openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

panda/board/jungle/scripts/can_health.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+
+import time
+from panda import PandaJungle
+
+if __name__ == "__main__":
+  jungle = PandaJungle()
+
+  while True:
+    for bus in range(3):
+      print(bus, jungle.can_health(bus))
+    print()
+    time.sleep(1)

panda/board/jungle/scripts/can_printer.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import os
+import time
+from collections import defaultdict
+import binascii
+
+from panda import PandaJungle
+
+# fake
+def sec_since_boot():
+  return time.time()
+
+def can_printer():
+  p = PandaJungle()
+
+  start = sec_since_boot()
+  lp = sec_since_boot()
+  msgs = defaultdict(list)
+  canbus = int(os.getenv("CAN", "0"))
+  while True:
+    can_recv = p.can_recv()
+    for address, _, dat, src  in can_recv:
+      if src == canbus:
+        msgs[address].append(dat)
+
+    if sec_since_boot() - lp > 0.1:
+      dd = chr(27) + "[2J"
+      dd += "%5.2f\n" % (sec_since_boot() - start)
+      for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)):
+        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
+      print(dd)
+      lp = sec_since_boot()
+
+if __name__ == "__main__":
+  can_printer()

panda/board/jungle/scripts/debug_console.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import os
+import sys
+import time
+
+from panda import PandaJungle
+
+setcolor = ["\033[1;32;40m", "\033[1;31;40m"]
+unsetcolor = "\033[00m"
+
+if __name__ == "__main__":
+  while True:
+    try:
+      claim = os.getenv("CLAIM") is not None
+
+      serials = PandaJungle.list()
+      if os.getenv("SERIAL"):
+        serials = [x for x in serials if x==os.getenv("SERIAL")]
+
+      panda_jungles = [PandaJungle(x, claim=claim) for x in serials]
+
+      if not len(panda_jungles):
+        sys.exit("no panda jungles found")
+
+      while True:
+        for i, panda_jungle in enumerate(panda_jungles):
+          while True:
+            ret = panda_jungle.debug_read()
+            if len(ret) > 0:
+              sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
+              sys.stdout.flush()
+            else:
+              break
+          time.sleep(0.01)
+    except Exception as e:
+      print(e)
+      print("panda jungle disconnected!")
+      time.sleep(0.5)

panda/board/jungle/scripts/echo_loopback_test.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import os
+import time
+import contextlib
+import random
+from termcolor import cprint
+
+from panda import PandaJungle
+
+# This script is intended to be used in conjunction with the echo.py test script from panda.
+# It sends messages on bus 0, 1, 2 and checks for a reversed response to be sent back.
+
+#################################################################
+############################# UTILS #############################
+#################################################################
+def print_colored(text, color):
+  cprint(text + " "*40, color, end="\r")
+
+def get_test_string():
+  return b"test"+os.urandom(4)
+
+#################################################################
+############################# TEST ##############################
+#################################################################
+
+def test_loopback():
+  for bus in range(3):
+    # Clear can
+    jungle.can_clear(bus)
+    # Send a random message
+    address = random.randint(1, 2000)
+    data = get_test_string()
+    jungle.can_send(address, data, bus)
+    time.sleep(0.1)
+
+    # Make sure it comes back reversed
+    incoming = jungle.can_recv()
+    found = False
+    for message in incoming:
+      incomingAddress, _, incomingData, incomingBus = message
+      if incomingAddress == address and incomingData == data[::-1] and incomingBus == bus:
+        found = True
+        break
+    if not found:
+      cprint("\nFAILED", "red")
+      raise AssertionError
+
+#################################################################
+############################# MAIN ##############################
+#################################################################
+jungle = None
+counter = 0
+
+if __name__ == "__main__":
+  # Connect to jungle silently
+  print_colored("Connecting to jungle", "blue")
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      jungle = PandaJungle()
+  jungle.set_panda_power(True)
+  jungle.set_ignition(False)
+
+  # Run test
+  while True:
+    jungle.can_clear(0xFFFF)
+    test_loopback()
+    counter += 1
+    print_colored(str(counter) + " loopback cycles complete", "blue")

panda/board/jungle/scripts/get_version.py

@@ -0,0 +1,9 @@
+#!/usr/bin/env python3
+from panda import PandaJungle
+
+if __name__ == "__main__":
+  for p in PandaJungle.list():
+    pp = PandaJungle(p)
+    print("%s: %s" % (pp.get_serial()[0], pp.get_version()))
+
+

panda/board/jungle/scripts/health_test.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+import time
+from pprint import pprint
+
+from panda import PandaJungle
+
+if __name__ == "__main__":
+  i = 0
+  pi = 0
+
+  pj = PandaJungle()
+  while True:
+    st = time.monotonic()
+    while time.monotonic() - st < 1:
+      pj.health()
+      pj.can_health(0)
+      i += 1
+    pprint(pj.health())
+    print(f"Speed: {i - pi}Hz")
+    pi = i
+

