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Merge panda subtree

pull/617/head
Vehicle Researcher 2019-04-23 01:34:19 +00:00
parent 0a7fed9437 3c25760cc9
commit 7834995df4
37 changed files with 944 additions and 104 deletions
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3
panda/.dockerignore 100644
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@ -0,0 +1,3 @@
.git
.DS_Store
boardesp/esp-open-sdk

64
panda/Dockerfile 100644
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@ -0,0 +1,64 @@
FROM ubuntu:16.04
ENV PYTHONUNBUFFERED 1
RUN apt-get update && apt-get install -y \
autoconf \
automake \
bash \
bison \
bzip2 \
curl \
dfu-util \
flex \
g++ \
gawk \
gcc \
git \
gperf \
help2man \
iputils-ping \
libexpat-dev \
libstdc++-arm-none-eabi-newlib \
libtool \
libtool-bin \
libusb-1.0-0 \
make \
ncurses-dev \
network-manager \
python-dev \
python-serial \
sed \
texinfo \
unrar-free \
unzip \
wget \
build-essential \
python-dev \
python-pip \
screen \
vim \
wget \
wireless-tools
RUN pip install --upgrade pip==18.0
COPY requirements.txt /tmp/
RUN pip install -r /tmp/requirements.txt
RUN mkdir -p /home/batman
ENV HOME /home/batman
ENV PYTHONPATH /tmp:$PYTHONPATH
COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
RUN useradd --system -s /sbin/nologin pandauser
RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
USER pandauser
RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
USER root
COPY ./xx/pandaextra /tmp/pandaextra
ADD ./panda.tar.gz /tmp/panda

55
panda/Jenkinsfile vendored 100644
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@ -0,0 +1,55 @@
pipeline {
agent any
environment {
AUTHOR = """${sh(
returnStdout: true,
script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
).trim()}"""
DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}"
DOCKER_NAME = "panda-test-${env.BUILD_ID}"
}
stages {
stage('Build Docker Image') {
steps {
timeout(time: 60, unit: 'MINUTES') {
script {
sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true'
sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
}
}
}
}
stage('Test Dev Build') {
steps {
lock(resource: "Pandas", inversePrecedence: true, quantity:1){
timeout(time: 60, unit: 'MINUTES') {
sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
}
}
}
}
stage('Test EON Build') {
steps {
lock(resource: "Pandas", inversePrecedence: true, quantity:1){
timeout(time: 60, unit: 'MINUTES') {
sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
sh "docker start -a ${env.DOCKER_NAME}"
}
}
}
}
}
post {
always {
script {
sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
sh "docker rm ${env.DOCKER_NAME}"
}
junit "test_results*.xml"
}
}
}

2
panda/VERSION
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@ -1 +1 @@
v1.2.0
v1.2.1

75
panda/board/drivers/can.h
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@ -3,6 +3,8 @@
#define ALL_CAN_BUT_MAIN_SILENT 0xFE
#define ALL_CAN_LIVE 0
#include "lline_relay.h"
int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
// ********************* instantiate queues *********************
@ -23,6 +25,11 @@ can_buffer(tx2_q, 0x100)
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
#endif
#ifdef PANDA
// Forward declare
void power_save_reset_timer();
#endif
// ********************* interrupt safe queue *********************
int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
@ -213,7 +220,7 @@ void can_init(uint8_t can_number) {
CAN->FMR &= ~(CAN_FMR_FINIT);
// enable certain CAN interrupts
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE;
switch (can_number) {
case 0:
@ -293,7 +300,6 @@ void can_set_gmlan(int bus) {
void can_sce(CAN_TypeDef *CAN) {
enter_critical_section();
can_err_cnt += 1;
#ifdef DEBUG
if (CAN==CAN1) puts("CAN1: ");
if (CAN==CAN2) puts("CAN2: ");
@ -315,16 +321,32 @@ void can_sce(CAN_TypeDef *CAN) {
uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
can_autobaud_speed_increment(can_number);
can_set_speed(can_number);
if (CAN->MSR & CAN_MSR_WKUI) {
//Waking from sleep
#ifdef DEBUG
puts("WAKE\n");
#endif
set_can_enable(CAN, 1);
CAN->MSR &= ~(CAN_MSR_WKUI);
CAN->MSR = CAN->MSR;
#ifdef PANDA
power_save_reset_timer();
#endif
} else {
can_err_cnt += 1;
if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
can_autobaud_speed_increment(can_number);
can_set_speed(can_number);
}
// clear current send
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
}
// clear current send
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
exit_critical_section();
}
@ -332,6 +354,9 @@ void can_sce(CAN_TypeDef *CAN) {
void process_can(uint8_t can_number) {
if (can_number == 0xff) return;
#ifdef PANDA
power_save_reset_timer();
#endif
enter_critical_section();
@ -375,6 +400,13 @@ void process_can(uint8_t can_number) {
}
if (can_pop(can_queues[bus_number], &to_send)) {
if (CAN->MCR & CAN_MCR_SLEEP) {
set_can_enable(CAN, 1);
CAN->MCR &= ~(CAN_MCR_SLEEP);
CAN->MCR |= CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
CAN->MCR &= ~(CAN_MCR_INRQ);
}
can_tx_cnt += 1;
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
@ -390,6 +422,9 @@ void process_can(uint8_t can_number) {
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
#ifdef PANDA
power_save_reset_timer();
#endif
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
while (CAN->RF0R & CAN_RF0R_FMP0) {
@ -420,14 +455,16 @@ void can_rx(uint8_t can_number) {
// forwarding (panda only)
#ifdef PANDA
int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num);
if ((get_lline_status() != 0) || !relay_control) { //Relay engaged or relay isn't controlled, allow fwd
int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num);
}
}
#endif

