From 11f62a2cb8cd137e1b8d77a5e22476a46f3e9d5b Mon Sep 17 00:00:00 2001
From: ccdunder <cdunder@gmail.com>
Date: Sun, 5 Jan 2025 18:32:28 -0800
Subject: [PATCH 1/2] Add pycan support for panda.
This allows one to use a whole ecosystem of oss tools for canfd analysis like CaringCaribou.
This impl also includes a simple bidi relay to socketcan. This is useful on C3X which isn't supported by socketcan kernel driver.
---
python/pycanpanda.py | 218 +++++++++++++++++++++++++++++++++++++++++++
setup.py | 5 +
2 files changed, 223 insertions(+)
create mode 100755 python/pycanpanda.py
diff --git a/python/pycanpanda.py b/python/pycanpanda.py
new file mode 100755
index 0000000000..f8bba8669c
--- /dev/null
+++ b/python/pycanpanda.py
@@ -0,0 +1,218 @@
+"""
+python-can interface for openpilot/panda.
+
+"""
+
+from typing import Any, Optional, Tuple
+
+from can.exceptions import error_check
+
+import struct
+import time
+import logging
+from collections import deque
+
+import can
+from can import Message, typechecking
+
+logger = logging.getLogger(__name__)
+
+from panda import Panda
+from opendbc.car.can_definitions import CanData
+
+FILTERING_DONE = False
+
+# Panda.SAFETY_ELM327 will multioplex bus 1 to the OBD-II port,
+# unless its safety_param is set to 1.
+
+# panda.set_obd(True) will multiplex.
+
+class PandaBus(can.BusABC):
+ """CAN bus from a Panda by comma.ai."""
+
+ def __init__(
+ self,
+ channel: Any,
+ can_filters: Optional[can.typechecking.CanFilters] = None,
+ serial: str | None = None,
+ claim: bool = False,
+ disable_checks: bool = True,
+ safety_mode: int = Panda.SAFETY_NOOUTPUT,
+ safety_param: int = 0,
+ can_speed_kbps: int = 500,
+ cli: bool = True,
+ **kwargs: object,
+ ):
+ """
+ Construct and open a Panda instance.
+
+ :param channel: Panda bus; called channel by super.
+ :param can_filters: From super.
+ :param serial: Panda serial number.
+ :param claim: Panda whether to claim.
+ :param disable_checks: Panda whether to disable checks.
+ :param can_speed_kbps: Panda CAN speed.
+ :param safety_mode: Panda safety mode.
+
+ :raises ValueError: If parameters are out of range
+ :raises ~can.exceptions.CanInterfaceNotImplementedError:
+ If the driver cannot be accessed
+ :raises ~can.exceptions.CanInitializationError:
+ If the bus cannot be initialized
+ """
+
+ # Panda recv returns multiple messages but pycan recv should return one.
+ # TODO: Use a Queue for better clarity.
+ self._recv_buffer = deque()
+
+ self.p = Panda()
+ #self.p.reset()
+ #self.p.set_canfd_auto(self.bus, True)
+ if channel == 3:
+ self.p.set_obd(True)
+ channel = 1
+ self.bus = channel
+ self.channel = channel
+ self.p.can_clear(self.bus) # TX queue
+ self.p.can_clear(0xFFFF) # RX queue
+ self.p.set_safety_mode(safety_mode, safety_param)
+
+ # Init for super.
+ self._can_protocol = can.CanProtocol.CAN_FD
+ self.channel_info = f"Panda: serial {self.p.get_serial()}, channel {self.channel}"
+ # Must be run last.
+ super().__init__(channel, can_filters=can_filters)
+
+ def _recv_internal(
+ self, timeout: Optional[float]
+ ) -> Tuple[Optional[Message], bool]:
+ """Block waiting for a message from the Bus.
+
+ :param float timeout: Seconds to wait for a message.
+ None blocks indefinitely.
+ 0.0 is non-blocking.
+
+ :return:
+ None on timeout or a Message object.
+ :rtype: can.Message
+ :raises can.interfaces.remote.protocol.RemoteError:
+ """
+ end_time = None if timeout is None else time.time() + timeout
+ while len(self._recv_buffer) == 0:
+ # TODO: handle 0.0
+ if timeout is not None and time.time() > end_time:
+ return None, FILTERING_DONE
+ recv = self.p.can_recv()
+ recv_this_bus = [r for r in recv if r[2] == self.bus]
+ self._recv_buffer.extend(recv_this_bus)
+ candata = self._recv_buffer.popleft()
+ msg = panda_to_pycan(candata)
+ return msg, FILTERING_DONE
+
+ def send(self, msg: Message, timeout: Optional[float] = None) -> None:
+ """Transmit a message to the CAN bus.
