52 lines
1.1 KiB
52 lines
1.1 KiB
6 years ago
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#!/usr/bin/env python
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"""Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
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import os
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import random
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import zmq
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import time
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.messaging import drain_sock, pub_sock, sub_sock
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from selfdrive.services import service_list
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def get_test_string():
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return b"test"+os.urandom(10)
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BUS = 0
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def main():
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context = zmq.Context()
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rcv = sub_sock(context, service_list['can'].port) # port 8006
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snd = pub_sock(context, service_list['sendcan'].port) # port 8017
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time.sleep(0.3) # wait to bind before send/recv
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for i in range(10):
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print("Loop %d" % i)
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at = random.randint(1024, 2000)
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st = get_test_string()[0:8]
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snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes())
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time.sleep(0.1)
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res = drain_sock(rcv, True)
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assert len(res) == 1
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res = res[0].can
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assert len(res) == 2
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msg0, msg1 = res
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assert msg0.dat == st
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assert msg1.dat == st
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assert msg0.address == at
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assert msg1.address == at
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assert msg0.src == 0x80 | BUS
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assert msg1.src == BUS
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print("Success")
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if __name__ == "__main__":
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main()
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