88
panda/board/drivers/lline_relay.h 100644
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@ -0,0 +1,88 @@
#ifdef PANDA
int relay_control = 0; // True if relay is controlled through l-line
/* Conrol a relay connected to l-line pin */
// 160us cycles, 1 high, 25 low
volatile int turn_on_relay = 0;
volatile int on_cycles = 25;
//5s timeout
#define LLINE_TIMEOUT_CYCLES 31250
volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES;
void TIM5_IRQHandler(void) {
if (TIM5->SR & TIM_SR_UIF) {
on_cycles--;
timeout_cycles--;
if (timeout_cycles == 0) {
turn_on_relay = 0;
}
if (on_cycles > 0) {
if (turn_on_relay) {
set_gpio_output(GPIOC, 10, 0);
}
}
else {
set_gpio_output(GPIOC, 10, 1);
on_cycles = 25;
}
}
TIM5->ARR = 160-1;
TIM5->SR = 0;
}
void lline_relay_init (void) {
set_lline_output(0);
relay_control = 1;
set_gpio_output(GPIOC, 10, 1);
// setup
TIM5->PSC = 48-1; // tick on 1 us
TIM5->CR1 = TIM_CR1_CEN; // enable
TIM5->ARR = 50-1; // 50 us
TIM5->DIER = TIM_DIER_UIE; // update interrupt
TIM5->CNT = 0;
NVIC_EnableIRQ(TIM5_IRQn);
#ifdef DEBUG
puts("INIT LLINE\n");
puts(" SR ");
putui(TIM5->SR);
puts(" PSC ");
putui(TIM5->PSC);
puts(" CR1 ");
putui(TIM5->CR1);
puts(" ARR ");
putui(TIM5->ARR);
puts(" DIER ");
putui(TIM5->DIER);
puts(" SR ");
putui(TIM5->SR);
puts(" CNT ");
putui(TIM5->CNT);
puts("\n");
#endif
}
void lline_relay_release (void) {
set_lline_output(0);
relay_control = 0;
puts("RELEASE LLINE\n");
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
NVIC_DisableIRQ(TIM5_IRQn);
}
void set_lline_output(int to_set) {
timeout_cycles = LLINE_TIMEOUT_CYCLES;
turn_on_relay = to_set;
}
int get_lline_status() {
return turn_on_relay;
}
#endif

7
panda/board/gpio.h
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@ -120,6 +120,8 @@ void periph_init() {
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
@ -390,7 +392,9 @@ void gpio_init() {
set_gpio_output(GPIOA, 14, 1);
// C10,C11: L-Line setup on USART 3
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
// LLine now used for relay output
set_gpio_output(GPIOC, 10, 1);
//set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
set_gpio_pullup(GPIOC, 11, PULL_UP);
#endif
@ -475,4 +479,3 @@ void early() {
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
}
}

26
panda/board/main.c
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@ -20,6 +20,8 @@
#include "drivers/spi.h"
#include "drivers/timer.h"
#include "power_saving.h"
// ***************************** fan *****************************
@ -141,6 +143,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
uart_ring *ur = get_ring_by_number(usbdata[0]);
if (!ur) return;
if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
if (ur == &esp_ring) power_save_reset_timer();
for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
}
}
@ -160,6 +163,14 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);
#ifdef PANDA
// Enable relay on can message if allowed.
// Temporary until OP has support for relay
if (safety_relay_hook()) {
set_lline_output(1);
}
#endif
}
}
@ -441,6 +452,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
}
break;
}
// **** 0xf3: set l-line relay
case 0xf3:
{
#ifdef PANDA
if (safety_relay_hook()) {
set_lline_output(setup->b.wValue.w == 1);
}
#endif
break;
}
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
@ -572,6 +593,9 @@ int main() {
#ifdef PANDA
spi_init();
#endif
#ifdef DEBUG
puts("DEBUG ENABLED\n");
#endif
// set PWM
fan_init();
@ -581,6 +605,8 @@ int main() {
__enable_irq();
power_save_init();
// if the error interrupt is enabled to quickly when the CAN bus is active
// something bad happens and you can't connect to the device over USB
delay(10000000);

