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199 lines
8.3 KiB
199 lines
8.3 KiB
import pytest
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from openpilot.common.params import Params
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from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
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CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
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# Create fake time
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ssb = 0.
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def mock_time_monotonic():
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global ssb
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ssb += 1.
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return ssb
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TEST_DURATION_S = 50
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GOOD_VOLTAGE = 12 * 1e3
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VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
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def pm_patch(mocker, name, value, constant=False):
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if constant:
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mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", value)
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else:
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mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value)
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@pytest.fixture(autouse=True)
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def mock_time(mocker):
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mocker.patch("time.monotonic", mock_time_monotonic)
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class TestPowerMonitoring:
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def setup_method(self):
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self.params = Params()
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# Test to see that it doesn't do anything when pandaState is None
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def test_panda_state_present(self):
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pm = PowerMonitoring()
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for _ in range(10):
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pm.calculate(None, None)
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assert pm.get_power_used() == 0
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assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
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# Test to see that it doesn't integrate offroad when ignition is True
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def test_offroad_ignition(self):
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pm = PowerMonitoring()
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for _ in range(10):
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pm.calculate(GOOD_VOLTAGE, True)
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assert pm.get_power_used() == 0
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# Test to see that it integrates with discharging battery
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def test_offroad_integration_discharging(self, mocker):
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POWER_DRAW = 4
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
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assert abs(pm.get_power_used() - expected_power_usage) < 10
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# Test to check positive integration of car_battery_capacity
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def test_car_battery_integration_onroad(self, mocker):
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POWER_DRAW = 4
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 0
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, True)
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expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
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assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
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# Test to check positive integration upper limit
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def test_car_battery_integration_upper_limit(self, mocker):
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POWER_DRAW = 4
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, True)
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estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
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assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
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# Test to check negative integration of car_battery_capacity
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def test_car_battery_integration_offroad(self, mocker):
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POWER_DRAW = 4
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
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assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10
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# Test to check negative integration lower limit
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def test_car_battery_integration_lower_limit(self, mocker):
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POWER_DRAW = 4
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 1000
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for _ in range(TEST_DURATION_S + 1):
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pm.calculate(GOOD_VOLTAGE, False)
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estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
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assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10
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# Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
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def test_max_time_offroad(self, mocker):
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MOCKED_MAX_OFFROAD_TIME = 3600
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POWER_DRAW = 0 # To stop shutting down for other reasons
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pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True)
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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start_time = ssb
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ignition = False
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while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
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pm.calculate(GOOD_VOLTAGE, ignition)
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if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
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assert not pm.should_shutdown(ignition, True, start_time, False)
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assert pm.should_shutdown(ignition, True, start_time, False)
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def test_car_voltage(self, mocker):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 350
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VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
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pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True)
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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start_time = ssb
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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assert pm.should_shutdown(ignition, True, start_time, True) == \
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(pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \
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(ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \
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(ssb - start_time) > DELAY_SHUTDOWN_TIME_S)
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assert pm.should_shutdown(ignition, True, start_time, True)
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# Test to check policy of not stopping charging when DisablePowerDown is set
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def test_disable_power_down(self, mocker):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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self.params.put_bool("DisablePowerDown", True)
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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assert not pm.should_shutdown(ignition, True, ssb, False)
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assert not pm.should_shutdown(ignition, True, ssb, False)
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# Test to check policy of not stopping charging when ignition
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def test_ignition(self, mocker):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = True
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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assert not pm.should_shutdown(ignition, True, ssb, False)
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assert not pm.should_shutdown(ignition, True, ssb, False)
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# Test to check policy of not stopping charging when harness is not connected
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def test_harness_connection(self, mocker):
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POWER_DRAW = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
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ignition = False
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for i in range(TEST_TIME):
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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if i % 10 == 0:
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assert not pm.should_shutdown(ignition, False, ssb, False)
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assert not pm.should_shutdown(ignition, False, ssb, False)
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def test_delay_shutdown_time(self):
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pm = PowerMonitoring()
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pm.car_battery_capacity_uWh = 0
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ignition = False
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in_car = True
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offroad_timestamp = ssb
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started_seen = True
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pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
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while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
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assert not pm.should_shutdown(ignition, in_car,
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offroad_timestamp,
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started_seen), \
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f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
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assert pm.should_shutdown(ignition, in_car,
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offroad_timestamp,
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started_seen), \
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f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
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