+
+ :param Message msg: A message object.
+
+ :param timeout:
+ If > 0, wait up to this many seconds for message to be ACK'ed or
+ for transmit queue to be ready depending on driver implementation.
+ If timeout is exceeded, an exception will be raised.
+ Might not be supported by all interfaces.
+ None blocks indefinitely.
+
+ :raises ~can.exceptions.CanOperationError:
+ If an error occurred while sending
+ """
+ timeout = timeout or 0
+ addr, data, bus = pycan_to_panda(msg, self.bus)
+ self.p.can_send(addr, data, bus,
+ fd=msg.is_fd,
+ timeout=timeout*1000)
+
+ def shutdown(self):
+ self.p.set_safety_mode(Panda.SAFETY_SILENT)
+ self.p.close()
+ # Must be run last.
+ super().shutdown()
+
+def panda_to_pycan(candata: CanData) -> Message:
+ #addr, data, bus, is_remote = candata
+ addr, data, bus = candata
+ is_remote = False
+ return Message(channel=bus,
+ arbitration_id=addr,
+ is_extended_id=addr >= 0x800,
+ is_remote_frame=is_remote,
+ data=data,
+ is_fd=True,
+ timestamp=time.time(),
+ check=True)
+
+def pycan_to_panda(msg: Message, bus) -> CanData:
+ return msg.arbitration_id, msg.data, bus
+
+
+# in_bus.recv => socketcan.send
+# socketcan.recv => in_bus.send
+def to_socketcan(in_bus: can.Bus):
+ out_bus = can.Bus(channel='vcan0', interface='socketcan',
+ local_loopback=True,
+ fd=True)
+ abort = False
+ next_in: Message
+ next_out: Message
+ while not abort:
+ if next_in is None:
+ next_in = in_bus.recv(timeout=0.0)
+ if next_out is None:
+ next_out = out_bus.recv(timeout=0.0)
+
+ while next_in is not None and next_out is not None \
+ and next_in.timestamp < next_out.timestamp:
+ out_bus.send(next_in)
+ next_in = in_bus.recv(timeout=0.0)
+ while next_in is not None and next_out is not None \
+ and next_in.timestamp > next_out.timestamp:
+ in_bus.send(next_out)
+ next_out = out_bus.recv(timeout=0.0)
+
+
+if __name__ == '__main__':
+ with PandaBus(
+ interface="panda",
+ channel = 1) as bus:
+
+ to_socketcan(bus)
+
+ # bus.send(can.Message(
+ # arbitration_id=0x7DF,
+ # is_extended_id=False,
+ # channel=0,
+ # data=[0x02, 0x10, 0x03, ],
+ # dlc=3,
+ # ))
+
+ start = time.monotonic()
+ while time.monotonic() - start < 10:
+ _msg = bus.recv()
+ print(_msg)
+
+
+
+# install: pip install -e panda
+
+
+## mirror to socketcan:
+# sudo modprobe vcan
+# # Create a vcan network interface with a specific name
+# sudo ip link add dev vcan0 type vcan
+# sudo ip link set vcan0 up
+# pac can-utils
+# cansend vcan0 123#DEADBEEF
+
+# export CAN_INTERFACE=socketcan
+# export CAN_CHANNEL
+# export CAN_BITRATE
+# export CAN_CONFIG={"receive_own_messages": true, "fd": true}
+
diff --git a/setup.py b/setup.py
index a7729cc6f8..09fd777d00 100644
--- a/setup.py
+++ b/setup.py
@@ -75,4 +75,9 @@ def find_version(*file_paths):
"Programming Language :: Python :: 3",
"Topic :: System :: Hardware",
],
+ entry_points={
+ "can.interface": [
+ "panda=panda.python.pycanpanda:PandaBus",
+ ]
+ },
)
From efc7da76599495b8a6089ec37c798510ec074ab0 Mon Sep 17 00:00:00 2001
From: ccdunder <ccdunder@users.noreply.github.com>
Date: Fri, 24 Jan 2025 06:38:29 +0000
Subject: [PATCH 2/2] clean up
---
python/__init__.py | 6 +-
python/{pycanpanda.py => pycan.py} | 89 ++++++++++++++----------------
python/socketpanda.py | 4 ++
setup.py | 3 +-
4 files changed, 50 insertions(+), 52 deletions(-)
rename python/{pycanpanda.py => pycan.py} (73%)
diff --git a/python/__init__.py b/python/__init__.py
index 36227269b7..57791d1050 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -9,7 +9,7 @@