2
panda/board/pedal/main.c
View File

@ -295,6 +295,7 @@ int main() {
puts("**** INTERRUPTS ON ****\n");
__enable_irq();
// main pedal loop
while (1) {
pedal();
@ -302,4 +303,3 @@ int main() {
return 0;
}

157
panda/board/power_saving.h 100644
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@ -0,0 +1,157 @@
#define POWER_SAVE_STATUS_DISABLED 0
//Moving to enabled, but can wakeup not yet enabled
#define POWER_SAVE_STATUS_SWITCHING 1
#define POWER_SAVE_STATUS_ENABLED 2
volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
void power_save_enable(void) {
power_save_status = POWER_SAVE_STATUS_SWITCHING;
puts("Saving power\n");
//Turn off can transciever
set_can_enable(CAN1, 0);
set_can_enable(CAN2, 0);
#ifdef PANDA
set_can_enable(CAN3, 0);
#endif
//Turn off GMLAN
set_gpio_output(GPIOB, 14, 0);
set_gpio_output(GPIOB, 15, 0);
#ifdef PANDA
//Turn off LIN K
if (revision == PANDA_REV_C) {
set_gpio_output(GPIOB, 7, 0); // REV C
} else {
set_gpio_output(GPIOB, 4, 0); // REV AB
}
// LIN L
set_gpio_output(GPIOA, 14, 0);
#endif
if (is_grey_panda) {
char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
int len = 12;
uart_ring *ur = get_ring_by_number(1);
for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
}
//Setup timer for can enable
TIM6->PSC = 48-1; // tick on 1 us
TIM6->ARR = 12; // 12us
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
TIM6->CR1 |= TIM_CR1_CEN;
}
void power_save_enable_can_wake(void) {
// CAN Automatic Wake must be done a little while after the sleep
// On some cars turning off the can transciver can trigger the wakeup
power_save_status = POWER_SAVE_STATUS_ENABLED;
puts("Turning can off\n");
CAN1->MCR |= CAN_MCR_SLEEP;
CAN1->MCR |= CAN_MCR_AWUM;
CAN2->MCR |= CAN_MCR_SLEEP;
CAN2->MCR |= CAN_MCR_AWUM;
#ifdef PANDA
CAN3->MCR |= CAN_MCR_SLEEP;
CAN3->MCR |= CAN_MCR_AWUM;
#endif
//set timer back
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
}
void power_save_disable(void) {
power_save_status = POWER_SAVE_STATUS_DISABLED;
puts("not Saving power\n");
TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
TIM6->CNT = 0;
//Turn on can
set_can_enable(CAN1, 1);
set_can_enable(CAN2, 1);
#ifdef PANDA
set_can_enable(CAN3, 1);
#endif
//Turn on GMLAN
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
#ifdef PANDA
//Turn on LIN K
if (revision == PANDA_REV_C) {
set_gpio_output(GPIOB, 7, 1); // REV C
} else {
set_gpio_output(GPIOB, 4, 1); // REV AB
}
// LIN L
set_gpio_output(GPIOA, 14, 1);
#endif
if (is_grey_panda) {
char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
int len = 12;
uart_ring *ur = get_ring_by_number(1);
for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
}
//set timer back
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
TIM6->CR1 |= TIM_CR1_CEN;
}
// Reset timer when activity
void power_save_reset_timer() {
TIM6->CNT = 0;
if (power_save_status != POWER_SAVE_STATUS_DISABLED){
power_save_disable();
}
}
void power_save_init(void) {
puts("Saving power init\n");
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
NVIC_EnableIRQ(TIM6_DAC_IRQn);
puts("Saving power init done\n");
TIM6->DIER = TIM_DIER_UIE;
TIM6->CR1 |= TIM_CR1_CEN;
}
void TIM6_DAC_IRQHandler(void) {
//Timeout switch to power saving mode.
if (TIM6->SR & TIM_SR_UIF) {
TIM6->SR = 0;
#ifdef EON
if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
power_save_enable();
} else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) {
power_save_enable_can_wake();
}
#endif
} else {
TIM6->CR1 |= TIM_CR1_CEN;
}
}

