82 lines
2.0 KiB
Python
Executable File
82 lines
2.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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from multiprocessing import Process
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from tqdm import tqdm
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os.environ['FILEREADER_CACHE'] = '1'
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from common.realtime import config_realtime_process, Ratekeeper
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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from tools.lib.logreader import LogReader
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from panda import Panda
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try:
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from panda_jungle import PandaJungle # pylint: disable=import-error
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except Exception:
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PandaJungle = None # type: ignore
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ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
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NUM_SEGS = 10 # route has 82 segments available
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print("Loading log...")
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CAN_MSGS = []
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for i in tqdm(list(range(1, NUM_SEGS))):
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log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
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lr = LogReader(log_url)
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CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
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def send_thread(sender, core):
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config_realtime_process(core, 55)
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if "Jungle" in str(type(sender)):
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sender.set_ignition(False)
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time.sleep(3)
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sender.set_ignition(True)
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else:
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sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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sender.set_can_loopback(False)
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log_idx = 0
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rk = Ratekeeper(100)
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while True:
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snd = CAN_MSGS[log_idx]
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log_idx = (log_idx + 1) % len(CAN_MSGS)
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snd = list(filter(lambda x: x[-1] <= 2, snd))
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sender.can_send_many(snd)
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# Drain panda message buffer
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sender.can_recv()
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rk.keep_time()
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def connect():
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serials = {}
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while True:
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# look for new devices
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for p in [Panda, PandaJungle]:
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if p is None:
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continue
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for s in p.list():
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if s not in serials:
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print("starting send thread for", s)
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serials[s] = Process(target=send_thread, args=(p(s), 3))
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serials[s].start()
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# try to join all send procs
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cur_serials = serials.copy()
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for s, p in cur_serials.items():
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p.join(0.01)
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if p.exitcode is not None:
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del serials[s]
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time.sleep(1)
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if __name__ == "__main__":
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while True:
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try:
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connect()
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except Exception:
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pass
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