from functools import wraps, partial
from itertools import accumulate
-from .base import BaseHandle
+from .base import TIMEOUT, BaseHandle
from .constants import FW_PATH, McuType
from .dfu import PandaDFU
from .isotp import isotp_send, isotp_recv
@@ -846,11 +846,11 @@ def can_send(self, addr, dat, bus, *, fd=False, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, dat, bus]], fd=fd, timeout=timeout)
@ensure_can_packet_version
- def can_recv(self):
+ def can_recv(self, timeout=TIMEOUT):
dat = bytearray()
while True:
try:
- dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
+ dat = self._handle.bulkRead(1, 16384, timeout) # Max receive batch size + 2 extra reserve frames
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
logger.error("CAN: BAD RECV, RETRYING")
diff --git a/python/pycanpanda.py b/python/pycan.py
similarity index 73%
rename from python/pycanpanda.py
rename to python/pycan.py
index f8bba8669c..4422fc78a8 100755
--- a/python/pycanpanda.py
+++ b/python/pycan.py
@@ -1,5 +1,8 @@
"""
-python-can interface for openpilot/panda.
+Make a panda accessible via socketcan & python-can.
+
+This allows using tools like wireshark, caringcaribou, etc. with panda,
+which can be very useful when working with higher-level message protocols over CAN.
"""
@@ -20,39 +23,29 @@
from panda import Panda
from opendbc.car.can_definitions import CanData
+# Signal to pycan to do software filtering because we haven't.
FILTERING_DONE = False
-# Panda.SAFETY_ELM327 will multioplex bus 1 to the OBD-II port,
-# unless its safety_param is set to 1.
-
-# panda.set_obd(True) will multiplex.
-
class PandaBus(can.BusABC):
- """CAN bus from a Panda by comma.ai."""
+ """python-can bus for a openpilot panda."""
def __init__(
self,
channel: Any,
can_filters: Optional[can.typechecking.CanFilters] = None,
- serial: str | None = None,
- claim: bool = False,
- disable_checks: bool = True,
safety_mode: int = Panda.SAFETY_NOOUTPUT,
safety_param: int = 0,
- can_speed_kbps: int = 500,
- cli: bool = True,
**kwargs: object,
):
"""
Construct and open a Panda instance.
:param channel: Panda bus; called channel by super.
+ Set to 3 to multiplex OBD.
:param can_filters: From super.
- :param serial: Panda serial number.
- :param claim: Panda whether to claim.
- :param disable_checks: Panda whether to disable checks.
- :param can_speed_kbps: Panda CAN speed.
:param safety_mode: Panda safety mode.
+ :param safety_param: Panda safety param.
+ :param **kwargs: Passed to Panda().
:raises ValueError: If parameters are out of range
:raises ~can.exceptions.CanInterfaceNotImplementedError:
@@ -60,14 +53,8 @@ def __init__(
:raises ~can.exceptions.CanInitializationError:
If the bus cannot be initialized
"""
-
- # Panda recv returns multiple messages but pycan recv should return one.
- # TODO: Use a Queue for better clarity.
- self._recv_buffer = deque()
-
- self.p = Panda()
- #self.p.reset()
- #self.p.set_canfd_auto(self.bus, True)
+ # Init Panda
+ self.p = Panda(**kwargs)
if channel == 3:
self.p.set_obd(True)
channel = 1
@@ -76,10 +63,11 @@ def __init__(
self.p.can_clear(self.bus) # TX queue
self.p.can_clear(0xFFFF) # RX queue
self.p.set_safety_mode(safety_mode, safety_param)
+ self._recv_buffer = deque()
# Init for super.
self._can_protocol = can.CanProtocol.CAN_FD
- self.channel_info = f"Panda: serial {self.p.get_serial()}, channel {self.channel}"
+ self.channel_info = f"Panda: serial {self.p.get_serial()}, bus {self.bus}"
