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105 lines
3.7 KiB
105 lines
3.7 KiB
import os
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import time
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import numpy as np
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import pytest
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import random
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import cereal.messaging as messaging
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from cereal.services import SERVICE_LIST
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from openpilot.system.hardware import HARDWARE
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from openpilot.selfdrive.test.helpers import with_processes
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from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
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JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
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@pytest.mark.tici
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class TestBoarddSpi:
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@classmethod
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def setup_class(cls):
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if HARDWARE.get_device_type() == 'tici':
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pytest.skip("only for spi pandas")
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os.environ['STARTED'] = '1'
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os.environ['SPI_ERR_PROB'] = '0.001'
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if not JUNGLE_SPAM:
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os.environ['BOARDD_LOOPBACK'] = '1'
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@with_processes(['pandad'])
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def test_spi_corruption(self, subtests):
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setup_pandad(1)
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sendcan = messaging.pub_sock('sendcan')
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socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
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time.sleep(2)
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for s in socks.values():
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messaging.drain_sock_raw(s)
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total_recv_count = 0
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total_sent_count = 0
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sent_msgs = {bus: list() for bus in range(3)}
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st = time.monotonic()
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ts = {s: list() for s in socks.keys()}
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for _ in range(int(os.getenv("TEST_TIME", "20"))):
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# send some CAN messages
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if not JUNGLE_SPAM:
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sent = send_random_can_messages(sendcan, random.randrange(2, 20))
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for k, v in sent.items():
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sent_msgs[k].extend(list(v))
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total_sent_count += len(v)
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for service, sock in socks.items():
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for m in messaging.drain_sock(sock):
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ts[service].append(m.logMonoTime)
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# sanity check for corruption
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assert m.valid or (service == "can")
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if service == "can":
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for msg in m.can:
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if JUNGLE_SPAM:
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# PandaJungle.set_generated_can(True)
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i = msg.address - 0x200
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assert msg.address >= 0x200
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assert msg.src == (i%3)
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assert msg.dat == b"\xff"*(i%8)
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total_recv_count += 1
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continue
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if msg.src > 4:
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continue
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key = (msg.address, msg.dat)
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assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
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# TODO: enable this
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#sent_msgs[msg.src].remove(key)
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total_recv_count += 1
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elif service == "pandaStates":
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assert len(m.pandaStates) == 1
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ps = m.pandaStates[0]
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assert ps.uptime < 1000
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assert ps.pandaType == "tres"
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assert ps.ignitionLine
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assert not ps.ignitionCan
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assert 4000 < ps.voltage < 14000
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elif service == "peripheralState":
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ps = m.peripheralState
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assert ps.pandaType == "tres"
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assert 4000 < ps.voltage < 14000
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assert 50 < ps.current < 1000
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assert ps.fanSpeedRpm < 10000
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time.sleep(0.5)
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et = time.monotonic() - st
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print("\n======== timing report ========")
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for service, times in ts.items():
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dts = np.diff(times)/1e6
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print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}")
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with subtests.test(msg="timing check", service=service):
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edt = 1e3 / SERVICE_LIST[service].frequency
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assert edt*0.9 < np.mean(dts) < edt*1.1
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assert np.max(dts) < edt*8
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assert np.min(dts) < edt
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assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
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with subtests.test(msg="CAN traffic"):
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print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
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assert total_recv_count > 20
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