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66 lines
2.1 KiB
66 lines
2.1 KiB
from __future__ import print_function
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import sys
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import time
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from helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
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from panda import Panda, PandaWifiStreaming
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from nose.tools import timed, assert_equal, assert_less, assert_greater
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@test_white
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@panda_type_to_serial
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def test_udp_doesnt_drop(serials=None):
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connect_wifi(serials[0])
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p = Panda(serials[0])
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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p.set_can_loopback(True)
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pwifi = PandaWifiStreaming()
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while 1:
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if len(pwifi.can_recv()) == 0:
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break
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for msg_count in [1, 100]:
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saturation_pcts = []
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for i in range({1: 0x80, 100: 0x20}[msg_count]):
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pwifi.kick()
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speed = 500
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p.set_can_speed_kbps(0, speed)
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comp_kbps = time_many_sends(p, 0, pwifi, msg_count=msg_count, msg_id=0x100+i)
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saturation_pct = (comp_kbps/speed) * 100.0
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if msg_count == 1:
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sys.stdout.write(".")
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sys.stdout.flush()
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else:
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print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
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assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
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assert_less(saturation_pct, 100)
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saturation_pcts.append(saturation_pct)
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if len(saturation_pcts) > 0:
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assert_greater(sum(saturation_pcts)/len(saturation_pcts), 60)
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time.sleep(5)
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usb_ok_cnt = 0
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REQ_USB_OK_CNT = 500
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st = time.time()
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msg_id = 0x1bb
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bus = 0
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last_missing_msg = 0
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while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
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p.can_send(msg_id, "message", bus)
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time.sleep(0.01)
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r = [1]
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missing = True
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while len(r) > 0:
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r = p.can_recv()
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r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
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if len(r) > 0:
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missing = False
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usb_ok_cnt += len(r)
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if missing:
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last_missing_msg = time.time()
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et = time.time() - st
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last_missing_msg = last_missing_msg - st
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print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
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assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"
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