clear(0xFFFF)
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try:
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loops = 0
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while True:
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for speed in [33.3, 83.3]:
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set_speed_kbps(p0, speed)
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set_speed_kbps(p1, speed)
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p0.can_clear(0xFFFF)
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p1.can_clear(0xFFFF)
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print(f"Speed: {speed}")
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time.sleep(0.1)
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print("Send 1 -> 0")
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send(p1, 1, b"1to0:" + bytes(str(loops%100), "utf-8"))
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time.sleep(0.05)
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rx = list(filter(lambda x: x[3] < 128, p0.can_recv()))
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print(rx)
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assert(len(rx) == 1)
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print("Send 0 -> 1")
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send(p0, 1, b"0to1:" + bytes(str(loops%100), "utf-8"))
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time.sleep(0.05)
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rx = list(filter(lambda x: x[3] < 128, p1.can_recv()))
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print(rx)
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assert(len(rx) == 1)
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time.sleep(0.5)
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loops += 1
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print(f"Completed {loops} loops")
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except Exception:
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print("Test failed somehow. Did you power the black panda using the GMLAN harness?")
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