10
panda/board/safety.h
View File

@ -29,6 +29,10 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
#ifdef PANDA
float interpolate(struct lookup_t xy, float x);
void lline_relay_init (void);
void lline_relay_release (void);
void set_lline_output(int to_set);
#endif
typedef void (*safety_hook_init)(int16_t param);
@ -37,6 +41,7 @@ typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
typedef int (*ign_hook)();
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef int (*relay_hook)();
typedef struct {
safety_hook_init init;
@ -45,6 +50,7 @@ typedef struct {
tx_hook tx;
tx_lin_hook tx_lin;
fwd_hook fwd;
relay_hook relay;
} safety_hooks;
// This can be set by the safety hooks.
@ -91,6 +97,10 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return current_hooks->fwd(bus_num, to_fwd);
}
int safety_relay_hook(void) {
return current_hooks->relay();
}
typedef struct {
uint16_t id;
const safety_hooks *hooks;

4
panda/board/safety/safety_cadillac.h
View File

@ -115,6 +115,9 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void cadillac_init(int16_t param) {
controls_allowed = 0;
cadillac_ign = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int cadillac_ign_hook() {
@ -128,4 +131,5 @@ const safety_hooks cadillac_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = cadillac_ign_hook,
.fwd = alloutput_fwd_hook,
.relay = nooutput_relay_hook,
};

4
panda/board/safety/safety_chrysler.h
View File

@ -127,6 +127,9 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void chrysler_init(int16_t param) {
chrysler_camera_detected = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@ -150,4 +153,5 @@ const safety_hooks chrysler_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = chrysler_fwd_hook,
.relay = nooutput_relay_hook,
};

16
panda/board/safety/safety_defaults.h
View File

@ -8,6 +8,9 @@ int default_ign_hook() {
static void nooutput_init(int16_t param) {
controls_allowed = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -22,6 +25,10 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return -1;
}
static int nooutput_relay_hook(int to_set) {
return false;
}
const safety_hooks nooutput_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
@ -29,12 +36,16 @@ const safety_hooks nooutput_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};
// *** all output safety mode ***
static void alloutput_init(int16_t param) {
controls_allowed = 1;
#ifdef PANDA
lline_relay_release();
#endif
}
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -49,6 +60,10 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return -1;
}
static int alloutput_relay_hook(int to_set) {
return true;
}
const safety_hooks alloutput_hooks = {
.init = alloutput_init,
.rx = default_rx_hook,
@ -56,4 +71,5 @@ const safety_hooks alloutput_hooks = {
.tx_lin = alloutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = alloutput_fwd_hook,
.relay = alloutput_relay_hook,
};

1
panda/board/safety/safety_elm327.h
View File

@ -42,4 +42,5 @@ const safety_hooks elm327_hooks = {
.tx_lin = elm327_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = elm327_fwd_hook,
.relay = nooutput_relay_hook,
};

1
panda/board/safety/safety_ford.h
View File

@ -90,4 +90,5 @@ const safety_hooks ford_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};

5
panda/board/safety/safety_gm.h
View File

@ -228,6 +228,9 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void gm_init(int16_t param) {
controls_allowed = 0;
gm_ignition_started = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int gm_ign_hook() {
@ -241,5 +244,5 @@ const safety_hooks gm_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = gm_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};

1
panda/board/safety/safety_gm_ascm.h
View File

@ -48,5 +48,6 @@ const safety_hooks gm_ascm_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = gm_ascm_fwd_hook,
.relay = nooutput_relay_hook,
};

8
panda/board/safety/safety_honda.h
View File

@ -136,6 +136,9 @@ static void honda_init(int16_t param) {
controls_allowed = 0;
bosch_hardware = false;
honda_alt_brake_msg = false;
#ifdef PANDA
lline_relay_release();
#endif
}
static void honda_bosch_init(int16_t param) {
@ -143,6 +146,9 @@ static void honda_bosch_init(int16_t param) {
bosch_hardware = true;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = param == 1 ? true : false;
#ifdef PANDA
lline_relay_release();
#endif
}
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@ -176,6 +182,7 @@ const safety_hooks honda_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_fwd_hook,
.relay = nooutput_relay_hook,
};
const safety_hooks honda_bosch_hooks = {
@ -185,4 +192,5 @@ const safety_hooks honda_bosch_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_bosch_fwd_hook,
.relay = nooutput_relay_hook,
};

4
panda/board/safety/safety_hyundai.h
View File

@ -152,6 +152,9 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static void hyundai_init(int16_t param) {
controls_allowed = 0;
hyundai_giraffe_switch_2 = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
const safety_hooks hyundai_hooks = {
@ -161,4 +164,5 @@ const safety_hooks hyundai_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = hyundai_fwd_hook,
.relay = nooutput_relay_hook,
};

