IQ.Pilot Release Commit @ bec7652
This commit is contained in:
IQ.Lvbs history cleanup
346
iqpilot/tools/cabana/panda.cc
Normal file
346
iqpilot/tools/cabana/panda.cc
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#include "tools/cabana/panda.h"
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#include <unistd.h>
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#include <cassert>
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#include <stdexcept>
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#include <vector>
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#include <memory>
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#include "cereal/messaging/messaging.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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static libusb_context *init_usb_ctx() {
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libusb_context *context = nullptr;
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int err = libusb_init(&context);
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if (err != 0) {
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LOGE("libusb initialization error");
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return nullptr;
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}
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#if LIBUSB_API_VERSION >= 0x01000106
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libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
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#else
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libusb_set_debug(context, 3);
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#endif
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return context;
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}
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Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
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if (!init_usb_connection(serial)) {
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throw std::runtime_error("Error connecting to panda");
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}
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LOGW("connected to %s over USB", serial.c_str());
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hw_type = get_hw_type();
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can_reset_communications();
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}
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Panda::~Panda() {
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cleanup_usb();
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}
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bool Panda::connected() {
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return connected_flag;
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}
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bool Panda::comms_healthy() {
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return comms_healthy_flag;
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}
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std::string Panda::hw_serial() {
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return hw_serial_str;
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}
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std::vector<std::string> Panda::list(bool usb_only) {
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static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
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ssize_t num_devices;
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libusb_device **dev_list = NULL;
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std::vector<std::string> serials;
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if (!context) { return serials; }
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num_devices = libusb_get_device_list(context.get(), &dev_list);
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if (num_devices < 0) {
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LOGE("libusb can't get device list");
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goto finish;
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}
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for (size_t i = 0; i < num_devices; ++i) {
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libusb_device *device = dev_list[i];
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libusb_device_descriptor desc;
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libusb_get_device_descriptor(device, &desc);
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if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
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libusb_device_handle *handle = NULL;
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int ret = libusb_open(device, &handle);
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if (ret < 0) { goto finish; }
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unsigned char desc_serial[26] = { 0 };
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ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
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libusb_close(handle);
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if (ret < 0) { goto finish; }
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serials.push_back(std::string((char *)desc_serial, ret));
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}
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}
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finish:
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if (dev_list != NULL) {
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libusb_free_device_list(dev_list, 1);
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}
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return serials;
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}
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void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
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control_write(0xdc, (uint16_t)safety_model, safety_param);
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}
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cereal::PandaState::PandaType Panda::get_hw_type() {
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unsigned char hw_query[1] = {0};
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control_read(0xc1, 0, 0, hw_query, 1);
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return (cereal::PandaState::PandaType)(hw_query[0]);
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}
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void Panda::send_heartbeat(bool engaged) {
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control_write(0xf3, engaged, 0);
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}
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void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
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control_write(0xde, bus, (speed * 10));
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}
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void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
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control_write(0xf9, bus, (speed * 10));
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}
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bool Panda::can_receive(std::vector<can_frame>& out_vec) {
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// Check if enough space left in buffer to store RECV_SIZE data
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assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
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int recv = bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
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if (!comms_healthy()) {
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return false;
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}
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bool ret = true;
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if (recv > 0) {
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receive_buffer_size += recv;
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ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
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}
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return ret;
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}
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void Panda::can_reset_communications() {
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control_write(0xc0, 0, 0);
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}
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bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
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int pos = 0;
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while (pos <= size - sizeof(can_header)) {
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can_header header;
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memcpy(&header, &data[pos], sizeof(can_header));
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const uint8_t data_len = dlc_to_len[header.data_len_code];
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if (pos + sizeof(can_header) + data_len > size) {
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// we don't have all the data for this message yet
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break;
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}
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if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
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LOGE("Panda CAN checksum failed");
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size = 0;
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can_reset_communications();
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return false;
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}
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can_frame &canData = out_vec.emplace_back();
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canData.address = header.addr;
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canData.src = header.bus + bus_offset;
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if (header.rejected) {
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canData.src += CAN_REJECTED_BUS_OFFSET;
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}
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if (header.returned) {
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canData.src += CAN_RETURNED_BUS_OFFSET;
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}
