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202 lines
8.6 KiB
202 lines
8.6 KiB
#!/usr/bin/env python3
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import unittest
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from unittest.mock import patch
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from common.params import Params
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params = Params()
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# Create fake time
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ssb = 0
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def mock_sec_since_boot():
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global ssb
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ssb += 1
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return ssb
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with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot):
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with patch("common.params.put_nonblocking", new=params.put):
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from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
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CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
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TEST_DURATION_S = 50
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GOOD_VOLTAGE = 12 * 1e3
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VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
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def pm_patch(name, value, constant=False):
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if constant:
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return patch(f"selfdrive.thermald.power_monitoring.{name}", value)
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return patch(f"selfdrive.thermald.power_monitoring.{name}", return_value=value)
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class TestPowerMonitoring(unittest.TestCase):
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def setUp(self):
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# Clear stored capacity before each test
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params.remove("CarBatteryCapacity")
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params.remove("DisablePowerDown")
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# Test to see that it doesn't do anything when pandaState is None
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def test_pandaState_present(self):
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pm = PowerMonitoring()
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for _ in range(10):
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pm.calculate(None, None)
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self.assertEqual(pm.get_power_used(), 0)
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self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10))
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# Test to see that it doesn't integrate offroad when ignition is True
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def test_offroad_ignition(self):
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pm = PowerMonitoring()
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for _ in range(10):
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pm.calculate(GOOD_VOLTAGE, True)
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self.assertEqual(pm.get_power_used(), 0)
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# Test to see that it integrates with discharging battery
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def test_offroad_integration_discharging(self):
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POWER_DRAW = 4
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
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self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10)
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# Test to check positive integration of car_battery_capacity
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def test_car_battery_integration_onroad(self):
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POWER_DRAW = 4
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 0
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, True)
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expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
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self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
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# Test to check positive integration upper limit
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def test_car_battery_integration_upper_limit(self):
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POWER_DRAW = 4
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, True)
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estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
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self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
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# Test to check negative integration of car_battery_capacity
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def test_car_battery_integration_offroad(self):
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POWER_DRAW = 4
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
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self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
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# Test to check negative integration lower limit
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def test_car_battery_integration_lower_limit(self):
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POWER_DRAW = 4
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 1000
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
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self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
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# Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
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def test_max_time_offroad(self):
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MOCKED_MAX_OFFROAD_TIME = 3600
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POWER_DRAW = 0 # To stop shutting down for other reasons
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with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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start_time = ssb
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ignition = False
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while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
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pm.calculate(GOOD_VOLTAGE, ignition)
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if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
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self.assertFalse(pm.should_shutdown(ignition, True, start_time, False))
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self.assertTrue(pm.should_shutdown(ignition, True, start_time, False))
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def test_car_voltage(self):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 350
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VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
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with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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start_time = ssb
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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self.assertEqual(pm.should_shutdown(ignition, True, start_time, True),
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(pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and
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(ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and
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(ssb - start_time) > DELAY_SHUTDOWN_TIME_S))
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self.assertTrue(pm.should_shutdown(ignition, True, start_time, True))
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# Test to check policy of not stopping charging when DisablePowerDown is set
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def test_disable_power_down(self):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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params.put_bool("DisablePowerDown", True)
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
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self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
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# Test to check policy of not stopping charging when ignition
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def test_ignition(self):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = True
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
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self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
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# Test to check policy of not stopping charging when harness is not connected
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def test_harness_connection(self):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
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self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
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def test_delay_shutdown_time(self):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 0
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ignition = False
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in_car = True
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offroad_timestamp = ssb
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started_seen = True
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
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self.assertFalse(pm.should_shutdown(ignition, in_car,
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offroad_timestamp,
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started_seen),
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f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
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self.assertTrue(pm.should_shutdown(ignition, in_car,
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offroad_timestamp,
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started_seen),
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f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
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if __name__ == "__main__":
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unittest.main()
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