openpilot_comma/panda/tests/hitl/5_spi.py

import binascii
import pytest
import random
from unittest.mock import patch

from panda import Panda, PandaDFU
from panda.python.spi import SpiDevice, PandaProtocolMismatch, PandaSpiNackResponse

pytestmark = [
  pytest.mark.test_panda_types((Panda.HW_TYPE_TRES, ))
]

@pytest.mark.skip("doesn't work, bootloader seems to ignore commands once it sees junk")
def test_dfu_with_spam(p):
  dfu_serial = p.get_dfu_serial()

  # enter DFU
  p.reset(enter_bootstub=True)
  p.reset(enter_bootloader=True)
  assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU"

  # send junk
  d = SpiDevice()
  for _ in range(9):
    with d.acquire() as spi:
      dat = [random.randint(-1, 255) for _ in range(random.randint(1, 100))]
      spi.xfer(dat)

    # should still show up
    assert dfu_serial in PandaDFU.list()

class TestSpi:
  def _ping(self, mocker, panda):
    # should work with no retries
    spy = mocker.spy(panda._handle, '_wait_for_ack')
    panda.health()
    assert spy.call_count == 2
    mocker.stop(spy)

  def test_protocol_version_check(self, p):
    for bootstub in (False, True):
      p.reset(enter_bootstub=bootstub)
      with patch('panda.python.spi.PandaSpiHandle.PROTOCOL_VERSION', return_value="abc"):
        # list should still work with wrong version
        assert p._serial in Panda.list()

        # connect but raise protocol error
        with pytest.raises(PandaProtocolMismatch):
          Panda(p._serial)

  def test_protocol_version_data(self, p):
    for bootstub in (False, True):
      p.reset(enter_bootstub=bootstub)
      v = p._handle.get_protocol_version()

      uid = binascii.hexlify(v[:12]).decode()
      assert uid == p.get_uid()

      hwtype = v[12]
      assert hwtype == ord(p.get_type())

      bstub = v[13]
      assert bstub == (0xEE if bootstub else 0xCC)

  def test_all_comm_types(self, mocker, p):
    spy = mocker.spy(p._handle, '_wait_for_ack')

    # controlRead + controlWrite
    p.health()
    p.can_clear(0)
    assert spy.call_count == 2*2

    # bulkRead + bulkWrite
    p.can_recv()
    p.can_send(0x123, b"somedata", 0)
    assert spy.call_count == 2*4

  def test_bad_header(self, mocker, p):
    with patch('panda.python.spi.SYNC', return_value=0):
      with pytest.raises(PandaSpiNackResponse):
        p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
    self._ping(mocker, p)

  def test_bad_checksum(self, mocker, p):
    cnt = p.health()['spi_error_count']
    with patch('panda.python.spi.PandaSpiHandle._calc_checksum', return_value=0):
      with pytest.raises(PandaSpiNackResponse):
        p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
    self._ping(mocker, p)
    assert (p.health()['spi_error_count'] - cnt) > 0

  def test_non_existent_endpoint(self, mocker, p):
    for _ in range(10):
      ep = random.randint(4, 20)
      with pytest.raises(PandaSpiNackResponse):
        p._handle.bulkRead(ep, random.randint(1, 1000), timeout=50)

      self._ping(mocker, p)

      with pytest.raises(PandaSpiNackResponse):
        p._handle.bulkWrite(ep, b"abc", timeout=50)

      self._ping(mocker, p)