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136 lines
3.4 KiB
136 lines
3.4 KiB
#!/usr/bin/env python3
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# Relay test with loopback between black panda (+ harness and power) and white/grey panda
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# Tests the relay switching multiple times / second by looking at the buses on which loop occurs.
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import os
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import time
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import random
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import argparse
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from opendbc.car.structs import CarParams
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from panda import Panda
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def get_test_string():
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return b"test" + os.urandom(10)
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counter = 0
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open_errors = 0
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closed_errors = 0
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content_errors = 0
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def run_test(sleep_duration):
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global counter, open_errors, closed_errors
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pandas = Panda.list()
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print(pandas)
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# make sure two pandas are connected
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if len(pandas) != 2:
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raise Exception("Connect white/grey and black panda to run this test!")
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# connect
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pandas[0] = Panda(pandas[0])
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pandas[1] = Panda(pandas[1])
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# find out which one is black
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type0 = pandas[0].get_type()
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type1 = pandas[1].get_type()
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black_panda = None
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other_panda = None
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if type0 == "\x03" and type1 != "\x03":
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black_panda = pandas[0]
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other_panda = pandas[1]
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elif type0 != "\x03" and type1 == "\x03":
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black_panda = pandas[1]
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other_panda = pandas[0]
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else:
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raise Exception("Connect white/grey and black panda to run this test!")
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# disable safety modes
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black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
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other_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
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# test health packet
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print("black panda health", black_panda.health())
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print("other panda health", other_panda.health())
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# test black -> other
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while True:
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# Switch on relay
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black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
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time.sleep(0.05)
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if not test_buses(black_panda, other_panda, (0, False, [0])):
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open_errors += 1
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raise Exception("Open error")
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# Switch off relay
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black_panda.set_safety_mode(CarParams.SafetyModel.silent)
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time.sleep(0.05)
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if not test_buses(black_panda, other_panda, (0, False, [0, 2])):
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closed_errors += 1
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raise Exception("Close error")
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counter += 1
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print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
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def test_buses(black_panda, other_panda, test_obj):
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global content_errors
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send_bus, obd, recv_buses = test_obj
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black_panda.send_heartbeat()
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other_panda.send_heartbeat()
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# Set OBD on send panda
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other_panda.set_obd(True if obd else None)
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# clear and flush
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other_panda.can_clear(send_bus)
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for recv_bus in recv_buses:
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black_panda.can_clear(recv_bus)
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black_panda.can_recv()
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other_panda.can_recv()
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# send the characters
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at = random.randint(1, 2000)
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st = get_test_string()[0:8]
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other_panda.can_send(at, st, send_bus)
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time.sleep(0.05)
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# check for receive
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_ = other_panda.can_recv() # can echo
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cans_loop = black_panda.can_recv()
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loop_buses = []
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for loop in cans_loop:
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if (loop[0] != at) or (loop[1] != st):
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content_errors += 1
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loop_buses.append(loop[2])
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# test loop buses
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recv_buses.sort()
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loop_buses.sort()
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if(recv_buses != loop_buses):
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return False
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else:
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return True
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("-n", type=int, help="Number of test iterations to run")
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parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
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args = parser.parse_args()
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if args.n is None:
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while True:
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run_test(sleep_duration=args.sleep)
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else:
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for _ in range(args.n):
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run_test(sleep_duration=args.sleep)
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