mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-28 02:23:55 +08:00
cdcf06e9e2
* indecisive
* rename to generic FW query
* remove code and update comment
* we need this to start off, unless we set multiplexing immediately
* draft
* draft 2
* try that
* can't do this either, boardd might read Enabled after removing, but before setting new Request param
* this should work
* use one less param
* fix params
* match behavior (set all pandas to safety param of 1, disabling multiplexing for fingerprinting
* clean up (some tests may temp break)
* fix param name and sort
* time it
* yes it does matter
* add to hyundai's bus 5 query
* remove hyundai for now
* this should work
* clean up
* clean up
* flip argument around, clean up
* fix test_startup
* some clean up
* rm line
* comment makes more sense
* required typing
* clean up common type
* comments
* Update selfdrive/car/car_helpers.py
* line
* whoops, need to set before vin!
* fix debug
* annoying
* more debugging
* bug fix (needs both keys always)
* debuGG
debuGG
* Revert "debuGG"
This reverts commit 55b2f429324c0b92d5cfb2cabf8b20db1e166248.
* Revert "more debugging"
This reverts commit 02934c3403ad5270f03093508b704c151d1ccb2a.
* Revert "annoying"
This reverts commit 8b4e5e09989f9a0217e3ec1c0ba68735929b7366.
* clean that up
* bumpback
* bumpback
* every second write param
* flip
* stuff
* move up?
* fix timing out in CI
* rm
old-commit-hash: 42449b482d
96 lines
2.9 KiB
Python
Executable File
96 lines
2.9 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import random
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import time
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import unittest
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from collections import defaultdict
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import cereal.messaging as messaging
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from cereal import car
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from common.params import Params
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from common.spinner import Spinner
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from common.timeout import Timeout
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car import make_can_msg
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from system.hardware import TICI
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from selfdrive.test.helpers import phone_only, with_processes
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class TestBoardd(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['STARTED'] = '1'
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os.environ['BOARDD_LOOPBACK'] = '1'
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cls.spinner = Spinner()
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@classmethod
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def tearDownClass(cls):
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cls.spinner.close()
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@phone_only
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@with_processes(['pandad'])
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def test_loopback(self):
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# wait for boardd to init
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time.sleep(2)
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with Timeout(60, "boardd didn't start"):
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sm = messaging.SubMaster(['pandaStates'])
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while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
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sm.update(1000)
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num_pandas = len(sm['pandaStates'])
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if TICI:
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self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
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# boardd blocks on CarVin and CarParams
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cp = car.CarParams.new_message()
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safety_config = car.CarParams.SafetyConfig.new_message()
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safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
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cp.safetyConfigs = [safety_config]*num_pandas
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params = Params()
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params.put_bool("FirmwareQueryDone", True)
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params.put_bool("ControlsReady", True)
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params.put("CarParams", cp.to_bytes())
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sendcan = messaging.pub_sock('sendcan')
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can = messaging.sub_sock('can', conflate=False, timeout=100)
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time.sleep(0.2)
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n = 200
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for i in range(n):
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self.spinner.update(f"boardd loopback {i}/{n}")
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sent_msgs = defaultdict(set)
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for _ in range(random.randrange(10)):
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to_send = []
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for __ in range(random.randrange(100)):
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bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
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addr = random.randrange(1, 1<<29)
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dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
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sent_msgs[bus].add((addr, dat))
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to_send.append(make_can_msg(addr, dat, bus))
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sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
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for _ in range(100 * 2):
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recvd = messaging.drain_sock(can, wait_for_one=True)
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for msg in recvd:
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for m in msg.can:
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if m.src >= 128:
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key = (m.address, m.dat)
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assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
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sent_msgs[m.src-128].discard(key)
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if all(len(v) == 0 for v in sent_msgs.values()):
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break
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# if a set isn't empty, messages got dropped
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for bus in sent_msgs.keys():
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assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
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if __name__ == "__main__":
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unittest.main()
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