mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
aaa1172fa2
* HITL bootkick tests * both bootkick cases * more * som use gpio * cleanup * pretty reliable now
119 lines
3.0 KiB
Python
119 lines
3.0 KiB
Python
import time
|
|
import pytest
|
|
|
|
from panda import Panda, PandaJungle
|
|
|
|
PANDA_SERIAL = "28002d000451323431333839"
|
|
JUNGLE_SERIAL = "26001c001451313236343430"
|
|
|
|
AUX_PORT = 6
|
|
OBDC_PORT = 1
|
|
|
|
@pytest.fixture(autouse=True, scope="function")
|
|
def pj():
|
|
jungle = PandaJungle(JUNGLE_SERIAL)
|
|
jungle.flash()
|
|
|
|
jungle.set_ignition(False)
|
|
|
|
yield jungle
|
|
|
|
jungle.set_panda_power(False)
|
|
jungle.close()
|
|
|
|
@pytest.fixture(scope="function")
|
|
def p(pj):
|
|
pj.set_panda_power(True)
|
|
assert Panda.wait_for_panda(PANDA_SERIAL, 10)
|
|
p = Panda(PANDA_SERIAL)
|
|
p.flash()
|
|
p.reset()
|
|
yield p
|
|
p.close()
|
|
|
|
def setup_state(panda, jungle, state):
|
|
jungle.set_panda_power(0)
|
|
|
|
if state == "off":
|
|
wait_for_full_poweroff(jungle)
|
|
elif state == "normal boot":
|
|
jungle.set_panda_individual_power(OBDC_PORT, 1)
|
|
elif state == "QDL":
|
|
jungle.set_panda_individual_power(AUX_PORT, 1)
|
|
time.sleep(0.5)
|
|
jungle.set_panda_individual_power(OBDC_PORT, 1)
|
|
elif state == "ready to bootkick":
|
|
wait_for_full_poweroff(jungle)
|
|
jungle.set_panda_individual_power(OBDC_PORT, 1)
|
|
wait_for_boot(panda, jungle)
|
|
panda.set_safety_mode(Panda.SAFETY_SILENT)
|
|
panda.send_heartbeat()
|
|
wait_for_som_shutdown(panda, jungle)
|
|
else:
|
|
raise ValueError(f"unkown state: {state}")
|
|
|
|
|
|
def wait_for_som_shutdown(panda, jungle):
|
|
st = time.monotonic()
|
|
while panda.read_som_gpio():
|
|
# can take a while for the SOM to fully shutdown
|
|
if time.monotonic() - st > 120:
|
|
raise Exception("SOM didn't shutdown in time")
|
|
time.sleep(0.5)
|
|
dt = time.monotonic() - st
|
|
print(f"took {dt:.2f}s for SOM to shutdown")
|
|
|
|
def wait_for_full_poweroff(jungle, timeout=30):
|
|
st = time.monotonic()
|
|
|
|
time.sleep(5)
|
|
while PANDA_SERIAL in Panda.list():
|
|
if time.monotonic() - st > timeout:
|
|
raise Exception("took too long for device to turn off")
|
|
|
|
health = jungle.health()
|
|
assert all(health[f"ch{i}_power"] < 0.1 for i in range(1, 7))
|
|
|
|
def check_som_boot_flag(panda):
|
|
h = panda.health()
|
|
return h['safety_mode'] == Panda.SAFETY_ELM327 and h['safety_param'] == 30
|
|
|
|
def wait_for_boot(panda, jungle, bootkick=False, timeout=60):
|
|
st = time.monotonic()
|
|
|
|
Panda.wait_for_panda(PANDA_SERIAL, timeout)
|
|
panda.reconnect()
|
|
if bootkick:
|
|
assert panda.health()['uptime'] > 20
|
|
else:
|
|
assert panda.health()['uptime'] < 3
|
|
|
|
for i in range(3):
|
|
assert not check_som_boot_flag(panda)
|
|
time.sleep(1)
|
|
|
|
# wait for SOM to bootup
|
|
while not check_som_boot_flag(panda):
|
|
if time.monotonic() - st > timeout:
|
|
raise Exception("SOM didn't boot in time")
|
|
time.sleep(1.0)
|
|
|
|
|
|
def test_cold_boot(p, pj):
|
|
setup_state(p, pj, "off")
|
|
setup_state(p, pj, "normal boot")
|
|
wait_for_boot(p, pj)
|
|
|
|
def test_bootkick_ignition_line(p, pj):
|
|
setup_state(p, pj, "ready to bootkick")
|
|
pj.set_ignition(True)
|
|
wait_for_boot(p, pj, bootkick=True)
|
|
|
|
def test_bootkick_can_ignition(p, pj):
|
|
setup_state(p, pj, "ready to bootkick")
|
|
for _ in range(10):
|
|
# Mazda ignition signal
|
|
pj.can_send(0x9E, b'\xc0\x00\x00\x00\x00\x00\x00\x00', 0)
|
|
time.sleep(0.5)
|
|
wait_for_boot(p, pj, bootkick=True)
|