Interface library for comma.ai's USB panda.

A library that handles communication with a comma.ai Panda interface device. Simple demos collect data from the panda (grey version) to the screen.

A tutorial for hardware setup is located here: https://jmscslgroup.github.io/libpanda/

Full Raspbian-based images with ROS/libpanda preinstalled can be found here: https://jmscslgroup.github.io/libpanda/doc/image.md

Dependencies:

1. Required - libusb-1.0-0-dev
2. Optional - libcurses5-dev
3. Included - NMEAParser from https://github.com/visualgps/NMEAParser/

libusb-1.0-0-dev

The core of this library is based on libusb, the default version installable through Ubuntu's apt-get.

libcurses5-dev

An optional example for data visualization is based on ncurses. If desired to run this example, libcurses needs to be installed but is not required

NMEAParser

The NMEAParser is already included as a modified version with some bug fixes and added features.

1. Bugs fixed:

• Incomplete time precision for seconds in RMC strings
• Year calculation incorrect byte offset resulting in incorrect year parsings

2. Additional features:

• ZDA NMEA message parsing

Setup:

These instructions were successful on a Raspberry pi 4 running Ubuntu 18.04.

Install libusb-1.0-0-dev

$ sudo apt-get install libusb-1.0-0-dev

Optional: install libsurses5-dev

$ sudo apt-get install libncurses5-dev

Compile

1. $ mkdir build
2. $ cd build
3. $ cmake ..
4. $ make

Examples

simplecan

Minimal example showing a minimal implementation of classes Panda::Usb and Panda::Can (no GPS).

$ sudo ./simplecan

simplegps

Minimal example showing a minimal implementation of classes Panda::Usb and Panda::Gps (no CAN).

$ sudo ./simplegps

panda

Barebones example showing a minimal implementation of class Panda::Handler, utilizing Panda::Usb, Panda::Can, and Panda::Gps. Command line arguments can be specified to record log files.

Simple Execution:

$ sudo ./panda

Saving CSV CAN data to file:

$ sudo ./panda -c csvData.txt

Saving GPS NMEA data to file, and also run USB in synchronous mode:

$ sudo ./panda -u s -g nmeaStrings.txt

Saving GPS NMEA, CSV CAN, and raw CAN data simultaneously:

$ sudo ./panda -c csvData.txt -g nmeaStrings.txt -r rawCANdata.txt

pandaSetTime

This example listens to the GPS and when data is valid, synchronizes the system clock to the GPS's UTC if the difference is larger than a defined delta.

$ sudo ./pandaSetTime

pandaCurses

An example that plots GPS and CAN data to the console in a pretty fashion. This also takes arguments for various data collection and hardware modes.

$ sudo ./pandaCurses

Save NMEA strings to a file named nmeaFile.txt:

$ sudo ./pandaCurses -g nmeaFile.txt

Run with USB in synchronous mode (default is asynchronous):

$ sudo ./pandaCurses -u s

Run with faked CAN data (i.e. when not connected to a car...):

$ sudo ./pandaCurses -f

Documentation:

The library is self-documenting using Doxygen, producing both HTML and LaTex. Generate the documentation as follows:

$ doxygen doxygen.conf

If you do not have doxyen, you may install using, on Ubuntu:

$ sudo apt-get install doxygen

Or on macOS with macports:

$ sudo port install doxygen

Todo

• [x] Panda GPS interface
• [ ] Isochronous USB transfer
• [ ] Timestamped libusb error logging
• [x] CAN frame parsing
• [x] CAN frame handling
• [ ] ROS based publishing
• [ ] Testing

LICENSE

Author: Matt Bunting Copyright (c) 2021 Arizona Board of Regents All rights reserved. Permission is hereby granted, without written agreement and without license or royalty fees, to use, copy, modify, and distribute this software and its documentation for any purpose, provided that the above copyright notice and the following two paragraphs appear in all copies of this software.

IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.