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109 lines
3.9 KiB
109 lines
3.9 KiB
import os
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import copy
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import random
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import time
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import pytest
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from collections import defaultdict
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from pprint import pprint
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import cereal.messaging as messaging
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from cereal import car, log
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from openpilot.common.retry import retry
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from openpilot.common.params import Params
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from openpilot.common.timeout import Timeout
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from openpilot.selfdrive.pandad import can_list_to_can_capnp
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from openpilot.selfdrive.car import make_can_msg
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from openpilot.system.hardware import TICI
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from openpilot.selfdrive.test.helpers import phone_only, with_processes
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@retry(attempts=3)
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def setup_pandad(num_pandas):
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params = Params()
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params.put_bool("IsOnroad", False)
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with Timeout(90, "pandad didn't start"):
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sm = messaging.SubMaster(['pandaStates'])
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while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
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any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
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sm.update(1000)
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found_pandas = len(sm['pandaStates'])
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assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
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connect another panda for multipanda tests."
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# pandad safety setting relies on these params
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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.put_bool("IsOnroad", True)
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params.put_bool("FirmwareQueryDone", True)
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params.put_bool("ControlsReady", True)
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params.put("CarParams", cp.to_bytes())
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def send_random_can_messages(sendcan, count, num_pandas=1):
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sent_msgs = defaultdict(set)
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for _ in range(count):
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to_send = []
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for __ in range(random.randrange(20)):
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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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if (addr, dat) in sent_msgs[bus]:
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continue
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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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return sent_msgs
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@pytest.mark.tici
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class TestBoarddLoopback:
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@classmethod
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def setup_class(cls):
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os.environ['STARTED'] = '1'
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os.environ['BOARDD_LOOPBACK'] = '1'
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@phone_only
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@with_processes(['pandad'])
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def test_loopback(self):
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num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
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setup_pandad(num_pandas)
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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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sm = messaging.SubMaster(['pandaStates'])
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time.sleep(0.5)
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n = 200
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for i in range(n):
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print(f"pandad loopback {i}/{n}")
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sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
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sent_loopback = copy.deepcopy(sent_msgs)
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sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
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sent_total = {k: len(v) for k, v in sent_loopback.items()}
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for _ in range(100 * 5):
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sm.update(0)
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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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key = (m.address, m.dat)
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assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
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sent_loopback[m.src].discard(key)
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if all(len(v) == 0 for v in sent_loopback.values()):
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break
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# if a set isn't empty, messages got dropped
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pprint(sent_msgs)
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pprint(sent_loopback)
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print({k: len(x) for k, x in sent_loopback.items()})
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print(sum([len(x) for x in sent_loopback.values()]))
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pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow
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for bus in sent_loopback.keys():
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assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
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