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https://github.com/firestar5683/StarPilot.git
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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.
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, ignore_version=False):
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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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