mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-27 11:53:57 +08:00
4fe1b638f8
* pandad: improve startup time * add test * reset with gpio * adjust threshold * fix * no panda * fix * check unknown * increase for boardd --------- Co-authored-by: Comma Device <device@comma.ai>
76 lines
1.9 KiB
Python
Executable File
76 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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import unittest
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import cereal.messaging as messaging
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from cereal import log
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from common.gpio import gpio_set, gpio_init
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from panda import Panda
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from selfdrive.test.helpers import phone_only
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from selfdrive.manager.process_config import managed_processes
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from system.hardware import HARDWARE
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from system.hardware.tici.pins import GPIO
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class TestPandad(unittest.TestCase):
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def tearDown(self):
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managed_processes['pandad'].stop()
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def _wait_for_boardd(self, timeout=30):
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sm = messaging.SubMaster(['peripheralState'])
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for _ in range(timeout):
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sm.update(1000)
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if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
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break
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if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
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raise Exception("boardd failed to start")
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@phone_only
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def test_in_dfu(self):
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HARDWARE.recover_internal_panda()
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time.sleep(1)
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managed_processes['pandad'].start()
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self._wait_for_boardd(60)
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@phone_only
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def test_in_bootstub(self):
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with Panda() as p:
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p.reset(enter_bootstub=True)
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assert p.bootstub
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managed_processes['pandad'].start()
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self._wait_for_boardd()
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@phone_only
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def test_internal_panda_reset(self):
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gpio_init(GPIO.STM_RST_N, True)
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gpio_set(GPIO.STM_RST_N, 1)
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time.sleep(0.5)
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assert all(not Panda(s).is_internal() for s in Panda.list())
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managed_processes['pandad'].start()
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self._wait_for_boardd()
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assert any(Panda(s).is_internal() for s in Panda.list())
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@phone_only
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def test_best_case_startup_time(self):
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# run once so we're setup
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managed_processes['pandad'].start()
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self._wait_for_boardd()
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managed_processes['pandad'].stop()
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# should be fast this time
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managed_processes['pandad'].start()
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self._wait_for_boardd(8)
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#def test_out_of_date_fw(self):
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# pass
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if __name__ == "__main__":
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unittest.main()
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