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78 lines
2.9 KiB
78 lines
2.9 KiB
import time
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import pytest
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import itertools
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from opendbc.car.structs import CarParams
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from panda import Panda
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from panda.tests.hitl.conftest import PandaGroup
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# TODO: test relay
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@pytest.mark.panda_expect_can_error
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@pytest.mark.test_panda_types(PandaGroup.GEN2)
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def test_harness_status(p, panda_jungle):
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# map from jungle orientations to panda orientations
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orientation_map = {
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Panda.HARNESS_STATUS_NC: Panda.HARNESS_STATUS_NC,
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}
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# this shouldn't be parameterized since we don't want the panda to be reset
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# between the tests.
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for ignition, orientation in itertools.product([True, False], [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]):
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print()
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p.set_safety_mode(CarParams.SafetyModel.elm327)
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panda_jungle.set_harness_orientation(orientation)
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panda_jungle.set_ignition(ignition)
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# wait for orientation detection
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time.sleep(0.25)
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health = p.health()
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detected_orientation = health['car_harness_status']
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print(f"orientation set: {orientation} detected: {detected_orientation}")
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if detected_orientation not in orientation_map:
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assert detected_orientation != Panda.HARNESS_STATUS_NC
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other = {Panda.HARNESS_STATUS_NORMAL: Panda.HARNESS_STATUS_FLIPPED, Panda.HARNESS_STATUS_FLIPPED: Panda.HARNESS_STATUS_NORMAL}
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orientation_map.update({
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orientation: detected_orientation,
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other[orientation]: other[detected_orientation],
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})
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# Orientation
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assert orientation_map[detected_orientation] == orientation
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# Line ignition
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assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
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# CAN traffic
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if orientation != Panda.HARNESS_STATUS_NC:
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for bus in range(3):
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panda_jungle.can_send(0x123, f"{bus}".encode(), bus)
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time.sleep(0.5)
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msgs = p.can_recv()
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buses = {int(dat): bus for _, dat, bus in msgs if bus <= 3}
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print(msgs)
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# jungle doesn't actually switch buses when switching orientation
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flipped = orientation == Panda.HARNESS_STATUS_FLIPPED
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assert buses[0] == (2 if flipped else 0)
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assert buses[2] == (0 if flipped else 2)
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# SBU voltages
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supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
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if orientation == Panda.HARNESS_STATUS_NC:
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assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
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assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
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else:
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relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
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ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
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assert health[relay_line] < 0.1 * supply_voltage_mV
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assert health[ignition_line] > health[relay_line]
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if ignition:
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assert health[ignition_line] < 0.3 * supply_voltage_mV
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else:
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assert health[ignition_line] > 0.9 * supply_voltage_mV
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