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111 lines
3.2 KiB
111 lines
3.2 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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import unittest
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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.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.hardware import TICI
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from selfdrive.test.helpers import phone_only, with_processes
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def reset_pandas(f):
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@wraps(f)
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def wrapper(*args, **kwargs):
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for serial in Panda.list():
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p = Panda(serial)
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for i in [0, 1, 2, 3, 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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f(*args, **kwargs)
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return wrapper
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class TestBoardd(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['STARTED'] = '1'
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os.environ['BOARDD_LOOPBACK'] = '1'
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cls.spinner = Spinner()
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@classmethod
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def tearDownClass(cls):
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cls.spinner.close()
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@phone_only
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@reset_pandas
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@with_processes(['pandad'])
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def test_loopback(self):
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# wait for boardd to init
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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 and len(sm['pandaStates']) == 0:
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sm.update(1000)
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num_pandas = len(sm['pandaStates'])
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if TICI:
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self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
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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]*num_pandas
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params = Params()
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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(0.2)
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n = 1000
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for i in range(n):
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self.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.choice([b for b in range(3*num_pandas) if b % 4 != 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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for _ in range(100 * 2):
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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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key = (m.address, m.dat)
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assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
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sent_msgs[m.src-128].discard(key)
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if all(len(v) == 0 for v in sent_msgs.values()):
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break
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# if a set isn't empty, messages got dropped
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for bus in sent_msgs.keys():
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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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if __name__ == "__main__":
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unittest.main()
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