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75 lines
1.9 KiB
75 lines
1.9 KiB
#!/usr/bin/env python3
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import time
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import random
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import unittest
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import subprocess
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from panda import Panda
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from openpilot.system.hardware import TICI, HARDWARE
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from openpilot.system.hardware.tici.hardware import Tici
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from openpilot.system.hardware.tici.amplifier import Amplifier
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class TestAmplifier(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if not TICI:
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raise unittest.SkipTest
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def setUp(self):
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# clear dmesg
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subprocess.check_call("sudo dmesg -C", shell=True)
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HARDWARE.reset_internal_panda()
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Panda.wait_for_panda(None, 30)
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self.panda = Panda()
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def tearDown(self):
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HARDWARE.reset_internal_panda()
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def _check_for_i2c_errors(self, expected):
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dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
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i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
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i2c_str = '\n'.join(i2c_lines)
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if not expected:
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return len(i2c_lines) == 0
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else:
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return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
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def test_init(self):
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amp = Amplifier(debug=True)
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r = amp.initialize_configuration(Tici().get_device_type())
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assert r
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assert self._check_for_i2c_errors(False)
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def test_shutdown(self):
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amp = Amplifier(debug=True)
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for _ in range(10):
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r = amp.set_global_shutdown(True)
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r = amp.set_global_shutdown(False)
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# amp config should be successful, with no i2c errors
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assert r
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assert self._check_for_i2c_errors(False)
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def test_init_while_siren_play(self):
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for _ in range(10):
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self.panda.set_siren(False)
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time.sleep(0.1)
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self.panda.set_siren(True)
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time.sleep(random.randint(0, 5))
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amp = Amplifier(debug=True)
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r = amp.initialize_configuration(Tici().get_device_type())
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assert r
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if self._check_for_i2c_errors(True):
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break
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else:
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self.fail("didn't hit any i2c errors")
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if __name__ == "__main__":
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unittest.main()
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