# Must be run last.
super().__init__(channel, can_filters=can_filters)
@@ -97,14 +85,12 @@ def _recv_internal(
:rtype: can.Message
:raises can.interfaces.remote.protocol.RemoteError:
"""
- end_time = None if timeout is None else time.time() + timeout
- while len(self._recv_buffer) == 0:
- # TODO: handle 0.0
- if timeout is not None and time.time() > end_time:
- return None, FILTERING_DONE
- recv = self.p.can_recv()
+ if not self._recv_buffer:
+ recv = self.p.can_recv(timeout=pycan_timeout_to_panda(timeout))
recv_this_bus = [r for r in recv if r[2] == self.bus]
self._recv_buffer.extend(recv_this_bus)
+ if not self._recv_buffer:
+ return None, FILTERING_DONE
candata = self._recv_buffer.popleft()
msg = panda_to_pycan(candata)
return msg, FILTERING_DONE
@@ -124,11 +110,10 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None:
:raises ~can.exceptions.CanOperationError:
If an error occurred while sending
"""
- timeout = timeout or 0
addr, data, bus = pycan_to_panda(msg, self.bus)
self.p.can_send(addr, data, bus,
fd=msg.is_fd,
- timeout=timeout*1000)
+ timeout=pycan_timeout_to_panda(timeout))
def shutdown(self):
self.p.set_safety_mode(Panda.SAFETY_SILENT)
@@ -137,9 +122,8 @@ def shutdown(self):
super().shutdown()
def panda_to_pycan(candata: CanData) -> Message:
- #addr, data, bus, is_remote = candata
addr, data, bus = candata
- is_remote = False
+ is_remote = False # Not currently exposed by panda.
return Message(channel=bus,
arbitration_id=addr,
is_extended_id=addr >= 0x800,
@@ -152,16 +136,26 @@ def panda_to_pycan(candata: CanData) -> Message:
def pycan_to_panda(msg: Message, bus) -> CanData:
return msg.arbitration_id, msg.data, bus
+def pycan_timeout_to_panda(timeout: Optional[float]) -> int:
+ if timeout is None:
+ # block forever
+ return 0
+ if timeout == 0:
+ # non-blocking
+ return -1
+ else:
+ # sec to millis
+ return int(timeout*1e3)
# in_bus.recv => socketcan.send
# socketcan.recv => in_bus.send
-def to_socketcan(in_bus: can.Bus):
- out_bus = can.Bus(channel='vcan0', interface='socketcan',
- local_loopback=True,
- fd=True)
+def connect_to_socketcan(in_bus: can.Bus, socketcan_if='vcan0'):
+ out_bus = can.Bus(channel=socketcan_if, interface='socketcan',
+ local_loopback=True, fd=True)
abort = False
next_in: Message
next_out: Message
+ # This isn't the best bidi message passing, but it'll do for now.
while not abort:
if next_in is None:
next_in = in_bus.recv(timeout=0.0)
@@ -179,11 +173,9 @@ def to_socketcan(in_bus: can.Bus):
if __name__ == '__main__':
- with PandaBus(
- interface="panda",
- channel = 1) as bus:
+ with PandaBus(interface="panda", channel = 1) as bus:
- to_socketcan(bus)
+ connect_to_socketcan(bus)
# bus.send(can.Message(
# arbitration_id=0x7DF,
@@ -193,14 +185,15 @@ def to_socketcan(in_bus: can.Bus):
# dlc=3,
# ))
- start = time.monotonic()
- while time.monotonic() - start < 10:
- _msg = bus.recv()
- print(_msg)
+ start = time.monotonic()
+ while time.monotonic() - start < 10:
+ _msg = bus.recv()
+ print(_msg)
-# install: pip install -e panda
+# install prereqs:
+# pip install -e '.[dev]'
## mirror to socketcan:
diff --git a/python/socketpanda.py b/python/socketpanda.py
index d6115acf55..614b7ff336 100644
--- a/python/socketpanda.py
+++ b/python/socketpanda.py
@@ -1,3 +1,7 @@
+"""
+Make a socketcan interface look like a panda.
+
+"""
import socket
import struct
diff --git a/setup.py b/setup.py
index 09fd777d00..11121a29a1 100644
--- a/setup.py
+++ b/setup.py
@@ -52,6 +52,7 @@ def find_version(*file_paths):
"pycryptodome >= 3.9.8",
"cffi",
"flaky",
+ "python-can",
"pytest",
"pytest-mock",
"pytest-xdist",
@@ -77,7 +78,7 @@ def find_version(*file_paths):
],
entry_points={
"can.interface": [
- "panda=panda.python.pycanpanda:PandaBus",
+ "panda=panda.python.pycan:PandaBus",
]
},
)