Compile FrogPilot
This commit is contained in:
FrogAi
@@ -1,227 +0,0 @@
|
||||
#include "selfdrive/boardd/panda.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <stdexcept>
|
||||
#include <memory>
|
||||
|
||||
#include "common/swaglog.h"
|
||||
|
||||
static libusb_context *init_usb_ctx() {
|
||||
libusb_context *context = nullptr;
|
||||
int err = libusb_init(&context);
|
||||
if (err != 0) {
|
||||
LOGE("libusb initialization error");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
#if LIBUSB_API_VERSION >= 0x01000106
|
||||
libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
|
||||
#else
|
||||
libusb_set_debug(context, 3);
|
||||
#endif
|
||||
return context;
|
||||
}
|
||||
|
||||
PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
|
||||
// init libusb
|
||||
ssize_t num_devices;
|
||||
libusb_device **dev_list = NULL;
|
||||
int err = 0;
|
||||
ctx = init_usb_ctx();
|
||||
if (!ctx) { goto fail; }
|
||||
|
||||
// connect by serial
|
||||
num_devices = libusb_get_device_list(ctx, &dev_list);
|
||||
if (num_devices < 0) { goto fail; }
|
||||
for (size_t i = 0; i < num_devices; ++i) {
|
||||
libusb_device_descriptor desc;
|
||||
libusb_get_device_descriptor(dev_list[i], &desc);
|
||||
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
|
||||
int ret = libusb_open(dev_list[i], &dev_handle);
|
||||
if (dev_handle == NULL || ret < 0) { goto fail; }
|
||||
|
||||
unsigned char desc_serial[26] = { 0 };
|
||||
ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
|
||||
if (ret < 0) { goto fail; }
|
||||
|
||||
hw_serial = std::string((char *)desc_serial, ret);
|
||||
if (serial.empty() || serial == hw_serial) {
|
||||
break;
|
||||
}
|
||||
libusb_close(dev_handle);
|
||||
dev_handle = NULL;
|
||||
}
|
||||
}
|
||||
if (dev_handle == NULL) goto fail;
|
||||
libusb_free_device_list(dev_list, 1);
|
||||
dev_list = nullptr;
|
||||
|
||||
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
|
||||
libusb_detach_kernel_driver(dev_handle, 0);
|
||||
}
|
||||
|
||||
err = libusb_set_configuration(dev_handle, 1);
|
||||
if (err != 0) { goto fail; }
|
||||
|
||||
err = libusb_claim_interface(dev_handle, 0);
|
||||
if (err != 0) { goto fail; }
|
||||
|
||||
return;
|
||||
|
||||
fail:
|
||||
if (dev_list != NULL) {
|
||||
libusb_free_device_list(dev_list, 1);
|
||||
}
|
||||
cleanup();
|
||||
throw std::runtime_error("Error connecting to panda");
|
||||
}
|
||||
|
||||
PandaUsbHandle::~PandaUsbHandle() {
|
||||
std::lock_guard lk(hw_lock);
|
||||
cleanup();
|
||||
connected = false;
|
||||
}
|
||||
|
||||
void PandaUsbHandle::cleanup() {
|
||||
if (dev_handle) {
|
||||
libusb_release_interface(dev_handle, 0);
|
||||
libusb_close(dev_handle);
|
||||
}
|
||||
|
||||
if (ctx) {
|
||||
libusb_exit(ctx);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::string> PandaUsbHandle::list() {
|
||||
static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
|
||||
// init libusb
|
||||
ssize_t num_devices;
|
||||
libusb_device **dev_list = NULL;
|
||||
std::vector<std::string> serials;
|
||||
if (!context) { return serials; }
|
||||
|
||||
num_devices = libusb_get_device_list(context.get(), &dev_list);
|
||||
if (num_devices < 0) {
|
||||
LOGE("libusb can't get device list");
|
||||
goto finish;
|
||||
}
|
||||
for (size_t i = 0; i < num_devices; ++i) {
|
||||
libusb_device *device = dev_list[i];
|
||||
libusb_device_descriptor desc;
|
||||
libusb_get_device_descriptor(device, &desc);
|
||||
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
|
||||
libusb_device_handle *handle = NULL;
|
||||
int ret = libusb_open(device, &handle);
|
||||
if (ret < 0) { goto finish; }
|
||||
|
||||
unsigned char desc_serial[26] = { 0 };
|
||||
ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
|
||||
libusb_close(handle);
|
||||
if (ret < 0) { goto finish; }
|
||||
|
||||
serials.push_back(std::string((char *)desc_serial, ret).c_str());
|
||||
}
|
||||
}
|
||||
|
||||
finish:
|
||||
if (dev_list != NULL) {
|
||||
libusb_free_device_list(dev_list, 1);
|
||||
}
|
||||
return serials;
|
||||
}
|
||||
|
||||
void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
|
||||
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
|
||||
if (err == LIBUSB_ERROR_NO_DEVICE) {
|
||||
LOGE("lost connection");
|
||||
connected = false;
|
||||
}
|
||||
// TODO: check other errors, is simply retrying okay?
|
||||
}
|
||||
|
||||
int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
|
||||
int err;
|
||||
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
|
||||
|
||||
if (!connected) {
|
||||
return LIBUSB_ERROR_NO_DEVICE;
|
||||
}
|
||||
|
||||
std::lock_guard lk(hw_lock);
|
||||
do {
|
||||
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
|
||||
if (err < 0) handle_usb_issue(err, __func__);
|
||||
} while (err < 0 && connected);
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
|
||||
int err;
|
||||
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
|
||||
|
||||
if (!connected) {
|
||||
return LIBUSB_ERROR_NO_DEVICE;
|
||||
}
|
||||
|
||||
std::lock_guard lk(hw_lock);
|
||||
do {
|
||||
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
|
||||
if (err < 0) handle_usb_issue(err, __func__);
|
||||
} while (err < 0 && connected);
|
||||
|
||||
return err;
|
||||
}
|
||||
|
||||
int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
|
||||
int err;
|
||||
int transferred = 0;
|
||||
|
||||
if (!connected) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::lock_guard lk(hw_lock);
|
||||
do {
|
||||
// Try sending can messages. If the receive buffer on the panda is full it will NAK
|
||||
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
|
||||
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
|
||||
|
||||
if (err == LIBUSB_ERROR_TIMEOUT) {
|
||||
LOGW("Transmit buffer full");
|
||||
break;
|
||||
} else if (err != 0 || length != transferred) {
|
||||
handle_usb_issue(err, __func__);
|
||||
}
|
||||
} while (err != 0 && connected);
|
||||
|
||||
return transferred;
|
||||
}
|
||||
|
||||
int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
|
||||
int err;
|
||||
int transferred = 0;
|
||||
|
||||
if (!connected) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::lock_guard lk(hw_lock);
|
||||
|
||||
do {
|
||||
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
|
||||
|
||||
if (err == LIBUSB_ERROR_TIMEOUT) {
|
||||
break; // timeout is okay to exit, recv still happened
|
||||
} else if (err == LIBUSB_ERROR_OVERFLOW) {
|
||||
comms_healthy = false;
|
||||
LOGE_100("overflow got 0x%x", transferred);
|
||||
} else if (err != 0) {
|
||||
handle_usb_issue(err, __func__);
|
||||
}
|
||||
|
||||
} while (err != 0 && connected);
|
||||
|
||||
return transferred;
|
||||
}
|
||||
Reference in New Issue
Block a user