84 lines
1.9 KiB
Python
Executable File
84 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import time
|
|
import signal
|
|
import traceback
|
|
import usb1
|
|
from panda import Panda, PandaDFU
|
|
from multiprocessing import Pool
|
|
|
|
jungle = "JUNGLE" in os.environ
|
|
if jungle:
|
|
from panda_jungle import PandaJungle # pylint: disable=import-error
|
|
|
|
import cereal.messaging as messaging
|
|
from selfdrive.boardd.boardd import can_capnp_to_can_list
|
|
|
|
def initializer():
|
|
"""Ignore CTRL+C in the worker process.
|
|
source: https://stackoverflow.com/a/44869451 """
|
|
signal.signal(signal.SIGINT, signal.SIG_IGN)
|
|
|
|
def send_thread(sender_serial):
|
|
while True:
|
|
try:
|
|
if jungle:
|
|
sender = PandaJungle(sender_serial)
|
|
else:
|
|
sender = Panda(sender_serial)
|
|
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
|
|
|
sender.set_can_loopback(False)
|
|
can_sock = messaging.sub_sock('can')
|
|
|
|
while True:
|
|
tsc = messaging.recv_one(can_sock)
|
|
snd = can_capnp_to_can_list(tsc.can)
|
|
snd = list(filter(lambda x: x[-1] <= 2, snd))
|
|
|
|
try:
|
|
sender.can_send_many(snd)
|
|
except usb1.USBErrorTimeout:
|
|
pass
|
|
|
|
# Drain panda message buffer
|
|
sender.can_recv()
|
|
except Exception:
|
|
traceback.print_exc()
|
|
time.sleep(1)
|
|
|
|
if __name__ == "__main__":
|
|
if jungle:
|
|
serials = PandaJungle.list()
|
|
else:
|
|
serials = Panda.list()
|
|
num_senders = len(serials)
|
|
|
|
if num_senders == 0:
|
|
print("No senders found. Exiting")
|
|
sys.exit(1)
|
|
else:
|
|
print("%d senders found. Starting broadcast" % num_senders)
|
|
|
|
if "FLASH" in os.environ:
|
|
for s in PandaDFU.list():
|
|
PandaDFU(s).recover()
|
|
|
|
time.sleep(1)
|
|
for s in serials:
|
|
Panda(s).recover()
|
|
Panda(s).flash()
|
|
|
|
pool = Pool(num_senders, initializer=initializer)
|
|
pool.map_async(send_thread, serials)
|
|
|
|
while True:
|
|
try:
|
|
time.sleep(10)
|
|
except KeyboardInterrupt:
|
|
pool.terminate()
|
|
pool.join()
|
|
raise
|
|
|