openpilot_comma/selfdrive/boardd/tests/test_pandad.py

#!/usr/bin/env python3
import os
import time
import unittest

import cereal.messaging as messaging
from cereal import log
from openpilot.common.gpio import gpio_set, gpio_init
from panda import Panda, PandaDFU, PandaProtocolMismatch
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware.tici.pins import GPIO

HERE = os.path.dirname(os.path.realpath(__file__))


class TestPandad(unittest.TestCase):

  def setUp(self):
    if PC:
      raise unittest.SkipTest("needs a panda")
    # ensure panda is up
    if len(Panda.list()) == 0:
      self._run_test(60)

  def tearDown(self):
    managed_processes['pandad'].stop()

  def _run_test(self, timeout=30):
    managed_processes['pandad'].start()

    sm = messaging.SubMaster(['peripheralState'])
    for _ in range(timeout*10):
      sm.update(100)
      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
        break

    managed_processes['pandad'].stop()

    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
      raise Exception("boardd failed to start")

  def _go_to_dfu(self):
    HARDWARE.recover_internal_panda()
    assert Panda.wait_for_dfu(None, 10)

  def _assert_no_panda(self):
    assert not Panda.wait_for_dfu(None, 3)
    assert not Panda.wait_for_panda(None, 3)

  def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
    self._go_to_dfu()
    pd = PandaDFU(None)
    if fn is None:
      fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
    with open(fn, "rb") as f:
      pd.program_bootstub(f.read())
    pd.reset()
    HARDWARE.reset_internal_panda()

    assert Panda.wait_for_panda(None, 10)
    if expect_mismatch:
      with self.assertRaises(PandaProtocolMismatch):
        Panda()
    else:
      with Panda() as p:
        assert p.bootstub

    self._run_test(45)

  def test_in_dfu(self):
    HARDWARE.recover_internal_panda()
    self._run_test(60)

  def test_in_bootstub(self):
    with Panda() as p:
      p.reset(enter_bootstub=True)
      assert p.bootstub
    self._run_test()

  def test_internal_panda_reset(self):
    gpio_init(GPIO.STM_RST_N, True)
    gpio_set(GPIO.STM_RST_N, 1)
    time.sleep(0.5)
    assert all(not Panda(s).is_internal() for s in Panda.list())
    self._run_test()

    assert any(Panda(s).is_internal() for s in Panda.list())

  def test_best_case_startup_time(self):
    # run once so we're setup
    self._run_test(60)

    # should be fast this time
    self._run_test(8)

  def test_protocol_version_check(self):
    if HARDWARE.get_device_type() == 'tici':
      raise unittest.SkipTest("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
    self._flash_bootstub_and_test(fn, expect_mismatch=True)

  def test_release_to_devel_bootstub(self):
    self._flash_bootstub_and_test(None)

  def test_recover_from_bad_bootstub(self):
    self._go_to_dfu()
    with PandaDFU(None) as pd:
      pd.program_bootstub(b"\x00"*1024)
      pd.reset()
    HARDWARE.reset_internal_panda()
    self._assert_no_panda()

    self._run_test(60)


if __name__ == "__main__":
  unittest.main()