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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
74 lines
2.5 KiB
Python
74 lines
2.5 KiB
Python
"""Exercise native discovery without touching Panda hardware."""
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import subprocess
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import sys
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from pathlib import Path
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import capnproto
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import pytest
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from openpilot.common.basedir import BASEDIR
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pytestmark = pytest.mark.skipif(sys.platform != "linux", reason="Native pandad discovery is tested on Linux")
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@pytest.fixture(scope="module")
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def discovery_binary(tmp_path_factory):
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directory = tmp_path_factory.mktemp("panda-discovery")
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source = directory / "discovery.cc"
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source.write_text('''
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#include <cassert>
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#include <string>
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#include <vector>
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#include "selfdrive/pandad/panda.h"
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std::string model;
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std::vector<std::string> usb_serials, spi_serials;
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int spi_calls = 0;
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namespace util {
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std::string read_file(const std::string &path) {
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assert(path == "/sys/firmware/devicetree/base/model");
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return "comma " + model;
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}
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std::string strip(const std::string &text) { return text; }
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}
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std::vector<std::string> PandaUsbHandle::list() { return usb_serials; }
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std::vector<std::string> PandaSpiHandle::list() {
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++spi_calls;
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assert(model != "tici"); // C3's unused SPI interface must never be probed.
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return spi_serials;
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}
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int main(int argc, char **argv) {
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assert(argc == 3);
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model = argv[1];
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usb_serials = {"external-usb", "second-usb"};
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if (std::string(argv[2]) == "empty") usb_serials.clear();
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if (std::string(argv[2]) == "duplicate") usb_serials.push_back("internal-spi");
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assert(Panda::list() == usb_serials);
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spi_serials = {"internal-spi"}; // Internal SPI Panda becomes available later.
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auto expected = usb_serials;
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if (model != "tici" && std::string(argv[2]) != "duplicate") expected.push_back("internal-spi");
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assert(Panda::list() == expected);
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assert(spi_calls == (model == "tici" ? 0 : 2));
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}
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''')
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binary = directory / "discovery"
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root = Path(BASEDIR)
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includes = [root, root / "openpilot", root / "msgq_repo", root / "opendbc_repo",
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root / "openpilot/cereal/gen/cpp", capnproto.INCLUDE_DIR]
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subprocess.run([
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"c++", "-std=c++17", "-D__COMMA_HARDWARE__", "-ffunction-sections", "-fdata-sections",
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*[f"-I{path}" for path in includes], str(source), str(root / "openpilot/selfdrive/pandad/panda.cc"),
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"-Wl,--gc-sections", "-o", str(binary),
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], check=True)
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return binary
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@pytest.mark.parametrize("model", ["tici", "tizi", "mici"])
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@pytest.mark.parametrize("inventory", ["multiple", "empty", "duplicate"])
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def test_discovery_preserves_supported_transports(discovery_binary, model, inventory):
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subprocess.run([str(discovery_binary), model, inventory], check=True, timeout=5)
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