Add openpilot tests

2024-03-06 14:58:47 -07:00
parent 2901597132
commit b39097a12d
259 changed files with 31176 additions and 12 deletions
--- a/panda/drivers/linux/test/main.c
+++ b/panda/drivers/linux/test/main.c
@@ -0,0 +1,120 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <pthread.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+const char *ifname = "can0";
+
+static unsigned char payload[] = {0xAA, 0xAA, 0xAA, 0xAA, 0x07, 0x00, 0x00, 0x00};
+int packet_len = 8;
+int dir = 0;
+
+void *write_thread( void *dat ){
+  int nbytes;
+  struct can_frame frame;
+  int s = *((int*) dat);
+
+  while(1){
+    for(int i = 0; i < 1; i ++){
+    if(packet_len % 2){
+      frame.can_id  = 0x8AA | CAN_EFF_FLAG;
+    }else{
+      frame.can_id  = 0xAA;
+    }
+
+    frame.can_dlc = packet_len;
+    memcpy(frame.data, payload, frame.can_dlc);
+
+    nbytes = write(s, &frame, sizeof(struct can_frame));
+
+    printf("Wrote %d bytes; addr: %lx; datlen: %d\n", nbytes, frame.can_id, frame.can_dlc);
+
+    if(dir){
+      packet_len++;
+      if(packet_len >= 8)
+	dir = 0;
+    }else{
+      packet_len--;
+      if(packet_len <= 0)
+	dir = 1;
+    }
+    }
+    sleep(2);
+  }
+}
+
+
+int main(void)
+{
+  pthread_t sndthread;
+  int err, s, nbytes;
+  struct sockaddr_can addr;
+  struct can_frame frame;
+  struct ifreq ifr;
+
+  if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+    perror("Error while opening socket");
+    return -1;
+  }
+
+  strcpy(ifr.ifr_name, ifname);
+  ioctl(s, SIOCGIFINDEX, &ifr);
+
+  addr.can_family  = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+
+  printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
+
+  if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    perror("Error in socket bind");
+    return -2;
+  }
+
+  /////// Create Write Thread
+
+  err = pthread_create( &sndthread, NULL, write_thread, (void*) &s);
+  if(err){
+    fprintf(stderr,"Error - pthread_create() return code: %d\n", err);
+    exit(EXIT_FAILURE);
+  }
+
+  /////// Listen to socket
+  while (1) {
+    struct can_frame framein;
+
+    // Read in a CAN frame
+    int numBytes = read(s, &framein, CANFD_MTU);
+    switch (numBytes) {
+    case CAN_MTU:
+      if(framein.can_id & 0x80000000)
+	printf("Received %u byte payload; canid 0x%lx (EXT)\n",
+	       framein.can_dlc, framein.can_id & 0x7FFFFFFF);
+      else
+	printf("Received %u byte payload; canid 0x%lx\n", framein.can_dlc, framein.can_id);
+      break;
+    case CANFD_MTU:
+      // TODO: Should make an example for CAN FD
+      break;
+    case -1:
+      // Check the signal value on interrupt
+      //if (EINTR == errno)
+      //  continue;
+
+      // Delay before continuing
+      sleep(1);
+    default:
+      continue;
+    }
+  }
+
+  return 0;
+}