13
panda/board/safety/safety_subaru.h
View File

@ -14,6 +14,11 @@ int subaru_desired_torque_last = 0;
uint32_t subaru_ts_last = 0;
struct sample_t subaru_torque_driver; // last few driver torques measured
static void subaru_init(int16_t param) {
#ifdef PANDA
lline_relay_init();
#endif
}
static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = (to_push->RDTR >> 4) & 0xFF;
@ -100,6 +105,7 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// forward CAN 0 > 1
if (bus_num == 0) {
return 2; // ES CAN
}
// forward CAN 1 > 0, except ES_LKAS
@ -113,6 +119,10 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
if (addr == 0x122) {
return -1;
}
// ES Distance
if (addr == 545) {
return -1;
}
return 0; // Main CAN
}
@ -122,10 +132,11 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
const safety_hooks subaru_hooks = {
.init = nooutput_init,
.init = subaru_init,
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = subaru_fwd_hook,
.relay = alloutput_relay_hook,
};

4
panda/board/safety/safety_tesla.h
View File

@ -230,6 +230,9 @@ static void tesla_init(int16_t param)
controls_allowed = 0;
tesla_ignition_started = 0;
gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
#ifdef PANDA
lline_relay_release();
#endif
}
static int tesla_ign_hook()
@ -284,4 +287,5 @@ const safety_hooks tesla_hooks = {
.tx_lin = tesla_tx_lin_hook,
.ignition = tesla_ign_hook,
.fwd = tesla_fwd_hook,
.relay = nooutput_relay_hook,
};

8
panda/board/safety/safety_toyota.h
View File

@ -160,6 +160,9 @@ static void toyota_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_camera_forwarded = 0;
toyota_dbc_eps_torque_factor = param;
#ifdef PANDA
lline_relay_release();
#endif
}
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@ -181,6 +184,7 @@ const safety_hooks toyota_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};
static void toyota_nolimits_init(int16_t param) {
@ -189,6 +193,9 @@ static void toyota_nolimits_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_camera_forwarded = 0;
toyota_dbc_eps_torque_factor = param;
#ifdef PANDA
lline_relay_release();
#endif
}
const safety_hooks toyota_nolimits_hooks = {
@ -198,4 +205,5 @@ const safety_hooks toyota_nolimits_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};

2
panda/board/safety/safety_toyota_ipas.h
View File

@ -152,5 +152,5 @@ const safety_hooks toyota_ipas_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};

5
panda/boardesp/get_sdk_ci.sh 100755
View File

@ -0,0 +1,5 @@
#!/bin/bash
git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
cd esp-open-sdk
git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
LD_LIBRARY_PATH="" make STANDALONE=y

19
panda/python/__init__.py
View File

@ -182,6 +182,7 @@ class Panda(object):
traceback.print_exc()
if wait == False or self._handle != None:
break
context = usb1.USBContext() #New context needed so new devices show up
assert(self._handle != None)
print("connected")
@ -280,11 +281,14 @@ class Panda(object):
if reconnect:
self.reconnect()
def recover(self):
def recover(self, timeout=None):
self.reset(enter_bootloader=True)
t_start = time.time()
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
@ -292,6 +296,7 @@ class Panda(object):
# reflash after recover
self.connect(True, True)
self.flash()
return True
@staticmethod
def flash_ota_st():
@ -300,8 +305,9 @@ class Panda(object):
return ret==0
@staticmethod
def flash_ota_wifi():
ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "boardesp")))
def flash_ota_wifi(release=False):
release_str = "RELEASE=1" if release else ""
ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
time.sleep(1)
return ret==0
@ -386,10 +392,17 @@ class Panda(object):
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
def set_lline_relay(self, enable):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, int(enable), 0, b'')
def set_can_loopback(self, enable):
# set can loopback mode for all buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
def set_can_enable(self, bus_num, enable):
# sets the can transciever enable pin
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')

5
panda/requirements.txt
View File

@ -1,4 +1,7 @@
libusb1
libusb1 == 1.6.6
hexdump
pycrypto
tqdm
nose
parameterized
requests

8
panda/run_automated_tests.sh
View File

@ -1,3 +1,9 @@
#!/bin/bash
PYTHONPATH="." nosetests -x -s tests/automated/$1*.py
TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
if [ ! -f "/EON" ]; then
TESTSUITE_NAME="Panda_Test-EON"
else
TESTSUITE_NAME="Panda_Test-DEV"
fi
PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py

2
panda/setup.py
View File

@ -46,7 +46,7 @@ setup(
platforms='any',
license='MIT',
install_requires=[
'libusb1 >= 1.6.4',
'libusb1 == 1.6.6',
'hexdump >= 3.3',
'pycrypto >= 2.6.1',
'tqdm >= 4.14.0',

16
panda/tests/automated/1_program.py
View File

@ -1,11 +1,15 @@
import os
from panda import Panda
from helpers import panda_color_to_serial, test_white_and_grey
def test_recover():
p = Panda()
p.recover()
@test_white_and_grey
@panda_color_to_serial
def test_recover(serial=None):
p = Panda(serial=serial)
assert p.recover(timeout=30)
def test_flash():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_flash(serial=None):
p = Panda(serial=serial)
p.flash()