panda/board/jungle/scripts/loopback_test.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+import os
+import time
+import contextlib
+import random
+from termcolor import cprint
+
+from panda import Panda, PandaJungle
+
+NUM_PANDAS_PER_TEST = 1
+FOR_RELEASE_BUILDS = os.getenv("RELEASE") is not None       # Release builds do not have ALLOUTPUT mode
+
+BUS_SPEEDS = [125, 500, 1000]
+
+#################################################################
+############################# UTILS #############################
+#################################################################
+# To suppress the connection text
+def silent_panda_connect(serial):
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      panda = Panda(serial)
+  return panda
+
+def print_colored(text, color):
+  cprint(text + " "*40, color, end="\r")
+
+def connect_to_pandas():
+  print_colored("Connecting to pandas", "blue")
+  # Connect to pandas
+  pandas = []
+  for serial in panda_serials:
+    pandas.append(silent_panda_connect(serial))
+  print_colored("Connected", "blue")
+
+def start_with_orientation(orientation):
+  print_colored("Restarting pandas with orientation " + str(orientation), "blue")
+  jungle.set_panda_power(False)
+  jungle.set_harness_orientation(orientation)
+  time.sleep(4)
+  jungle.set_panda_power(True)
+  time.sleep(2)
+  connect_to_pandas()
+
+def can_loopback(sender):
+  receivers = list(filter((lambda p: (p != sender)), [jungle] + pandas))
+
+  for bus in range(4):
+    obd = False
+    if bus == 3:
+      obd = True
+      bus = 1
+
+    # Clear buses
+    for receiver in receivers:
+      receiver.set_obd(obd)
+      receiver.can_clear(bus)     # TX
+      receiver.can_clear(0xFFFF)  # RX
+
+    # Send a random string
+    addr = 0x18DB33F1 if FOR_RELEASE_BUILDS else random.randint(1, 2000)
+    string = b"test"+os.urandom(4)
+    sender.set_obd(obd)
+    time.sleep(0.2)
+    sender.can_send(addr, string, bus)
+    time.sleep(0.2)
+
+    # Check if all receivers have indeed received them in their receiving buffers
+    for receiver in receivers:
+      content = receiver.can_recv()
+
+      # Check amount of messages
+      if len(content) != 1:
+        raise Exception("Amount of received CAN messages (" + str(len(content)) + ") does not equal 1. Bus: " + str(bus) +" OBD: " + str(obd))
+
+      # Check content
+      if content[0][0] != addr or content[0][2] != string:
+        raise Exception("Received CAN message content or address does not match")
+
+      # Check bus
+      if content[0][3] != bus:
+        raise Exception("Received CAN message bus does not match")
+
+#################################################################
+############################# TEST ##############################
+#################################################################
+
+def test_loopback():
+  # disable safety modes
+  for panda in pandas:
+    panda.set_safety_mode(Panda.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Panda.SAFETY_ALLOUTPUT)
+
+  # perform loopback with jungle as a sender
+  can_loopback(jungle)
+
+  # perform loopback with each possible panda as a sender
+  for panda in pandas:
+    can_loopback(panda)
+
+  # enable safety modes
+  for panda in pandas:
+    panda.set_safety_mode(Panda.SAFETY_SILENT)
+
+#################################################################
+############################# MAIN ##############################
+#################################################################
+jungle = None
+pandas = []  # type: ignore
+panda_serials = []
+counter = 0
+
+if __name__ == "__main__":
+  # Connect to jungle silently
+  print_colored("Connecting to jungle", "blue")
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      jungle = PandaJungle()
+  jungle.set_panda_power(True)
+  jungle.set_ignition(False)
+
+  # Connect to <NUM_PANDAS_PER_TEST> new pandas before starting tests
+  print_colored("Waiting for " + str(NUM_PANDAS_PER_TEST) + " pandas to be connected", "yellow")
+  while True:
+    connected_serials = Panda.list()
+    if len(connected_serials) == NUM_PANDAS_PER_TEST:
+      panda_serials = connected_serials
+      break
+
+  start_with_orientation(PandaJungle.HARNESS_ORIENTATION_1)
+
+  # Set bus speeds
+  for device in pandas + [jungle]:
+    for bus in range(len(BUS_SPEEDS)):
+      device.set_can_speed_kbps(bus, BUS_SPEEDS[bus])
+
+  # Run test
+  while True:
+    test_loopback()
+    counter += 1
+    print_colored(str(counter) + " loopback cycles complete", "blue")

panda/board/jungle/scripts/panda_identification_test.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import os
+import time
+import random
+import contextlib
+
+from panda import PandaJungle
+from panda import Panda
+
+PANDA_UNDER_TEST = Panda.HW_TYPE_UNO
+
+panda_jungle = PandaJungle()
+
+def silent_panda_connect():
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      panda = Panda()
+  return panda
+
+def reboot_panda(harness_orientation=PandaJungle.HARNESS_ORIENTATION_NONE, ignition=False):
+  print(f"Restarting panda with harness orientation: {harness_orientation} and ignition: {ignition}")
+  panda_jungle.set_panda_power(False)
+  panda_jungle.set_harness_orientation(harness_orientation)
+  panda_jungle.set_ignition(ignition)
+  time.sleep(2)
+  panda_jungle.set_panda_power(True)
+  time.sleep(2)
+
+count = 0
+if __name__ == "__main__":
+  while True:
+    ignition = random.randint(0, 1)
+    harness_orientation = random.randint(0, 2)
+    reboot_panda(harness_orientation, ignition)
+
+    p = silent_panda_connect()
+    assert p.get_type() == PANDA_UNDER_TEST
+    assert p.health()['car_harness_status'] == harness_orientation
+    if harness_orientation != PandaJungle.HARNESS_ORIENTATION_NONE:
+      assert p.health()['ignition_line'] == ignition
+
+    count += 1
+    print(f"Passed {count} loops")
+
+

panda/board/jungle/scripts/start.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+import sys
+
+from panda import PandaJungle
+
+if __name__ == "__main__":
+  jungle = PandaJungle()
+
+  # If first argument specified, it sets the ignition (0 or 1)
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '1':
+      jungle.set_ignition(True)
+    else:
+      jungle.set_ignition(False)
+  jungle.set_harness_orientation(1)
+  jungle.set_panda_power(True)
+
+