mirror of https://github.com/commaai/panda.git
126 lines
4.2 KiB
Python
126 lines
4.2 KiB
Python
import time
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import pytest
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from panda import Panda
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from panda import PandaJungle
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from panda.tests.hitl.conftest import PandaGroup
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def test_ignition(p, panda_jungle):
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# Set harness orientation to #2, since the ignition line is on the wrong SBU bus :/
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panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_2)
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p.reset()
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for ign in (True, False):
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panda_jungle.set_ignition(ign)
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time.sleep(0.1)
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assert p.health()['ignition_line'] == ign
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@pytest.mark.test_panda_types(PandaGroup.GEN2)
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def test_harness_status(p, panda_jungle):
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flipped = None
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for ignition in [True, False]:
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for orientation in [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]:
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panda_jungle.set_harness_orientation(orientation)
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panda_jungle.set_ignition(ignition)
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time.sleep(1)
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health = p.health()
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detected_orientation = health['car_harness_status']
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print(f"set: {orientation} detected: {detected_orientation}")
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# Orientation
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if orientation == Panda.HARNESS_STATUS_NC:
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assert detected_orientation == Panda.HARNESS_STATUS_NC
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else:
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if flipped is None:
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flipped = (detected_orientation != orientation)
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if orientation == Panda.HARNESS_STATUS_NORMAL:
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assert detected_orientation == (Panda.HARNESS_STATUS_FLIPPED if flipped else Panda.HARNESS_STATUS_NORMAL)
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else:
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assert detected_orientation == (Panda.HARNESS_STATUS_NORMAL if flipped else Panda.HARNESS_STATUS_FLIPPED)
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# Line ignition
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assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
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# SBU voltages
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supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
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if orientation == Panda.HARNESS_STATUS_NC:
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assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
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assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
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else:
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relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
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ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
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assert health[relay_line] < 0.1 * supply_voltage_mV
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assert health[ignition_line] > health[relay_line]
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if ignition:
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assert health[ignition_line] < 0.3 * supply_voltage_mV
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else:
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assert health[ignition_line] > 0.9 * supply_voltage_mV
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@pytest.mark.skip_panda_types((Panda.HW_TYPE_DOS, ))
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def test_voltage(p):
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for _ in range(10):
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voltage = p.health()['voltage']
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assert ((voltage > 11000) and (voltage < 13000))
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time.sleep(0.1)
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def test_hw_type(p):
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"""
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hw type should be same in bootstub as application
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"""
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hw_type = p.get_type()
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mcu_type = p.get_mcu_type()
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assert mcu_type is not None
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app_uid = p.get_uid()
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usb_serial = p.get_usb_serial()
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assert app_uid == usb_serial
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p.reset(enter_bootstub=True, reconnect=True)
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p.close()
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time.sleep(3)
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with Panda(p.get_usb_serial()) as pp:
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assert pp.bootstub
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assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch"
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assert pp.get_mcu_type() == mcu_type, "Bootstub and app MCU type mismatch"
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assert pp.get_uid() == app_uid
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def test_heartbeat(p, panda_jungle):
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panda_jungle.set_ignition(True)
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# TODO: add more cases here once the tests aren't super slow
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p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
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p.send_heartbeat()
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assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
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assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
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# shouldn't do anything once we're in a car safety mode
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p.set_heartbeat_disabled()
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time.sleep(6.)
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h = p.health()
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assert h['heartbeat_lost']
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assert h['safety_mode'] == Panda.SAFETY_SILENT
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assert h['safety_param'] == 0
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assert h['controls_allowed'] == 0
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def test_microsecond_timer(p):
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start_time = p.get_microsecond_timer()
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time.sleep(1)
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end_time = p.get_microsecond_timer()
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# account for uint32 overflow
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if end_time < start_time:
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end_time += 2**32
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time_diff = (end_time - start_time) / 1e6
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assert 0.98 < time_diff < 1.02, f"Timer not running at the correct speed! (got {time_diff:.2f}s instead of 1.0s)"
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