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https://github.com/MoreTore/openpilot.git
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FrogAi
60 lines
1.8 KiB
Python
60 lines
1.8 KiB
Python
#!/usr/bin/env python3
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from time import sleep
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from panda import Panda
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BODY_CAN_IDS = {0x750, 0x752, 0x660, 0x285}
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def hw_name(hw_type):
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names = {
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Panda.HW_TYPE_WHITE_PANDA: 'white',
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Panda.HW_TYPE_GREY_PANDA: 'grey',
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Panda.HW_TYPE_BLACK_PANDA: 'black',
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Panda.HW_TYPE_UNO: 'uno',
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Panda.HW_TYPE_DOS: 'dos',
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Panda.HW_TYPE_RED_PANDA: 'red',
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Panda.HW_TYPE_RED_PANDA_V2: 'red v2',
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Panda.HW_TYPE_TRES: 'tres',
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Panda.HW_TYPE_CUATRO: 'cuatro',
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}
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return names.get(hw_type, 'unknown')
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def expected_body_bus(hw_type, flipped):
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if hw_type in Panda.H7_DEVICES:
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return 1 if flipped else 0
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if hw_type in (Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS, Panda.HW_TYPE_BLACK_PANDA):
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return 1
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return None
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def scan_can(panda, secs=1):
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seen = set()
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end = panda.get_microsecond_timer() + secs * 1_000_000
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while panda.get_microsecond_timer() < end:
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for addr, _, _, bus in panda.can_recv():
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if addr in BODY_CAN_IDS:
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seen.add(bus)
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return sorted(seen)
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def main():
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serials = Panda.list()
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print(f'Found {len(serials)} panda(serial): {serials}\n')
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for serial in serials:
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with Panda(serial, claim=False) as panda:
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hw_type = panda.get_type()
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if isinstance(hw_type, bytearray):
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hw_type = bytes(hw_type)
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flipped = panda.health()['car_harness_status'] == Panda.HARNESS_STATUS_FLIPPED
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body_bus = expected_body_bus(hw_type, flipped)
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print(f'Panda {serial[:8]}…')
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print(f' hw: {hw_name(hw_type)}, mcu: {"H7" if hw_type in Panda.H7_DEVICES else "F4"}')
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print(f' harness flipped: {flipped}')
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print(f' expected Toyota body bus: {body_bus}')
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print(' sniffing CAN for one second…')
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buses = scan_can(panda)
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print(f' body-CAN traffic seen on: {buses}\n')
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if __name__ == '__main__':
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main()
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