49
panda/tests/automated/2_usb_to_can.py
View File

@ -3,14 +3,16 @@ import os
import sys
import time
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from helpers import time_many_sends, connect_wo_esp
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import time_many_sends, connect_wo_esp, test_white_and_grey, panda_color_to_serial
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
def test_can_loopback():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_can_loopback(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -42,8 +44,10 @@ def test_can_loopback():
assert 0x1aa == sr[0][0] == lb[0][0]
assert "message" == sr[0][2] == lb[0][2]
def test_safety_nooutput():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_safety_nooutput(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
@ -59,8 +63,10 @@ def test_safety_nooutput():
r = p.can_recv()
assert len(r) == 0
def test_reliability():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_reliability(serial=None):
p = connect_wo_esp(serial)
LOOP_COUNT = 100
MSG_COUNT = 100
@ -97,8 +103,10 @@ def test_reliability():
sys.stdout.write("P")
sys.stdout.flush()
def test_throughput():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_throughput(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -120,8 +128,10 @@ def test_throughput():
print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_gmlan():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_gmlan(serial=None):
p = connect_wo_esp(serial)
if p.legacy:
return
@ -135,7 +145,7 @@ def test_gmlan():
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
# set gmlan on CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
@ -150,8 +160,10 @@ def test_gmlan():
print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
def test_gmlan_bad_toggle():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_gmlan_bad_toggle(serial=None):
p = connect_wo_esp(serial)
if p.legacy:
return
@ -178,9 +190,10 @@ def test_gmlan_bad_toggle():
# this will fail if you have hardware serial connected
def test_serial_debug():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_serial_debug(serial=None):
p = connect_wo_esp(serial)
junk = p.serial_read(Panda.SERIAL_DEBUG)
p.call_control_api(0xc0)
assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))

55
panda/tests/automated/3_wifi.py
View File

@ -1,33 +1,60 @@
from __future__ import print_function
import os
import time
from panda import Panda
from helpers import connect_wifi
from helpers import connect_wifi, test_white, test_white_and_grey, panda_color_to_serial
import requests
def test_get_serial():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_get_serial(serial=None):
p = Panda(serial)
print(p.get_serial())
def test_get_serial_in_flash_mode():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_get_serial_in_flash_mode(serial=None):
p = Panda(serial)
p.reset(enter_bootstub=True)
assert(p.bootstub)
print(p.get_serial())
p.reset()
def test_connect_wifi():
connect_wifi()
@test_white
@panda_color_to_serial
def test_connect_wifi(serial=None):
connect_wifi(serial)
def test_flash_wifi():
Panda.flash_ota_wifi()
connect_wifi()
@test_white
@panda_color_to_serial
def test_flash_wifi(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_wifi(release=True), "OTA Wifi Flash Failed"
connect_wifi(serial)
def test_wifi_flash_st():
Panda.flash_ota_st()
@test_white
@panda_color_to_serial
def test_wifi_flash_st(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_st(), "OTA ST Flash Failed"
connected = False
st = time.time()
while not connected and (time.time() - st) < 20:
try:
p = Panda(serial=serial)
p.get_serial()
connected = True
except:
time.sleep(1)
def test_webpage_fetch():
if not connected:
assert False, "Panda failed to connect on USB after flashing"
@test_white
@panda_color_to_serial
def test_webpage_fetch(serial=None):
connect_wifi(serial)
r = requests.get("http://192.168.0.10/")
print(r.text)
assert "This is your comma.ai panda" in r.text

25
panda/tests/automated/4_wifi_functionality.py
View File

@ -1,17 +1,22 @@
from __future__ import print_function
import time
from panda import Panda
from helpers import time_many_sends, connect_wifi
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
from nose.tools import timed, assert_equal, assert_less, assert_greater
def test_get_serial_wifi():
connect_wifi()
@test_white
@panda_color_to_serial
def test_get_serial_wifi(serial=None):
connect_wifi(serial)
p = Panda("WIFI")
print(p.get_serial())
def test_throughput():
p = Panda()
@test_white
@panda_color_to_serial
def test_throughput(serial=None):
connect_wifi(serial)
p = Panda(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -24,7 +29,7 @@ def test_throughput():
for speed in [100,250,500,750,1000]:
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.05)
time.sleep(0.1)
comp_kbps = time_many_sends(p, 0)
@ -35,8 +40,11 @@ def test_throughput():
print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_recv_only():
p = Panda()
@test_white
@panda_color_to_serial
def test_recv_only(serial=None):
connect_wifi(serial)
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = Panda("WIFI")
@ -49,4 +57,3 @@ def test_recv_only():
saturation_pct = (comp_kbps/speed) * 100.0
print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))

