boardd: longer loopback test (#28239)

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 2014b10ec3

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -1,9 +1,11 @@
 #!/usr/bin/env python3
 import os
+import copy
 import random
 import time
 import unittest
 from collections import defaultdict
+from pprint import pprint
 
 import cereal.messaging as messaging
 from cereal import car, log
@@ -63,12 +65,13 @@ class TestBoardd(unittest.TestCase):
 
     n = 200
     for i in range(n):
+      print(f"boardd loopback {i}/{n}")
       self.spinner.update(f"boardd loopback {i}/{n}")
 
       sent_msgs = defaultdict(set)
-      for _ in range(random.randrange(10)):
+      for _ in range(random.randrange(20, 100)):
         to_send = []
-        for __ in range(random.randrange(100)):
+        for __ in range(random.randrange(50)):
           bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
           addr = random.randrange(1, 1<<29)
           dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
@@ -76,22 +79,25 @@ class TestBoardd(unittest.TestCase):
           to_send.append(make_can_msg(addr, dat, bus))
         sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
 
-      for _ in range(100 * 2):
+      sent_loopback = copy.deepcopy(sent_msgs)
+      sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+      sent_total = {k: len(v) for k, v in sent_loopback.items()}
+      for _ in range(100 * 5):
         recvd = messaging.drain_sock(can, wait_for_one=True)
         for msg in recvd:
           for m in msg.can:
-            if m.src >= 128:
+            key = (m.address, m.dat)
-              key = (m.address, m.dat)
+            assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
-              assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+            sent_loopback[m.src].discard(key)
-              sent_msgs[m.src-128].discard(key)
 
-        if all(len(v) == 0 for v in sent_msgs.values()):
+        if all(len(v) == 0 for v in sent_loopback.values()):
           break
 
       # if a set isn't empty, messages got dropped
-      for bus in sent_msgs.keys():
+      pprint(sent_msgs)
-        assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
+      pprint(sent_loopback)
-
+      for bus in sent_loopback.keys():
+        assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
 
 if __name__ == "__main__":
   unittest.main()