mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 00:53:45 +08:00
Adeeb Shihadeh
97 lines
3.1 KiB
Python
97 lines
3.1 KiB
Python
# Python interface for the preflashed Jungle fixtures used by HITL tests.
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import struct
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from functools import wraps
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from panda import Panda
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def ensure_jungle_health_packet_version(fn):
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@wraps(fn)
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def wrapper(self, *args, **kwargs):
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if self.health_version != self.HEALTH_PACKET_VERSION:
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raise RuntimeError(f"Jungle firmware ({self.health_version}) doesn't match the \
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library's health packet version ({self.HEALTH_PACKET_VERSION}).")
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return fn(self, *args, **kwargs)
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return wrapper
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class PandaJungle(Panda):
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USB_PIDS = (0xddef, 0xddcf)
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HW_TYPE_UNKNOWN = b'\x00'
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HW_TYPE_V2 = b'\x02'
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H7_DEVICES = [HW_TYPE_V2, ]
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SUPPORTED_DEVICES = H7_DEVICES
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# Frozen protocol hash of the health packet in the installed Jungle firmware.
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HEALTH_PACKET_VERSION = 0xDD322770
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HEALTH_STRUCT = struct.Struct("<IffffffHHHHHHHHHHHH")
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HARNESS_ORIENTATION_NONE = 0
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HARNESS_ORIENTATION_1 = 1
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HARNESS_ORIENTATION_2 = 2
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@classmethod
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def spi_connect(cls, serial):
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return None, None, None, None
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def flash(self, fn=None, code=None, reconnect=True):
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raise NotImplementedError("Jungle firmware flashing is no longer supported")
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def recover(self, timeout: int | None = 60, reset: bool = True) -> bool:
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raise NotImplementedError("Jungle firmware recovery is no longer supported")
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def up_to_date(self, fn=None) -> bool:
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raise NotImplementedError("Jungle firmware is no longer distributed")
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# ******************* health *******************
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@ensure_jungle_health_packet_version
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def health(self):
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dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size)
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a = self.HEALTH_STRUCT.unpack(dat)
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return {
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"uptime": a[0],
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"ch1_power": a[1],
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"ch2_power": a[2],
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"ch3_power": a[3],
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"ch4_power": a[4],
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"ch5_power": a[5],
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"ch6_power": a[6],
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"ch1_sbu1_voltage": a[7] / 1000.0,
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"ch1_sbu2_voltage": a[8] / 1000.0,
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"ch2_sbu1_voltage": a[9] / 1000.0,
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"ch2_sbu2_voltage": a[10] / 1000.0,
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"ch3_sbu1_voltage": a[11] / 1000.0,
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"ch3_sbu2_voltage": a[12] / 1000.0,
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"ch4_sbu1_voltage": a[13] / 1000.0,
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"ch4_sbu2_voltage": a[14] / 1000.0,
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"ch5_sbu1_voltage": a[15] / 1000.0,
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"ch5_sbu2_voltage": a[16] / 1000.0,
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"ch6_sbu1_voltage": a[17] / 1000.0,
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"ch6_sbu2_voltage": a[18] / 1000.0,
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}
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# ******************* control *******************
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def get_packets_versions(self):
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dat = self._handle.controlRead(PandaJungle.REQUEST_IN, 0xdd, 0, 0, 8)
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if dat and len(dat) == 8:
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return struct.unpack("<II", dat)
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return (0, 0)
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# ******************* jungle stuff *******************
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def set_panda_power(self, enabled):
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self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa0, int(enabled), 0, b'')
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def set_harness_orientation(self, mode):
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self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa1, int(mode), 0, b'')
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def set_ignition(self, enabled):
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self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xa2, int(enabled), 0, b'')
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def set_can_silent(self, silent):
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self._handle.controlWrite(PandaJungle.REQUEST_OUT, 0xf5, int(silent), 0, b'')
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