43
panda/tests/automated/5_wifi_udp.py
View File

@ -1,14 +1,16 @@
from __future__ import print_function
import sys
import time
from helpers import time_many_sends, connect_wifi
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
from panda import Panda, PandaWifiStreaming
from nose.tools import timed, assert_equal, assert_less, assert_greater
def test_udp_doesnt_drop():
connect_wifi()
@test_white
@panda_color_to_serial
def test_udp_doesnt_drop(serial=None):
connect_wifi(serial)
p = Panda()
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
@ -18,6 +20,7 @@ def test_udp_doesnt_drop():
break
for msg_count in [1, 100]:
saturation_pcts = []
for i in range({1: 0x80, 100: 0x20}[msg_count]):
pwifi.kick()
@ -31,9 +34,33 @@ def test_udp_doesnt_drop():
sys.stdout.flush()
else:
print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
assert_greater(saturation_pct, 40)
assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
assert_less(saturation_pct, 100)
print("")
saturation_pcts.append(saturation_pct)
if len(saturation_pcts) > 0:
assert_greater(sum(saturation_pcts)/len(saturation_pcts), 60)
time.sleep(5)
usb_ok_cnt = 0
REQ_USB_OK_CNT = 500
st = time.time()
msg_id = 0x1bb
bus = 0
last_missing_msg = 0
while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
p.can_send(msg_id, "message", bus)
time.sleep(0.01)
r = [1]
missing = True
while len(r) > 0:
r = p.can_recv()
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
if len(r) > 0:
missing = False
usb_ok_cnt += len(r)
if missing:
last_missing_msg = time.time()
et = time.time() - st
last_missing_msg = last_missing_msg - st
print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"

121
panda/tests/automated/6_two_panda.py 100644
View File

@ -0,0 +1,121 @@
from __future__ import print_function
import time
from panda import Panda
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import time_many_sends, test_two_panda, panda_color_to_serial
@test_two_panda
@panda_color_to_serial
def test_send_recv(serial_sender=None, serial_reciever=None):
p_send = Panda(serial_sender)
p_recv = Panda(serial_reciever)
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.can_send_many([(0x1ba, 0, "message", 0)]*2)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0,1,2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.05)
comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
@test_two_panda
@panda_color_to_serial
def test_latency(serial_sender=None, serial_reciever=None):
p_send = Panda(serial_sender)
p_recv = Panda(serial_reciever)
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.set_can_speed_kbps(0, 100)
p_recv.set_can_speed_kbps(0, 100)
time.sleep(0.05)
p_send.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0,1,2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.1)
#clear can buffers
r = [1]
while len(r) > 0:
r = p_send.can_recv()
r = [1]
while len(r) > 0:
r = p_recv.can_recv()
time.sleep(0.05)
latencies = []
comp_kbps_list = []
saturation_pcts = []
num_messages = 100
for i in range(num_messages):
st = time.time()
p_send.can_send(0x1ab, "message", bus)
r = []
while len(r) < 1 and (time.time() - st) < 5:
r = p_recv.can_recv()
et = time.time()
r_echo = []
while len(r_echo) < 1 and (time.time() - st) < 10:
r_echo = p_send.can_recv()
if len(r) == 0 or len(r_echo) == 0:
print("r: {}, r_echo: {}".format(r, r_echo))
assert_equal(len(r),1)
assert_equal(len(r_echo),1)
et = (et - st)*1000.0
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7) / et
latency = et - ((1+11+1+1+1+4+8*8+15+1+1+1+7) / speed)
assert_less(latency, 5.0)
saturation_pct = (comp_kbps/speed) * 100.0
latencies.append(latency)
comp_kbps_list.append(comp_kbps)
saturation_pcts.append(saturation_pct)
average_latency = sum(latencies)/num_messages
assert_less(average_latency, 1.0)
average_comp_kbps = sum(comp_kbps_list)/num_messages
average_saturation_pct = sum(saturation_pcts)/num_messages
print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))

