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71 lines
2.1 KiB
71 lines
2.1 KiB
import time
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import random
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def get_random_can_messages(n):
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m = []
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for _ in range(n):
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bus = random.randrange(3)
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addr = random.randrange(1 << 29)
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dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
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m.append([addr, None, dat, bus])
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return m
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def time_many_sends(p, bus, p_recv=None, msg_count=100, two_pandas=False, msg_len=8):
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if p_recv is None:
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p_recv = p
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if p == p_recv and two_pandas:
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raise ValueError("Cannot have two pandas that are the same panda")
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msg_id = random.randint(0x100, 0x200)
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to_send = [(msg_id, 0, b"\xaa" * msg_len, bus)] * msg_count
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start_time = time.monotonic()
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p.can_send_many(to_send)
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r = []
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r_echo = []
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r_len_expected = msg_count if two_pandas else msg_count * 2
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r_echo_len_exected = msg_count if two_pandas else 0
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while len(r) < r_len_expected and (time.monotonic() - start_time) < 5:
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r.extend(p_recv.can_recv())
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end_time = time.monotonic()
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if two_pandas:
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while len(r_echo) < r_echo_len_exected and (time.monotonic() - start_time) < 10:
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r_echo.extend(p.can_recv())
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sent_echo = [x for x in r if x[3] == 0x80 | bus and x[0] == msg_id]
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sent_echo.extend([x for x in r_echo if x[3] == 0x80 | bus and x[0] == msg_id])
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resp = [x for x in r if x[3] == bus and x[0] == msg_id]
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leftovers = [x for x in r if (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id]
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assert len(leftovers) == 0
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assert len(resp) == msg_count
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assert len(sent_echo) == msg_count
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end_time = (end_time - start_time) * 1000.0
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comp_kbps = (1 + 11 + 1 + 1 + 1 + 4 + (msg_len * 8) + 15 + 1 + 1 + 1 + 7) * msg_count / end_time
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return comp_kbps
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def clear_can_buffers(panda, speed: int | None = None):
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if speed is not None:
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for bus in range(3):
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panda.set_can_speed_kbps(bus, speed)
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# clear tx buffers
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for i in range(4):
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panda.can_clear(i)
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# clear rx buffers
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panda.can_clear(0xFFFF)
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r = [1]
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st = time.monotonic()
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while len(r) > 0:
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r = panda.can_recv()
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time.sleep(0.05)
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if (time.monotonic() - st) > 10:
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raise Exception("Unable to clear can buffers for panda ", panda.get_serial())
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