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.
71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
import time
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from opendbc.car.hyundai.values import HyundaiSafetyFlags
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from opendbc.car.structs import CarParams
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from panda.tests.hitl.base import PandaTestCase, panda_test
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from panda import Panda
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class TestHealth(PandaTestCase):
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def test_voltage(self):
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p = self.p
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for _ in range(10):
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voltage = p.health()['voltage']
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assert ((voltage > 11000) and (voltage < 13000))
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time.sleep(0.1)
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def test_hw_type(self):
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"""
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hw type should be same in bootstub as application
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"""
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p = self.p
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hw_type = p.get_type()
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app_uid = p.get_uid()
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usb_serial = p.get_usb_serial()
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assert app_uid == usb_serial
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p.reset(enter_bootstub=True, reconnect=True)
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p.close()
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time.sleep(3)
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with Panda(p.get_usb_serial()) as pp:
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assert pp.bootstub
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assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch"
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assert pp.get_uid() == app_uid
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@panda_test(needs_jungle=True)
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def test_heartbeat(self):
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p = self.p
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panda_jungle = self.panda_jungle
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panda_jungle.set_ignition(True)
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# TODO: add more cases here once the tests aren't super slow
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p.set_safety_mode(mode=CarParams.SafetyModel.hyundai, param=HyundaiSafetyFlags.LONG)
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p.send_heartbeat()
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assert p.health()['safety_mode'] == CarParams.SafetyModel.hyundai
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assert p.health()['safety_param'] == HyundaiSafetyFlags.LONG
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# shouldn't do anything once we're in a car safety mode
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p.set_heartbeat_disabled()
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time.sleep(6.)
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h = p.health()
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assert h['heartbeat_lost']
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assert h['safety_mode'] == CarParams.SafetyModel.silent
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assert h['safety_param'] == 0
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assert h['controls_allowed'] == 0
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def test_microsecond_timer(self):
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p = self.p
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start_time = p.get_microsecond_timer()
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time.sleep(1)
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end_time = p.get_microsecond_timer()
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# account for uint32 overflow
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if end_time < start_time:
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end_time += 2**32
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time_diff = (end_time - start_time) / 1e6
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assert 0.98 < time_diff < 1.02, f"Timer not running at the correct speed! (got {time_diff:.2f}s instead of 1.0s)"
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