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harness HITL test refactor (#1911)

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* harness HITL tests

* cleanup

* oops

* unused
This commit is contained in:
Adeeb Shihadeh
2024-03-22 10:30:02 -07:00
committed by GitHub
parent 0714642491
commit 6b40f82bc4
2 changed files with 51 additions and 60 deletions
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60
tests/hitl/2_health.py
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@@ -2,66 +2,6 @@ import time
import pytest
from panda import Panda
from panda import PandaJungle
from panda.tests.hitl.conftest import PandaGroup
def test_ignition(p, panda_jungle):
# Set harness orientation to #2, since the ignition line is on the wrong SBU bus :/
panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_2)
p.reset()
for ign in (True, False):
panda_jungle.set_ignition(ign)
time.sleep(0.1)
assert p.health()['ignition_line'] == ign
@pytest.mark.test_panda_types(PandaGroup.GEN2)
def test_harness_status(p, panda_jungle):
flipped = None
for ignition in [True, False]:
for orientation in [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]:
panda_jungle.set_harness_orientation(orientation)
panda_jungle.set_ignition(ignition)
time.sleep(1)
health = p.health()
detected_orientation = health['car_harness_status']
print(f"set: {orientation} detected: {detected_orientation}")
# Orientation
if orientation == Panda.HARNESS_STATUS_NC:
assert detected_orientation == Panda.HARNESS_STATUS_NC
else:
if flipped is None:
flipped = (detected_orientation != orientation)
if orientation == Panda.HARNESS_STATUS_NORMAL:
assert detected_orientation == (Panda.HARNESS_STATUS_FLIPPED if flipped else Panda.HARNESS_STATUS_NORMAL)
else:
assert detected_orientation == (Panda.HARNESS_STATUS_NORMAL if flipped else Panda.HARNESS_STATUS_FLIPPED)
# Line ignition
assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
# SBU voltages
supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
if orientation == Panda.HARNESS_STATUS_NC:
assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
else:
relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
assert health[relay_line] < 0.1 * supply_voltage_mV
assert health[ignition_line] > health[relay_line]
if ignition:
assert health[ignition_line] < 0.3 * supply_voltage_mV
else:
assert health[ignition_line] > 0.9 * supply_voltage_mV
@pytest.mark.skip_panda_types((Panda.HW_TYPE_DOS, ))

51
tests/hitl/9_harness.py Normal file
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@@ -0,0 +1,51 @@
import time
import pytest
from panda import Panda
from panda.tests.hitl.conftest import PandaGroup
@pytest.mark.parametrize("ignition", [True, False])
@pytest.mark.parametrize("orientation", [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED])
@pytest.mark.test_panda_types(PandaGroup.GEN2)
def test_harness_status(p, panda_jungle, ignition, orientation):
flipped = None
panda_jungle.set_harness_orientation(orientation)
panda_jungle.set_ignition(ignition)
time.sleep(0.25) # updated at 8Hz
health = p.health()
detected_orientation = health['car_harness_status']
print(f"set: {orientation} detected: {detected_orientation}")
# Orientation
if orientation == Panda.HARNESS_STATUS_NC:
assert detected_orientation == Panda.HARNESS_STATUS_NC
else:
if flipped is None:
flipped = (detected_orientation != orientation)
if orientation == Panda.HARNESS_STATUS_NORMAL:
assert detected_orientation == (Panda.HARNESS_STATUS_FLIPPED if flipped else Panda.HARNESS_STATUS_NORMAL)
else:
assert detected_orientation == (Panda.HARNESS_STATUS_NORMAL if flipped else Panda.HARNESS_STATUS_FLIPPED)
# Line ignition
assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
# SBU voltages
supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
if orientation == Panda.HARNESS_STATUS_NC:
assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
else:
relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
assert health[relay_line] < 0.1 * supply_voltage_mV
assert health[ignition_line] > health[relay_line]
if ignition:
assert health[ignition_line] < 0.3 * supply_voltage_mV
else:
assert health[ignition_line] > 0.9 * supply_voltage_mV