openpilot v0.5.12 release

old-commit-hash: 3f9059fea8

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+"""Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
+
+import os
+import random
+import zmq
+import time
+
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from selfdrive.messaging import drain_sock, pub_sock, sub_sock
+from selfdrive.services import service_list
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+BUS = 0
+
+def main():
+  context = zmq.Context()
+
+  rcv = sub_sock(context, service_list['can'].port) # port 8006
+  snd = pub_sock(context, service_list['sendcan'].port) # port 8017
+  time.sleep(0.3) # wait to bind before send/recv
+
+  for i in range(10):
+    print("Loop %d" % i)
+    at = random.randint(1024, 2000)
+    st = get_test_string()[0:8]
+    snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes())
+    time.sleep(0.1)
+    res = drain_sock(rcv, True)
+    assert len(res) == 1
+
+    res = res[0].can
+    assert len(res) == 2
+
+    msg0, msg1 = res
+
+    assert msg0.dat == st
+    assert msg1.dat == st
+
+    assert msg0.address == at
+    assert msg1.address == at
+
+    assert msg0.src == 0x80 | BUS
+    assert msg1.src == BUS
+
+  print("Success")
+
+if __name__ == "__main__":
+  main()