add insecure_okay flag

tests/automated/helpers.py

@@ -26,7 +26,7 @@ def connect_wifi():
   assert(dongle_id.isalnum())
   _connect_wifi(dongle_id, pw)
 
-def _connect_wifi(dongle_id, pw):
+def _connect_wifi(dongle_id, pw, insecure_okay=False):
   ssid = str("panda-" + dongle_id)
 
   print("WIFI: connecting to %s" % ssid)
@@ -49,6 +49,8 @@ def _connect_wifi(dongle_id, pw):
       assert cnt < MAX_TRIES
       if "-pair" in wifi_scan[0]:
         os.system("nmcli d wifi connect %s-pair" % (ssid))
+        if insecure_okay:
+          break
         # fetch webpage
         print "connecting to insecure network to secure"
         r = requests.get("http://192.168.0.10/")

tests/standalone_test.py

@@ -21,7 +21,7 @@ if __name__ == "__main__":
   t2 = time.time()
   print("100 requests took %.2f ms" % ((t2-t1)*1000))
 
-  p.set_controls_allowed(True)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   a = 0
   while True:

tests/tucan_loopback.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+from __future__ import print_function
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+def run_test(sleep_duration):
+  pandas = Panda.list()
+  print(pandas)
+
+  if len(pandas) == 0:
+    print("NO PANDAS")
+    assert False
+
+  if len(pandas) == 1:
+    # if we only have one on USB, assume the other is on wifi
+    pandas.append("WIFI")
+  run_test_w_pandas(pandas, sleep_duration)
+
+def run_test_w_pandas(pandas, sleep_duration):
+  h = list(map(lambda x: Panda(x), pandas))
+  print("H", h)
+
+  for hh in h:
+    hh.set_controls_allowed(True)
+
+  # test both directions
+  for ho in permutations(range(len(h)), r=2):
+    print("***************** TESTING", ho)
+
+    panda0, panda1 = h[ho[0]], h[ho[1]]
+
+    if(panda0._serial == "WIFI"):
+      print("  *** Can not send can data over wifi panda. Skipping! ***")
+      continue
+
+    # **** test health packet ****
+    print("health", ho[0], h[ho[0]].health())
+
+    # **** test K/L line loopback ****
+    for bus in [2,3]:
+      # flush the output
+      h[ho[1]].kline_drain(bus=bus)
+
+      # send the characters
+      st = get_test_string()
+      st = b"\xaa"+chr(len(st)+3).encode()+st
+      h[ho[0]].kline_send(st, bus=bus, checksum=False)
+
+      # check for receive
+      ret = h[ho[1]].kline_drain(bus=bus)
+
+      print("ST Data:")
+      hexdump(st)
+      print("RET Data:")
+      hexdump(ret)
+      assert st == ret
+      print("K/L pass", bus, ho, "\n")
+      time.sleep(sleep_duration)
+
+    # **** test can line loopback ****
+#    for bus, gmlan in [(0, None), (1, False), (2, False), (1, True), (2, True)]:
+for bus, gmlan in [(0, None), (1, None)]:
+      print("\ntest can", bus)
+      # flush
+      cans_echo = panda0.can_recv()
+      cans_loop = panda1.can_recv()
+
+      if gmlan is not None:
+        panda0.set_gmlan(gmlan, bus)
+        panda1.set_gmlan(gmlan, bus)
+
+      # send the characters
+      # pick addresses high enough to not conflict with honda code
+      at = random.randint(1024, 2000)
+      st = get_test_string()[0:8]
+      panda0.can_send(at, st, bus)
+      time.sleep(0.1)
+
+      # check for receive
+      cans_echo = panda0.can_recv()
+      cans_loop = panda1.can_recv()
+
+      print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
+
+      assert len(cans_echo) == 1
+      assert len(cans_loop) == 1
+
+      assert cans_echo[0][0] == at
+      assert cans_loop[0][0] == at
+
+      assert cans_echo[0][2] == st
+      assert cans_loop[0][2] == st
+
+      assert cans_echo[0][3] == 0x80 | bus
+      if cans_loop[0][3] != bus:
+        print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
+      assert cans_loop[0][3] == bus
+
+      print("CAN pass", bus, ho)
+      time.sleep(sleep_duration)
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("-n", type=int, help="Number of test iterations to run")
+  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+  args = parser.parse_args()
+
+  if args.n is None:
+    while True:
+      run_test(sleep_duration=args.sleep)
+  else:
+    for i in range(args.n):
+      run_test(sleep_duration=args.sleep)