mirror of https://github.com/commaai/panda.git
123 lines
3.3 KiB
Python
Executable File
123 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python3
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# Loopback test between two black pandas (+ harness and power)
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# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
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# To be sure, the test should be run with both harness orientations
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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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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda
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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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# make sure two pandas are connected
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if len(pandas) != 2:
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print("Connect white/grey and black panda to run this test!")
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assert False
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# connect
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pandas[0] = Panda(pandas[0])
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pandas[1] = Panda(pandas[1])
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# find out the hardware types
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if not pandas[0].is_black() or not pandas[1].is_black():
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print("Connect two black pandas to run this test!")
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assert False
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for panda in pandas:
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# disable safety modes
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panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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# test health packet
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print("panda health", panda.health())
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# setup test array (send bus, sender obd, reciever obd, expected busses)
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test_array = [
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(0, False, False, [0]),
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(1, False, False, [1]),
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(2, False, False, [2]),
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(0, False, True, [0, 1]),
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(1, False, True, []),
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(2, False, True, [2]),
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(0, True, False, [0]),
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(1, True, False, [0]),
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(2, True, False, [2]),
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(0, True, True, [0, 1]),
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(1, True, True, [0, 1]),
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(2, True, True, [2])
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]
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# test both orientations
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print("***************** TESTING (0 --> 1) *****************")
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test_buses(pandas[0], pandas[1], test_array, sleep_duration)
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print("***************** TESTING (1 --> 0) *****************")
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test_buses(pandas[1], pandas[0], test_array, sleep_duration)
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def test_buses(send_panda, recv_panda, test_array, sleep_duration):
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for send_bus, send_obd, recv_obd, recv_buses in test_array:
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send_panda.send_heartbeat()
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recv_panda.send_heartbeat()
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print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
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# set OBD on pandas
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send_panda.set_gmlan(True if send_obd else None)
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recv_panda.set_gmlan(True if recv_obd else None)
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# clear and flush
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send_panda.can_clear(send_bus)
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for recv_bus in recv_buses:
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recv_panda.can_clear(recv_bus)
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send_panda.can_recv()
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recv_panda.can_recv()
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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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send_panda.can_send(at, st, send_bus)
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time.sleep(0.1)
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# check for receive
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_ = send_panda.can_recv() # cans echo
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cans_loop = recv_panda.can_recv()
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loop_buses = []
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for loop in cans_loop:
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print(" Loop on bus", str(loop[3]))
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loop_buses.append(loop[3])
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if len(cans_loop) == 0:
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print(" No loop")
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# test loop buses
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recv_buses.sort()
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loop_buses.sort()
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assert recv_buses == loop_buses
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print(" TEST PASSED")
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time.sleep(sleep_duration)
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print("\n")
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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 i in range(args.n):
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run_test(sleep_duration=args.sleep)
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