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97 lines
2.6 KiB
97 lines
2.6 KiB
#!/usr/bin/env python3
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import os
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import random
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import time
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from collections import defaultdict
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from functools import wraps
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import cereal.messaging as messaging
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from cereal import car
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from common.basedir import BASEDIR
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from common.params import Params
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from common.spinner import Spinner
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from common.timeout import Timeout
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from panda import Panda
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car import make_can_msg
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from selfdrive.test.helpers import with_processes
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def reset_panda(fn):
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@wraps(fn)
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def wrapper():
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p = Panda()
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for i in [0, 1, 2, 0xFFFF]:
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p.can_clear(i)
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p.reset()
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p.close()
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fn()
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return wrapper
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os.environ['STARTED'] = '1'
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os.environ['BOARDD_LOOPBACK'] = '1'
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os.environ['BASEDIR'] = BASEDIR
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@reset_panda
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@with_processes(['pandad'])
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def test_boardd_loopback():
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# wait for boardd to init
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spinner = Spinner()
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time.sleep(2)
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with Timeout(60, "boardd didn't start"):
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sm = messaging.SubMaster(['pandaStates'])
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while sm.rcv_frame['pandaStates'] < 1:
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sm.update(1000)
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# boardd blocks on CarVin and CarParams
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cp = car.CarParams.new_message()
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safety_config = car.CarParams.SafetyConfig.new_message()
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safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
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cp.safetyConfigs = [safety_config]
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Params().put("CarVin", b"0"*17)
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Params().put_bool("ControlsReady", True)
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Params().put("CarParams", cp.to_bytes())
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sendcan = messaging.pub_sock('sendcan')
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can = messaging.sub_sock('can', conflate=False, timeout=100)
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time.sleep(1)
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n = 1000
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for i in range(n):
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spinner.update(f"boardd loopback {i}/{n}")
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sent_msgs = defaultdict(set)
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for _ in range(random.randrange(10)):
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to_send = []
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for __ in range(random.randrange(100)):
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bus = random.randrange(3)
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addr = random.randrange(1, 1<<29)
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dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
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sent_msgs[bus].add((addr, dat))
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to_send.append(make_can_msg(addr, dat, bus))
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sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
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max_recv = 10
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while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
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recvd = messaging.drain_sock(can, wait_for_one=True)
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for msg in recvd:
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for m in msg.can:
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if m.src >= 128:
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k = (m.address, m.dat)
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assert k in sent_msgs[m.src-128]
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sent_msgs[m.src-128].discard(k)
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max_recv -= 1
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# if a set isn't empty, messages got dropped
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for bus in range(3):
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assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
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spinner.close()
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if __name__ == "__main__":
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test_boardd_loopback()
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