You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
96 lines
2.5 KiB
96 lines
2.5 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
import unittest
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
from common.gpio import gpio_set, gpio_init
|
|
from panda import Panda, PandaDFU
|
|
from selfdrive.test.helpers import phone_only
|
|
from selfdrive.manager.process_config import managed_processes
|
|
from system.hardware import HARDWARE
|
|
from system.hardware.tici.pins import GPIO
|
|
|
|
HERE = os.path.dirname(os.path.realpath(__file__))
|
|
|
|
|
|
class TestPandad(unittest.TestCase):
|
|
|
|
def tearDown(self):
|
|
managed_processes['pandad'].stop()
|
|
|
|
def _wait_for_boardd(self, timeout=30):
|
|
sm = messaging.SubMaster(['peripheralState'])
|
|
for _ in range(timeout):
|
|
sm.update(1000)
|
|
if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
|
|
break
|
|
|
|
if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
|
|
raise Exception("boardd failed to start")
|
|
|
|
def _go_to_dfu(self):
|
|
HARDWARE.recover_internal_panda()
|
|
assert Panda.wait_for_dfu(None, 10)
|
|
|
|
@phone_only
|
|
def test_in_dfu(self):
|
|
HARDWARE.recover_internal_panda()
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd(60)
|
|
|
|
@phone_only
|
|
def test_in_bootstub(self):
|
|
with Panda() as p:
|
|
p.reset(enter_bootstub=True)
|
|
assert p.bootstub
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd()
|
|
|
|
@phone_only
|
|
def test_internal_panda_reset(self):
|
|
gpio_init(GPIO.STM_RST_N, True)
|
|
gpio_set(GPIO.STM_RST_N, 1)
|
|
time.sleep(0.5)
|
|
assert all(not Panda(s).is_internal() for s in Panda.list())
|
|
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd()
|
|
|
|
assert any(Panda(s).is_internal() for s in Panda.list())
|
|
|
|
@phone_only
|
|
def test_best_case_startup_time(self):
|
|
# run once so we're setup
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd()
|
|
managed_processes['pandad'].stop()
|
|
|
|
# should be fast this time
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd(8)
|
|
|
|
@phone_only
|
|
def test_release_to_devel_bootstub(self):
|
|
if HARDWARE.get_device_type() != 'tici':
|
|
self.skipTest("TODO: fix reset timeout")
|
|
|
|
# flash release bootstub
|
|
self._go_to_dfu()
|
|
pd = PandaDFU(None)
|
|
fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
|
|
with open(fn, "rb") as f:
|
|
pd.program_bootstub(f.read())
|
|
pd.reset()
|
|
|
|
assert Panda.wait_for_panda(None, 20)
|
|
with Panda() as p:
|
|
assert p.bootstub
|
|
|
|
managed_processes['pandad'].start()
|
|
self._wait_for_boardd(60)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|