131
panda/tests/automated/helpers.py
View File

@ -4,12 +4,34 @@ import time
import random
import subprocess
import requests
from functools import wraps
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from parameterized import parameterized, param
def connect_wo_esp():
test_white_and_grey = parameterized([param(panda_color="White"),
param(panda_color="Grey")])
test_white = parameterized([param(panda_color="White")])
test_grey = parameterized([param(panda_color="Grey")])
test_two_panda = parameterized([param(panda_color=["Grey", "White"]),
param(panda_color=["White", "Grey"])])
_serials = {}
def get_panda_serial(is_grey=None):
global _serials
if is_grey not in _serials:
for serial in Panda.list():
p = Panda(serial=serial)
if is_grey is None or p.is_grey() == is_grey:
_serials[is_grey] = serial
return serial
raise IOError("Panda not found. is_grey: {}".format(is_grey))
else:
return _serials[is_grey]
def connect_wo_esp(serial=None):
# connect to the panda
p = Panda()
p = Panda(serial=serial)
# power down the ESP
p.set_esp_power(False)
@ -20,15 +42,28 @@ def connect_wo_esp():
return p
def connect_wifi():
p = Panda()
def connect_wifi(serial=None):
p = Panda(serial=serial)
p.set_esp_power(True)
dongle_id, pw = p.get_serial()
assert(dongle_id.isalnum())
_connect_wifi(dongle_id, pw)
FNULL = open(os.devnull, 'w')
def _connect_wifi(dongle_id, pw, insecure_okay=False):
ssid = str("panda-" + dongle_id)
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if not r:
#Can already ping, try connecting on wifi
try:
p = Panda("WIFI")
p.get_serial()
print("Already connected")
return
except:
pass
print("WIFI: connecting to %s" % ssid)
while 1:
@ -39,8 +74,8 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
cnt = 0
MAX_TRIES = 10
while cnt < MAX_TRIES:
print "WIFI: scanning %d" % cnt
os.system("sudo iwlist %s scanning > /dev/null" % wlan_interface)
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"))
if len(wifi_scan) != 0:
@ -51,45 +86,107 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
assert cnt < MAX_TRIES
if "-pair" in wifi_scan[0]:
os.system("nmcli d wifi connect %s-pair" % (ssid))
connect_cnt = 0
MAX_TRIES = 20
while connect_cnt < MAX_TRIES:
connect_cnt += 1
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if r:
print("Waiting for panda to ping...")
time.sleep(0.1)
else:
break
if insecure_okay:
break
# fetch webpage
print "connecting to insecure network to secure"
r = requests.get("http://192.168.0.10/")
print("connecting to insecure network to secure")
try:
r = requests.get("http://192.168.0.10/")
except requests.ConnectionError:
r = requests.get("http://192.168.0.10/")
assert r.status_code==200
print "securing"
print("securing")
try:
r = requests.get("http://192.168.0.10/secure", timeout=0.01)
except requests.exceptions.Timeout:
print("timeout http request to secure")
pass
else:
os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
break
ret = os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
if os.WEXITSTATUS(ret) == 0:
#check ping too
ping_ok = False
connect_cnt = 0
MAX_TRIES = 10
while connect_cnt < MAX_TRIES:
connect_cnt += 1
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if r:
print("Waiting for panda to ping...")
time.sleep(0.1)
else:
ping_ok = True
break
if ping_ok:
break
# TODO: confirm that it's connected to the right panda
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None):
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=False):
if precv == None:
precv = p
if msg_id == None:
msg_id = random.randint(0x100, 0x200)
if p == precv and two_pandas:
raise ValueError("Cannot have two pandas that are the same panda")
st = time.time()
p.can_send_many([(msg_id, 0, "\xaa"*8, bus)]*msg_count)
r = []
r_echo = []
r_len_expected = msg_count if two_pandas else msg_count*2
r_echo_len_exected = msg_count if two_pandas else 0
while len(r) < (msg_count*2) and (time.time() - st) < 3:
while len(r) < r_len_expected and (time.time() - st) < 5:
r.extend(precv.can_recv())
et = time.time()
if two_pandas:
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)
loopback_resp = filter(lambda x: x[3] == 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)
leftovers = filter(lambda x: (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id, r)
assert_equal(len(leftovers), 0)
assert_equal(len(resp), msg_count)
assert_equal(len(sent_echo), msg_count)
assert_equal(len(loopback_resp), msg_count)
et = (time.time()-st)*1000.0
et = (et-st)*1000.0
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*msg_count / et
return comp_kbps
def panda_color_to_serial(fn):
@wraps(fn)
def wrapper(panda_color=None, **kwargs):
pandas_is_grey = []
if panda_color is not None:
if not isinstance(panda_color, list):
panda_color = [panda_color]
panda_color = [s.lower() for s in panda_color]
for p in panda_color:
if p is None:
pandas_is_grey.append(None)
elif p in ["grey", "gray"]:
pandas_is_grey.append(True)
elif p in ["white"]:
pandas_is_grey.append(False)
else:
raise ValueError("Invalid Panda Color {}".format(p))
return fn(*[get_panda_serial(is_grey) for is_grey in pandas_is_grey], **kwargs)
return wrapper

9
panda/tests/safety/test.c
View File

@ -246,3 +246,12 @@ void reset_gmlan_switch_timeout(void){
void gmlan_switch_init(int timeout_enable){
}
void lline_relay_init (void) {
}
void lline_relay_release (void) {
}
void set_lline_output(int to_set) {
}