mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-20 17:13:53 +08:00
f206ebd054
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default
Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
old-commit-hash: 332f568a82
96 lines
2.9 KiB
Python
Executable File
96 lines
2.9 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os
|
|
import random
|
|
import time
|
|
import unittest
|
|
from collections import defaultdict
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import car
|
|
from common.params import Params
|
|
from common.spinner import Spinner
|
|
from common.timeout import Timeout
|
|
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
|
from selfdrive.car import make_can_msg
|
|
from selfdrive.hardware import TICI
|
|
from selfdrive.test.helpers import phone_only, with_processes
|
|
|
|
|
|
class TestBoardd(unittest.TestCase):
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
os.environ['STARTED'] = '1'
|
|
os.environ['BOARDD_LOOPBACK'] = '1'
|
|
cls.spinner = Spinner()
|
|
|
|
@classmethod
|
|
def tearDownClass(cls):
|
|
cls.spinner.close()
|
|
|
|
@phone_only
|
|
@with_processes(['pandad'])
|
|
def test_loopback(self):
|
|
# wait for boardd to init
|
|
time.sleep(2)
|
|
|
|
with Timeout(60, "boardd didn't start"):
|
|
sm = messaging.SubMaster(['pandaStates'])
|
|
while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
|
|
sm.update(1000)
|
|
|
|
num_pandas = len(sm['pandaStates'])
|
|
if TICI:
|
|
self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
|
|
|
|
# boardd blocks on CarVin and CarParams
|
|
cp = car.CarParams.new_message()
|
|
|
|
safety_config = car.CarParams.SafetyConfig.new_message()
|
|
safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
|
|
cp.safetyConfigs = [safety_config]*num_pandas
|
|
|
|
params = Params()
|
|
params.put("CarVin", b"0"*17)
|
|
params.put_bool("ControlsReady", True)
|
|
params.put("CarParams", cp.to_bytes())
|
|
|
|
sendcan = messaging.pub_sock('sendcan')
|
|
can = messaging.sub_sock('can', conflate=False, timeout=100)
|
|
time.sleep(0.2)
|
|
|
|
n = 200
|
|
for i in range(n):
|
|
self.spinner.update(f"boardd loopback {i}/{n}")
|
|
|
|
sent_msgs = defaultdict(set)
|
|
for _ in range(random.randrange(10)):
|
|
to_send = []
|
|
for __ in range(random.randrange(100)):
|
|
bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
|
|
addr = random.randrange(1, 1<<29)
|
|
dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
|
|
sent_msgs[bus].add((addr, dat))
|
|
to_send.append(make_can_msg(addr, dat, bus))
|
|
sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
|
|
|
|
for _ in range(100 * 2):
|
|
recvd = messaging.drain_sock(can, wait_for_one=True)
|
|
for msg in recvd:
|
|
for m in msg.can:
|
|
if m.src >= 128:
|
|
key = (m.address, m.dat)
|
|
assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
|
|
sent_msgs[m.src-128].discard(key)
|
|
|
|
if all(len(v) == 0 for v in sent_msgs.values()):
|
|
break
|
|
|
|
# if a set isn't empty, messages got dropped
|
|
for bus in sent_msgs.keys():
|
|
assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|