mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
94 lines
2.5 KiB
Python
94 lines
2.5 KiB
Python
import time
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from opendbc.car.structs import CarParams
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from panda.tests.hitl.base import PandaTestCase
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from panda import Panda
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from panda.tests.hitl.helpers import time_many_sends
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class TestUsb(PandaTestCase):
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panda_types = (Panda.HW_TYPE_RED_PANDA, )
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def test_can_loopback(self):
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p = self.p
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p.set_safety_mode(CarParams.SafetyModel.allOutput)
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p.set_can_loopback(True)
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for bus in (0, 1, 2):
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# set bus 0 speed to 5000
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p.set_can_speed_kbps(bus, 500)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", bus)
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# confirm receive both on loopback and send receipt
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time.sleep(0.05)
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r = p.can_recv()
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sr = [x for x in r if x[2] == 0x80 | bus]
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lb = [x for x in r if x[2] == bus]
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assert len(sr) == 1
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assert len(lb) == 1
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# confirm data is correct
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assert 0x1aa == sr[0][0] == lb[0][0]
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assert b"message" == sr[0][1] == lb[0][1]
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def test_reliability(self):
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p = self.p
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MSG_COUNT = 100
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p.set_safety_mode(CarParams.SafetyModel.allOutput)
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p.set_can_loopback(True)
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p.set_can_speed_kbps(0, 1000)
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addrs = list(range(100, 100 + MSG_COUNT))
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ts = [(j, b"\xaa" * 8, 0) for j in addrs]
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for _ in range(100):
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st = time.monotonic()
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p.can_send_many(ts)
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r = []
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while len(r) < 200 and (time.monotonic() - st) < 0.5:
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r.extend(p.can_recv())
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sent_echo = [x for x in r if x[2] == 0x80]
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loopback_resp = [x for x in r if x[2] == 0]
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assert sorted([x[0] for x in loopback_resp]) == addrs
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assert sorted([x[0] for x in sent_echo]) == addrs
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assert len(r) == 200
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# take sub 20ms
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et = (time.monotonic() - st) * 1000.0
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assert et < 20
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def test_throughput(self):
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p = self.p
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# enable output mode
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p.set_safety_mode(CarParams.SafetyModel.allOutput)
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# enable CAN loopback mode
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p.set_can_loopback(True)
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for speed in [10, 20, 50, 100, 125, 250, 500, 1000]:
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# set bus 0 speed to speed
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p.set_can_speed_kbps(0, speed)
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time.sleep(0.05)
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comp_kbps = time_many_sends(p, 0)
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# bit count from https://en.wikipedia.org/wiki/CAN_bus
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saturation_pct = (comp_kbps / speed) * 100.0
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assert saturation_pct > 80
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assert saturation_pct < 100
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print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
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def test_debug_logs(self):
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p = self.p
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_ = p.debug_read() # junk
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p.call_control_api(0x01)
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assert p.debug_read().startswith(b"NO HANDLER")
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