Add openpilot tests

panda/tests/debug_console.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import time
+import select
+import codecs
+
+from panda import Panda
+
+setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
+unsetcolor = "\033[00m"
+
+port_number = int(os.getenv("PORT", "0"))
+claim = os.getenv("CLAIM") is not None
+no_color = os.getenv("NO_COLOR") is not None
+no_reconnect = os.getenv("NO_RECONNECT") is not None
+
+if __name__ == "__main__":
+  while True:
+    try:
+      serials = Panda.list()
+      if os.getenv("SERIAL"):
+        serials = [x for x in serials if x == os.getenv("SERIAL")]
+
+      pandas = [Panda(x, claim=claim) for x in serials]
+      decoders = [codecs.getincrementaldecoder('utf-8')() for _ in pandas]
+
+      if not len(pandas):
+        print("no pandas found")
+        if no_reconnect:
+          sys.exit(0)
+        time.sleep(1)
+        continue
+
+      if os.getenv("BAUD") is not None:
+        for panda in pandas:
+          panda.set_uart_baud(port_number, int(os.getenv("BAUD")))  # type: ignore
+
+      while True:
+        for i, panda in enumerate(pandas):
+          while True:
+            ret = panda.serial_read(port_number)
+            if len(ret) > 0:
+              decoded = decoders[i].decode(ret)
+              if no_color:
+                sys.stdout.write(decoded)
+              else:
+                sys.stdout.write(setcolor[i] + decoded + unsetcolor)
+              sys.stdout.flush()
+            else:
+              break
+          if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
+            ln = sys.stdin.readline()
+            if claim:
+              panda.serial_write(port_number, ln)
+          time.sleep(0.01)
+    except KeyboardInterrupt:
+      break
+    except Exception:
+      print("panda disconnected!")
+      time.sleep(0.5)