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129 lines
3.5 KiB
129 lines
3.5 KiB
#!/usr/bin/env python3
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import os
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import pytest
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import time
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import cereal.messaging as messaging
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from cereal import log
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from openpilot.common.gpio import gpio_set, gpio_init
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from panda import Panda, PandaDFU, PandaProtocolMismatch
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from openpilot.selfdrive.manager.process_config import managed_processes
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.hardware.tici.pins import GPIO
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HERE = os.path.dirname(os.path.realpath(__file__))
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@pytest.mark.tici
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class TestPandad:
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def setup_method(self):
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# ensure panda is up
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if len(Panda.list()) == 0:
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self._run_test(60)
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self.spi = HARDWARE.get_device_type() != 'tici'
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def teardown_method(self):
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managed_processes['pandad'].stop()
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def _run_test(self, timeout=30) -> float:
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st = time.monotonic()
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sm = messaging.SubMaster(['pandaStates'])
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managed_processes['pandad'].start()
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while (time.monotonic() - st) < timeout:
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sm.update(100)
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if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
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break
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dt = time.monotonic() - st
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managed_processes['pandad'].stop()
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if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
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raise Exception("boardd failed to start")
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return dt
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def _go_to_dfu(self):
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HARDWARE.recover_internal_panda()
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assert Panda.wait_for_dfu(None, 10)
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def _assert_no_panda(self):
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assert not Panda.wait_for_dfu(None, 3)
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assert not Panda.wait_for_panda(None, 3)
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def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
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self._go_to_dfu()
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pd = PandaDFU(None)
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if fn is None:
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fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
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with open(fn, "rb") as f:
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pd.program_bootstub(f.read())
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pd.reset()
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HARDWARE.reset_internal_panda()
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assert Panda.wait_for_panda(None, 10)
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if expect_mismatch:
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with pytest.raises(PandaProtocolMismatch):
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Panda()
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else:
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with Panda() as p:
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assert p.bootstub
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self._run_test(45)
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def test_in_dfu(self):
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HARDWARE.recover_internal_panda()
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self._run_test(60)
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def test_in_bootstub(self):
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with Panda() as p:
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p.reset(enter_bootstub=True)
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assert p.bootstub
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self._run_test()
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def test_internal_panda_reset(self):
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gpio_init(GPIO.STM_RST_N, True)
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gpio_set(GPIO.STM_RST_N, 1)
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time.sleep(0.5)
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assert all(not Panda(s).is_internal() for s in Panda.list())
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self._run_test()
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assert any(Panda(s).is_internal() for s in Panda.list())
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def test_best_case_startup_time(self):
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# run once so we're up to date
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self._run_test(60)
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ts = []
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for _ in range(10):
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# should be nearly instant this time
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dt = self._run_test(5)
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ts.append(dt)
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# 5s for USB (due to enumeration)
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# - 0.2s pandad -> boardd
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# - plus some buffer
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assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
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print("startup times", ts, sum(ts) / len(ts))
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def test_protocol_version_check(self):
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if not self.spi:
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pytest.skip("SPI test")
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# flash old fw
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fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
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self._flash_bootstub_and_test(fn, expect_mismatch=True)
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def test_release_to_devel_bootstub(self):
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self._flash_bootstub_and_test(None)
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def test_recover_from_bad_bootstub(self):
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self._go_to_dfu()
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with PandaDFU(None) as pd:
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pd.program_bootstub(b"\x00"*1024)
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pd.reset()
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HARDWARE.reset_internal_panda()
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self._assert_no_panda()
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self._run_test(60)
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