mirror of https://github.com/commaai/panda.git
120 lines
3.0 KiB
Python
Executable File
120 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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import time
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import random
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import argparse
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from hexdump import hexdump
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from itertools import permutations
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda # noqa: E402
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def get_test_string():
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return b"test" + os.urandom(10)
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def run_test(sleep_duration):
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pandas = Panda.list()
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print(pandas)
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if len(pandas) < 2:
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raise Exception("Minimum two pandas are needed for test")
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run_test_w_pandas(pandas, sleep_duration)
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def run_test_w_pandas(pandas, sleep_duration):
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h = list([Panda(x) for x in pandas])
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print("H", h)
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for hh in h:
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hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# test both directions
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for ho in permutations(list(range(len(h))), r=2):
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print("***************** TESTING", ho)
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panda0, panda1 = h[ho[0]], h[ho[1]]
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# **** test health packet ****
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print("health", ho[0], h[ho[0]].health())
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# **** test K/L line loopback ****
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for bus in [2, 3]:
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# flush the output
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h[ho[1]].kline_drain(bus=bus)
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# send the characters
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st = get_test_string()
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st = bytes([0xaa, len(st) + 3]) + st
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h[ho[0]].kline_send(st, bus=bus, checksum=False)
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# check for receive
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ret = h[ho[1]].kline_drain(bus=bus)
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print("ST Data:")
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hexdump(st)
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print("RET Data:")
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hexdump(ret)
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assert st == ret
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print("K/L pass", bus, ho, "\n")
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time.sleep(sleep_duration)
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# **** test can line loopback ****
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for bus, gmlan in [(0, False), (1, False), (2, False), (1, True), (2, True)]:
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print("\ntest can", bus)
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# flush
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cans_echo = panda0.can_recv()
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cans_loop = panda1.can_recv()
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panda0.set_gmlan(None)
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panda1.set_gmlan(None)
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if gmlan is True:
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panda0.set_gmlan(bus)
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panda1.set_gmlan(bus)
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bus = 3
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# send the characters
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at = random.randint(1, 2000)
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st = get_test_string()[0:8]
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panda0.can_send(at, st, bus)
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time.sleep(0.1)
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# check for receive
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cans_echo = panda0.can_recv()
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cans_loop = panda1.can_recv()
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print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
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assert len(cans_echo) == 1
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assert len(cans_loop) == 1
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assert cans_echo[0][0] == at
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assert cans_loop[0][0] == at
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assert cans_echo[0][2] == st
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assert cans_loop[0][2] == st
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assert cans_echo[0][3] == 0x80 | bus
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if cans_loop[0][3] != bus:
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print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
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assert cans_loop[0][3] == bus
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print("CAN pass", bus, ho)
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time.sleep(sleep_duration)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("-n", type=int, help="Number of test iterations to run")
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parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
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args = parser.parse_args()
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if args.n is None:
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while True:
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run_test(sleep_duration=args.sleep)
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else:
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for _ in range(args.n):
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run_test(sleep_duration=args.sleep)
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