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205 lines
5.1 KiB
205 lines
5.1 KiB
import sys
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import time
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from panda import Panda
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from nose.tools import assert_equal, assert_less, assert_greater
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from .helpers import start_heartbeat_thread, reset_pandas, SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
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# Reset the pandas before running tests
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def aaaa_reset_before_tests():
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reset_pandas()
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@test_all_pandas
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@panda_connect_and_init
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def test_can_loopback(p):
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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if p.legacy:
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busses = [0,1]
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else:
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busses = [0,1,2]
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for bus in busses:
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# set bus 0 speed to 250
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p.set_can_speed_kbps(bus, 250)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", bus)
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# confirm receive both on loopback and send receipt
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time.sleep(0.05)
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r = p.can_recv()
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sr = [x for x in r if x[3] == 0x80 | bus]
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lb = [x for x in r if x[3] == bus]
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assert len(sr) == 1
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assert len(lb) == 1
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# confirm data is correct
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assert 0x1aa == sr[0][0] == lb[0][0]
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assert b"message" == sr[0][2] == lb[0][2]
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@test_all_pandas
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@panda_connect_and_init
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def test_safety_nooutput(p):
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_SILENT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", 0)
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# confirm receive nothing
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time.sleep(0.05)
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r = p.can_recv()
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assert len(r) == 0
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@test_all_pandas
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@panda_connect_and_init
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def test_reliability(p):
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LOOP_COUNT = 100
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MSG_COUNT = 100
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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p.set_can_loopback(True)
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p.set_can_speed_kbps(0, 1000)
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addrs = list(range(100, 100+MSG_COUNT))
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ts = [(j, 0, b"\xaa"*8, 0) for j in addrs]
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# 100 loops
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for i in range(LOOP_COUNT):
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st = time.time()
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p.can_send_many(ts)
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r = []
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while len(r) < 200 and (time.time() - st) < 0.5:
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r.extend(p.can_recv())
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sent_echo = [x for x in r if x[3] == 0x80]
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loopback_resp = [x for x in r if x[3] == 0]
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assert_equal(sorted([x[0] for x in loopback_resp]), addrs)
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assert_equal(sorted([x[0] for x in sent_echo]), addrs)
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assert_equal(len(r), 200)
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# take sub 20ms
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et = (time.time()-st)*1000.0
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assert_less(et, 20)
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sys.stdout.write("P")
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sys.stdout.flush()
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@test_all_pandas
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@panda_connect_and_init
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def test_throughput(p):
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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for speed in [100,250,500,750,1000]:
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# set bus 0 speed to speed
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p.set_can_speed_kbps(0, speed)
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time.sleep(0.05)
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comp_kbps = time_many_sends(p, 0)
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# bit count from https://en.wikipedia.org/wiki/CAN_bus
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saturation_pct = (comp_kbps/speed) * 100.0
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assert_greater(saturation_pct, 80)
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assert_less(saturation_pct, 100)
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print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
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@test_white_and_grey
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@panda_type_to_serial
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@panda_connect_and_init
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def test_gmlan(p):
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if p.legacy:
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return
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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p.set_can_speed_kbps(1, SPEED_NORMAL)
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p.set_can_speed_kbps(2, SPEED_NORMAL)
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p.set_can_speed_kbps(3, SPEED_GMLAN)
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# set gmlan on CAN2
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for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
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p.set_gmlan(bus)
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comp_kbps_gmlan = time_many_sends(p, 3)
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assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
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assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
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p.set_gmlan(None)
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comp_kbps_normal = time_many_sends(p, bus)
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assert_greater(comp_kbps_normal, 0.8 * SPEED_NORMAL)
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assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
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print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
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@test_white_and_grey
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@panda_type_to_serial
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@panda_connect_and_init
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def test_gmlan_bad_toggle(p):
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if p.legacy:
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return
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# Start heartbeat
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start_heartbeat_thread(p)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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# GMLAN_CAN2
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for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
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p.set_gmlan(bus)
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comp_kbps_gmlan = time_many_sends(p, 3)
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assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
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assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
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# normal
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for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
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p.set_gmlan(None)
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comp_kbps_normal = time_many_sends(p, bus)
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assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
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assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
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# this will fail if you have hardware serial connected
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@test_all_pandas
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@panda_connect_and_init
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def test_serial_debug(p):
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_ = p.serial_read(Panda.SERIAL_DEBUG) # junk
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p.call_control_api(0xc0)
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assert(p.serial_read(Panda.SERIAL_DEBUG).startswith(b"can "))
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