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canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
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pos += sizeof(can_header) + data_len;
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}
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// move the overflowing data to the beginning of the buffer for the next round
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memmove(data, &data[pos], size - pos);
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size -= pos;
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return true;
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}
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uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
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uint8_t checksum = 0U;
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for (uint32_t i = 0U; i < len; i++) {
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checksum ^= data[i];
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}
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return checksum;
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}
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// USB implementation methods
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bool Panda::init_usb_connection(const std::string& serial) {
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ssize_t num_devices;
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libusb_device **dev_list = NULL;
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int err = 0;
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ctx = init_usb_ctx();
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if (!ctx) { goto fail; }
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// connect by serial
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num_devices = libusb_get_device_list(ctx, &dev_list);
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if (num_devices < 0) { goto fail; }
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for (size_t i = 0; i < num_devices; ++i) {
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libusb_device_descriptor desc;
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libusb_get_device_descriptor(dev_list[i], &desc);
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if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
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int ret = libusb_open(dev_list[i], &dev_handle);
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if (dev_handle == NULL || ret < 0) { goto fail; }
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unsigned char desc_serial[26] = { 0 };
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ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
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if (ret < 0) { goto fail; }
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hw_serial_str = std::string((char *)desc_serial, ret);
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if (serial.empty() || serial == hw_serial_str) {
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break;
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}
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libusb_close(dev_handle);
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dev_handle = NULL;
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}
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}
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if (dev_handle == NULL) goto fail;
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libusb_free_device_list(dev_list, 1);
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if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
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libusb_detach_kernel_driver(dev_handle, 0);
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}
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err = libusb_set_configuration(dev_handle, 1);
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if (err != 0) { goto fail; }
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err = libusb_claim_interface(dev_handle, 0);
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if (err != 0) { goto fail; }
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return true;
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fail:
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if (dev_list != NULL) {
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libusb_free_device_list(dev_list, 1);
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}
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cleanup_usb();
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return false;
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}
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void Panda::cleanup_usb() {
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if (dev_handle) {
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libusb_release_interface(dev_handle, 0);
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libusb_close(dev_handle);
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dev_handle = nullptr;
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}
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if (ctx) {
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libusb_exit(ctx);
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ctx = nullptr;
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}
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connected_flag = false;
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}
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void Panda::handle_usb_issue(int err, const char func[]) {
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LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
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if (err == LIBUSB_ERROR_NO_DEVICE) {
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LOGE("lost connection");
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connected_flag = false;
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}
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}
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int Panda::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
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int err;
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
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if (!connected_flag) {
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return LIBUSB_ERROR_NO_DEVICE;
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}
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do {
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
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if (err < 0) handle_usb_issue(err, __func__);
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} while (err < 0 && connected_flag);
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return err;
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}
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int Panda::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
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int err;
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const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
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if (!connected_flag) {
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return LIBUSB_ERROR_NO_DEVICE;
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}
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do {
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err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
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if (err < 0) handle_usb_issue(err, __func__);
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} while (err < 0 && connected_flag);
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return err;
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}
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int Panda::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
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int err;
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int transferred = 0;
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if (!connected_flag) {
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return 0;
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}
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do {
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
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if (err == LIBUSB_ERROR_TIMEOUT) {
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LOGW("Transmit buffer full");
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break;
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} else if (err != 0 || length != transferred) {
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handle_usb_issue(err, __func__);
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}
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} while (err != 0 && connected_flag);
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return transferred;
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}
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int Panda::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
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int err;
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int transferred = 0;
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if (!connected_flag) {
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return 0;
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}
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do {
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err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
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if (err == LIBUSB_ERROR_TIMEOUT) {
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break; // timeout is okay to exit, recv still happened
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} else if (err == LIBUSB_ERROR_OVERFLOW) {
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comms_healthy_flag = false;
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LOGE_100("overflow got 0x%x", transferred);
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} else if (err != 0) {
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handle_usb_issue(err, __func__);
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}
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} while (err != 0 && connected_flag);
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return transferred;
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}
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