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pandad: add jungle spam mode to test (#32636) 

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh 2024-06-05 15:23:25 -07:00 committed by GitHub
parent 7b09285817
commit a46f1c6eba
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GPG Key ID: B5690EEEBB952194
1 changed files with 19 additions and 8 deletions
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27
selfdrive/pandad/tests/test_pandad_spi.py
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@ -10,6 +10,7 @@ from openpilot.system.hardware import HARDWARE
from openpilot.selfdrive.test.helpers import phone_only, with_processes
from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@pytest.mark.tici
class TestBoarddSpi:
@ -18,9 +19,9 @@ class TestBoarddSpi:
if HARDWARE.get_device_type() == 'tici':
pytest.skip("only for spi pandas")
os.environ['STARTED'] = '1'
os.environ['BOARDD_LOOPBACK'] = '1'
#os.environ['SPI_ERR_PROB'] = '-1'
os.environ['SPI_ERR_PROB'] = '0.001'
if not JUNGLE_SPAM:
os.environ['BOARDD_LOOPBACK'] = '1'
@phone_only
@with_processes(['pandad'])
@ -39,12 +40,13 @@ class TestBoarddSpi:
st = time.monotonic()
ts = {s: list() for s in socks.keys()}
for _ in range(20):
for _ in range(int(os.getenv("TEST_TIME", "20"))):
# send some CAN messages
sent = send_random_can_messages(sendcan, random.randrange(2, 20))
for k, v in sent.items():
sent_msgs[k].extend(list(v))
total_sent_count += len(v)
if not JUNGLE_SPAM:
sent = send_random_can_messages(sendcan, random.randrange(2, 20))
for k, v in sent.items():
sent_msgs[k].extend(list(v))
total_sent_count += len(v)
for service, sock in socks.items():
for m in messaging.drain_sock(sock):
@ -54,6 +56,15 @@ class TestBoarddSpi:
assert m.valid or (service == "can")
if service == "can":
for msg in m.can:
if JUNGLE_SPAM:
# PandaJungle.set_generated_can(True)
i = msg.address - 0x200
assert msg.address >= 0x200
assert msg.src == (i%3)
assert msg.dat == b"\xff"*(i%8)
total_recv_count += 1
continue
if msg.src > 4:
continue
key = (msg.address, msg.dat)
@ -91,5 +102,5 @@ class TestBoarddSpi:
assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
with subtests.test(msg="CAN traffic"):
print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/total_sent_count:.2%} received")
print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
assert total_recv_count > 20