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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.
134 lines
4.0 KiB
Python
134 lines
4.0 KiB
Python
import atexit
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import os
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import signal
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import unittest
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from panda import Panda, PandaDFU, PandaJungle
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from panda.tests.hitl.helpers import clear_can_buffers
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SPEED_NORMAL = 500
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BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL)]
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# test options
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NO_JUNGLE = os.environ.get("NO_JUNGLE", "0") == "1"
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# Find all pandas connected
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_panda_jungle = None
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_panda_type = None
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_panda_serial = None
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def init_devices():
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if not NO_JUNGLE:
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global _panda_jungle
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_panda_jungle = PandaJungle()
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_panda_jungle.set_panda_power(True)
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with Panda(serial=None, claim=False) as p:
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global _panda_type
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global _panda_serial
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_panda_serial = p.get_usb_serial()
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_panda_type = bytes(p.get_type())
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assert _panda_serial is not None, "No panda found!"
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def init_jungle():
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if _panda_jungle is None:
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return
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clear_can_buffers(_panda_jungle)
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_panda_jungle.set_panda_power(True)
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_panda_jungle.set_can_loopback(False)
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_panda_jungle.set_obd(False)
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_panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
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for bus, speed in BUS_SPEEDS:
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_panda_jungle.set_can_speed_kbps(bus, speed)
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def panda_test(**options):
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def decorate(test):
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test.panda_options = {**getattr(test, "panda_options", {}), **options}
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return test
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return decorate
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@unittest.skipUnless(os.environ.get("HITL") == "1", "hardware tests require HITL=1")
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class PandaTestCase(unittest.TestCase):
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panda_types = None
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@classmethod
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def setUpClass(cls):
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if _panda_serial is None:
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init_devices()
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if _panda_jungle is not None:
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atexit.register(_panda_jungle.close)
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# init jungle
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init_jungle()
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# init panda
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assert Panda.wait_for_panda(_panda_serial, timeout=10), "panda not found"
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p = Panda(serial=_panda_serial)
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cls.addClassCleanup(p.close)
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cls.p = p
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p.reset(reconnect=True)
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p.set_can_loopback(False)
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p.set_power_save(False)
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for bus, speed in BUS_SPEEDS:
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p.set_can_speed_kbps(bus, speed)
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clear_can_buffers(p)
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p.set_power_save(False)
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def setUp(self):
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self.options = getattr(getattr(self, self._testMethodName), "panda_options", {})
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panda_types = self.options.get("panda_types", self.panda_types)
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if panda_types is not None and _panda_type not in panda_types:
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self.skipTest(f"Not applicable, {panda_types} pandas only")
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if self.options.get("needs_jungle", False) and NO_JUNGLE:
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self.skipTest("skipping tests that require a jungle")
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previous_handler = signal.signal(signal.SIGALRM, self._timeout)
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self.addCleanup(signal.signal, signal.SIGALRM, previous_handler)
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self.addCleanup(signal.setitimer, signal.ITIMER_REAL, 0)
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signal.setitimer(signal.ITIMER_REAL, self.options.get("timeout", 60))
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if self.options.get("needs_jungle", False):
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init_jungle()
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self.panda_jungle = _panda_jungle
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self.p.reset()
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assert self.p.up_to_date()
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def _timeout(self, signum, frame):
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raise TimeoutError(f"{self.id()} exceeded its test timeout")
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def tearDown(self):
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p = self.p
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# reconnect
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if p.get_dfu_serial() in PandaDFU.list():
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PandaDFU(p.get_dfu_serial()).reset()
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p.reconnect()
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if not p.connected:
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p.reconnect()
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if p.bootstub:
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p.reset()
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assert not p.bootstub
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# Check for faults
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assert p.health()['faults'] == 0
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assert p.health()['fault_status'] == 0
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# Check for SPI errors
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#assert p.health()['spi_error_count'] == 0
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# Check health of each CAN core after test, normal to fail for test_gen2_loopback on OBD bus, so skipping
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if not self.options.get("expect_can_error", False):
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for i in range(3):
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can_health = p.can_health(i)
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assert can_health['bus_off_cnt'] == 0
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assert can_health['receive_error_cnt'] < 127
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assert can_health['transmit_error_cnt'] < 255
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assert can_health['error_passive'] == 0
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assert can_health['error_warning'] == 0
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assert can_health['total_rx_lost_cnt'] == 0
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assert can_health['total_tx_lost_cnt'] == 0
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assert can_health['total_error_cnt'] == 0
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assert can_health['total_tx_checksum_error_cnt'] == 0
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