dragonpilot beta3

date: 2023-08-07T16:49:41
commit: 7a937ab993c53607a38e9eac040c91c0ffcb9e30

panda/python/__init__.py

@@ -185,6 +185,7 @@ class Panda:
   GMLAN_CAN2 = 1
   GMLAN_CAN3 = 2
 
+  USB_PIDS = (0xddee, 0xddcc)
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
@@ -205,9 +206,9 @@ class Panda:
   HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHH")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
-  F2_DEVICES = (HW_TYPE_PEDAL, )
-  F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
-  H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
+  F2_DEVICES = [HW_TYPE_PEDAL, ]
+  F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
+  H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES]
 
   INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES)
   HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
@@ -325,8 +326,8 @@ class Panda:
       self.set_heartbeat_disabled()
       self.set_power_save(0)
 
-  @staticmethod
-  def spi_connect(serial, ignore_version=False):
+  @classmethod
+  def spi_connect(cls, serial, ignore_version=False):
     # get UID to confirm slave is present and up
     handle = None
     spi_serial = None
@@ -367,14 +368,14 @@ class Panda:
 
     return handle, spi_serial, bootstub, None
 
-  @staticmethod
-  def usb_connect(serial, claim=True):
+  @classmethod
+  def usb_connect(cls, serial, claim=True):
     handle, usb_serial, bootstub, bcd = None, None, None, None
     context = usb1.USBContext()
     context.open()
     try:
       for device in context.getDeviceList(skip_on_error=True):
-        if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
+        if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
           try:
             this_serial = device.getSerialNumber()
           except Exception:
@@ -384,7 +385,7 @@ class Panda:
             logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
 
             usb_serial = this_serial
-            bootstub = device.getProductID() == 0xddee
+            bootstub = (device.getProductID() & 0xF0) == 0xe0
             handle = device.open()
             if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
               handle.setAutoDetachKernelDriver(True)
@@ -409,19 +410,19 @@ class Panda:
 
     return usb_handle, usb_serial, bootstub, bcd
 
-  @staticmethod
-  def list():
-    ret = Panda.usb_list()
-    ret += Panda.spi_list()
+  @classmethod
+  def list(cls):
+    ret = cls.usb_list()
+    ret += cls.spi_list()
     return list(set(ret))
 
-  @staticmethod
-  def usb_list():
+  @classmethod
+  def usb_list(cls):
     ret = []
     try:
       with usb1.USBContext() as context:
         for device in context.getDeviceList(skip_on_error=True):
-          if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
+          if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
             try:
               serial = device.getSerialNumber()
               if len(serial) == 24:
@@ -434,9 +435,9 @@ class Panda:
       logging.exception("exception while listing pandas")
     return ret
 
-  @staticmethod
-  def spi_list():
-    _, serial, _, _ = Panda.spi_connect(None, ignore_version=True)
+  @classmethod
+  def spi_list(cls):
+    _, serial, _, _ = cls.spi_connect(None, ignore_version=True)
     if serial is not None:
       return [serial, ]
     return []
@@ -464,23 +465,21 @@ class Panda:
   def reconnect(self):
     if self._handle_open:
       self.close()
-      time.sleep(1.0)
 
     success = False
     # wait up to 15 seconds
-    for i in range(0, 15):
+    for _ in range(0, 15*10):
       try:
         self.connect()
         success = True
         break
       except Exception:
-        logging.debug("reconnecting is taking %d seconds...", i + 1)
         try:
           dfu = PandaDFU(self.get_dfu_serial())
           dfu.recover()
         except Exception:
           pass
-        time.sleep(1.0)
+      time.sleep(0.1)
     if not success:
       raise Exception("reconnect failed")
 
@@ -895,7 +894,7 @@ class Panda:
 
   def serial_write(self, port_number, ln):
     ret = 0
-    if type(ln) == str:
+    if isinstance(ln, str):
       ln = bytes(ln, 'utf-8')
     for i in range(0, len(ln), 0x20):
       ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
@@ -1020,6 +1019,12 @@ class Panda:
   def set_green_led(self, enabled):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
 
+  def set_clock_source_period(self, period):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe6, period, 0, b'')
+
+  def force_relay_drive(self, intercept_relay_drive, ignition_relay_drive):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xc5, (int(intercept_relay_drive) | int(ignition_relay_drive) << 1), 0, b'')
+
   # ****************** Logging *****************
   def get_logs(self, last_id=None, get_all=False):
     assert (last_id is None) or (0 <= last_id < 0xFFFF)

panda/python/base.py

@@ -15,7 +15,7 @@ class BaseHandle(ABC):
     ...
 
   @abstractmethod
-  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
     ...
 
   @abstractmethod

panda/python/canhandle.py

@@ -0,0 +1,53 @@
+import struct
+import signal
+
+from .base import BaseHandle
+
+
+class CanHandle(BaseHandle):
+  def __init__(self, p, bus):
+    self.p = p
+    self.bus = bus
+
+  def transact(self, dat):
+    def _handle_timeout(signum, frame):
+      # will happen on reset or can error
+      raise TimeoutError
+
+    signal.signal(signal.SIGALRM, _handle_timeout)
+    signal.alarm(1)
+
+    try:
+      self.p.isotp_send(1, dat, self.bus, recvaddr=2)
+    finally:
+      signal.alarm(0)
+
+    signal.signal(signal.SIGALRM, _handle_timeout)
+    signal.alarm(1)
+    try:
+      ret = self.p.isotp_recv(2, self.bus, sendaddr=1)
+    finally:
+      signal.alarm(0)
+
+    return ret
+
+  def close(self):
+    pass
+
+  def controlWrite(self, request_type, request, value, index, data, timeout=0, expect_disconnect=False):
+    # ignore data in reply, panda doesn't use it
+    return self.controlRead(request_type, request, value, index, 0, timeout)
+
+  def controlRead(self, request_type, request, value, index, length, timeout=0):
+    dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
+    return self.transact(dat)
+
+  def bulkWrite(self, endpoint, data, timeout=0):
+    if len(data) > 0x10:
+      raise ValueError("Data must not be longer than 0x10")
+    dat = struct.pack("HH", endpoint, len(data)) + data
+    return self.transact(dat)
+
+  def bulkRead(self, endpoint, length, timeout=0):
+    dat = struct.pack("HH", endpoint, 0)
+    return self.transact(dat)