mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-24 15:32:07 +08:00
openpilot v0.8.13 release
This commit is contained in:
Vehicle Researcher
committed by
Adeeb Shihadeh
Adeeb Shihadeh
parent
9779e34f75
commit
14adf3afa2
+42
-125
@@ -2,7 +2,6 @@
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import datetime
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import struct
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import hashlib
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import socket
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import usb1
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import os
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import time
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@@ -115,64 +114,6 @@ def ensure_can_packet_version(fn):
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return fn(self, *args, **kwargs)
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return wrapper
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class PandaWifiStreaming(object):
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def __init__(self, ip="192.168.0.10", port=1338):
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.setblocking(0)
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self.ip = ip
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self.port = port
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self.kick()
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def kick(self):
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# must be called at least every 5 seconds
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self.sock.sendto("hello", (self.ip, self.port))
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def can_recv(self):
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ret = []
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while True:
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try:
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dat, addr = self.sock.recvfrom(0x200 * 0x10)
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if addr == (self.ip, self.port):
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ret += unpack_can_buffer(dat)
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except socket.error as e:
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if e.errno != 35 and e.errno != 11:
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traceback.print_exc()
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break
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return ret
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# stupid tunneling of USB over wifi and SPI
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class WifiHandle(object):
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def __init__(self, ip="192.168.0.10", port=1337):
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self.sock = socket.create_connection((ip, port))
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def __recv(self):
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ret = self.sock.recv(0x44)
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length = struct.unpack("I", ret[0:4])[0]
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return ret[4:4 + length]
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def controlWrite(self, request_type, request, value, index, data, timeout=0):
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# ignore data in reply, panda doesn't use it
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return self.controlRead(request_type, request, value, index, 0, timeout)
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def controlRead(self, request_type, request, value, index, length, timeout=0):
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self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length))
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return self.__recv()
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def bulkWrite(self, endpoint, data, timeout=0):
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if len(data) > 0x10:
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raise ValueError("Data must not be longer than 0x10")
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self.sock.send(struct.pack("HH", endpoint, len(data)) + data)
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self.__recv() # to /dev/null
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def bulkRead(self, endpoint, length, timeout=0):
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self.sock.send(struct.pack("HH", endpoint, 0))
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return self.__recv()
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def close(self):
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self.sock.close()
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# *** normal mode ***
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class Panda(object):
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# matches cereal.car.CarParams.SafetyModel
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@@ -219,7 +160,8 @@ class Panda(object):
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HW_TYPE_RED_PANDA = b'\x07'
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CAN_PACKET_VERSION = 2
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HEALTH_PACKET_VERSION = 1
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HEALTH_PACKET_VERSION = 3
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HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
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F2_DEVICES = [HW_TYPE_PEDAL]
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F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
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@@ -227,7 +169,6 @@ class Panda(object):
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CLOCK_SOURCE_MODE_DISABLED = 0
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CLOCK_SOURCE_MODE_FREE_RUNNING = 1
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CLOCK_SOURCE_MODE_EXTERNAL_SYNC = 2
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FLAG_HONDA_ALT_BRAKE = 1
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FLAG_HONDA_BOSCH_LONG = 2
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@@ -253,46 +194,39 @@ class Panda(object):
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if self._handle is not None:
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self.close()
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if self._serial == "WIFI":
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self._handle = WifiHandle()
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print("opening WIFI device")
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self.wifi = True
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else:
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context = usb1.USBContext()
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self._handle = None
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self.wifi = False
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context = usb1.USBContext()
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self._handle = None
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while 1:
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try:
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
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try:
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this_serial = device.getSerialNumber()
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except Exception:
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continue
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if self._serial is None or this_serial == self._serial:
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self._serial = this_serial
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print("opening device", self._serial, hex(device.getProductID()))
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self.bootstub = device.getProductID() == 0xddee
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self._handle = device.open()
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if sys.platform not in ["win32", "cygwin", "msys", "darwin"]:
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self._handle.setAutoDetachKernelDriver(True)
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if claim:
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self._handle.claimInterface(0)
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# self._handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
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break
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except Exception as e:
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print("exception", e)
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traceback.print_exc()
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if not wait or self._handle is not None:
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break
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context = usb1.USBContext() # New context needed so new devices show up
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while 1:
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try:
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for device in context.getDeviceList(skip_on_error=True):
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if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
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try:
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this_serial = device.getSerialNumber()
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except Exception:
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continue
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if self._serial is None or this_serial == self._serial:
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self._serial = this_serial
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print("opening device", self._serial, hex(device.getProductID()))
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self.bootstub = device.getProductID() == 0xddee
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self._handle = device.open()
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if sys.platform not in ["win32", "cygwin", "msys", "darwin"]:
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self._handle.setAutoDetachKernelDriver(True)
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if claim:
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self._handle.claimInterface(0)
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# self._handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
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break
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except Exception as e:
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print("exception", e)
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traceback.print_exc()
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if not wait or self._handle is not None:
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break
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context = usb1.USBContext() # New context needed so new devices show up
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assert(self._handle is not None)
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self.health_version, self.can_version = self.get_packets_versions()
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print("connected")
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def reset(self, enter_bootstub=False, enter_bootloader=False):
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# reset
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try:
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if enter_bootloader:
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self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
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@@ -397,19 +331,6 @@ class Panda(object):
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self.flash()
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return True
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@staticmethod
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def flash_ota_st():
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ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "board")))
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time.sleep(1)
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return ret == 0
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@staticmethod
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def flash_ota_wifi(release=False):
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release_str = "RELEASE=1" if release else ""
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ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"), release_str))
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time.sleep(1)
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return ret == 0
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@staticmethod
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def list():
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context = usb1.USBContext()
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@@ -423,8 +344,6 @@ class Panda(object):
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continue
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except Exception:
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pass
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# TODO: detect if this is real
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# ret += ["WIFI"]
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return ret
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def call_control_api(self, msg):
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@@ -434,8 +353,8 @@ class Panda(object):
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@ensure_health_packet_version
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def health(self):
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dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
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a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
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dat = self._handle.controlRead(Panda.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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"voltage": a[1],
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@@ -456,6 +375,8 @@ class Panda(object):
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"fault_status": a[16],
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"power_save_enabled": a[17],
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"heartbeat_lost": a[18],
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"unsafe_mode": a[19],
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"blocked_msg_cnt": a[20],
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}
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# ******************* control *******************
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@@ -621,17 +542,13 @@ class Panda(object):
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snds = pack_can_buffer(arr)
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while True:
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try:
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if self.wifi:
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for s in snds:
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self._handle.bulkWrite(3, s)
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else:
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for tx in snds:
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while True:
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bs = self._handle.bulkWrite(3, tx, timeout=timeout)
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tx = tx[bs:]
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if len(tx) == 0:
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break
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print("CAN: PARTIAL SEND MANY, RETRYING")
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for tx in snds:
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while True:
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bs = self._handle.bulkWrite(3, tx, timeout=timeout)
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tx = tx[bs:]
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if len(tx) == 0:
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break
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print("CAN: PARTIAL SEND MANY, RETRYING")
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break
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except (usb1.USBErrorIO, usb1.USBErrorOverflow):
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print("CAN: BAD SEND MANY, RETRYING")
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@@ -760,8 +677,8 @@ class Panda(object):
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msg += self.kline_ll_recv(msg[-1]+1, bus=bus)
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return msg
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def send_heartbeat(self):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
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def send_heartbeat(self, engaged=True):
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self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, engaged, 0, b'')
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# disable heartbeat checks for use outside of openpilot
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# sending a heartbeat will reenable the checks
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