mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 09:03:46 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
84 lines
2.3 KiB
Python
84 lines
2.3 KiB
Python
import ctypes
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import os
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from panda import LEN_TO_DLC
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libpanda_dir = os.path.dirname(os.path.abspath(__file__))
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libpanda_fn = os.path.join(libpanda_dir, "libpanda.so")
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class CANPacketHeader(ctypes.LittleEndianStructure):
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_pack_ = 1
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_fields_ = [
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("fd", ctypes.c_uint8, 1),
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("bus", ctypes.c_uint8, 3),
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("data_len_code", ctypes.c_uint8, 4),
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]
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class CANPacketAddress(ctypes.LittleEndianStructure):
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_pack_ = 1
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_fields_ = [
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("rejected", ctypes.c_uint32, 1),
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("returned", ctypes.c_uint32, 1),
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("extended", ctypes.c_uint32, 1),
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("addr", ctypes.c_uint32, 29),
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]
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class CANPacketFields(ctypes.LittleEndianStructure):
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_pack_ = 1
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_anonymous_ = ("header", "address")
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_fields_ = [
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("header", CANPacketHeader),
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("address", CANPacketAddress),
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("checksum", ctypes.c_uint8),
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("data", ctypes.c_uint8 * 64),
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]
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class CANPacket(ctypes.Union):
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# Match CANPacket_t's packed fields and aligned(4) attribute.
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_anonymous_ = ("packet",)
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_fields_ = [("packet", CANPacketFields), ("_alignment", ctypes.c_uint32)]
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class CANRing(ctypes.Structure):
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_fields_ = [
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("w_ptr", ctypes.c_uint32),
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("r_ptr", ctypes.c_uint32),
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("fifo_size", ctypes.c_uint32),
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("elems", ctypes.POINTER(CANPacket)),
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]
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libpanda = ctypes.CDLL(libpanda_fn)
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for name in ("rx_q", "tx1_q", "tx2_q", "tx3_q"):
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setattr(libpanda, name, ctypes.POINTER(CANRing).in_dll(libpanda, name))
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for name, argtypes, restype in (
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("set_safety_hooks", [ctypes.c_uint16, ctypes.c_uint16], ctypes.c_int),
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("can_pop", [ctypes.POINTER(CANRing), ctypes.POINTER(CANPacket)], ctypes.c_bool),
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("can_push", [ctypes.POINTER(CANRing), ctypes.POINTER(CANPacket)], ctypes.c_bool),
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("can_set_checksum", [ctypes.POINTER(CANPacket)], None),
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("comms_can_read", [ctypes.POINTER(ctypes.c_uint8), ctypes.c_uint32], ctypes.c_int),
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("comms_can_write", [ctypes.c_char_p, ctypes.c_uint32], None),
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("comms_can_reset", [], None),
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("can_slots_empty", [ctypes.POINTER(CANRing)], ctypes.c_uint32),
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):
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func = getattr(libpanda, name)
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func.argtypes = argtypes
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func.restype = restype
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def make_CANPacket(addr: int, bus: int, dat) -> CANPacket:
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ret = CANPacket()
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ret.extended = 1 if addr >= 0x800 else 0
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ret.addr = addr
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ret.data_len_code = LEN_TO_DLC[len(dat)]
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ret.bus = bus
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ret.data[:len(dat)] = bytes(dat)
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libpanda.can_set_checksum(ret)
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return ret
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