openpilot v0.9.6 release

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

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)