mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
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.
81 lines
3.1 KiB
Python
81 lines
3.1 KiB
Python
import time
|
|
import itertools
|
|
|
|
from opendbc.car.structs import CarParams
|
|
from panda.tests.hitl.base import PandaTestCase, panda_test
|
|
from panda import Panda
|
|
|
|
# TODO: test relay
|
|
|
|
class TestHarness(PandaTestCase):
|
|
@panda_test(needs_jungle=True)
|
|
@panda_test(expect_can_error=True)
|
|
def test_harness_status(self):
|
|
p = self.p
|
|
panda_jungle = self.panda_jungle
|
|
# map from jungle orientations to panda orientations
|
|
orientation_map = {
|
|
Panda.HARNESS_STATUS_NC: Panda.HARNESS_STATUS_NC,
|
|
}
|
|
|
|
# this shouldn't be parameterized since we don't want the panda to be reset
|
|
# between the tests.
|
|
for ignition, orientation in itertools.product([True, False], [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]):
|
|
print()
|
|
p.set_safety_mode(CarParams.SafetyModel.elm327)
|
|
panda_jungle.set_harness_orientation(orientation)
|
|
panda_jungle.set_ignition(ignition)
|
|
|
|
# wait for orientation detection
|
|
time.sleep(0.25)
|
|
|
|
health = p.health()
|
|
detected_orientation = health['car_harness_status']
|
|
print(f"orientation set: {orientation} detected: {detected_orientation}")
|
|
|
|
if detected_orientation not in orientation_map:
|
|
assert detected_orientation != Panda.HARNESS_STATUS_NC
|
|
other = {Panda.HARNESS_STATUS_NORMAL: Panda.HARNESS_STATUS_FLIPPED, Panda.HARNESS_STATUS_FLIPPED: Panda.HARNESS_STATUS_NORMAL}
|
|
orientation_map.update({
|
|
orientation: detected_orientation,
|
|
other[orientation]: other[detected_orientation],
|
|
})
|
|
|
|
# Orientation
|
|
assert orientation_map[detected_orientation] == orientation
|
|
|
|
# Line ignition
|
|
assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
|
|
|
|
# CAN traffic
|
|
if orientation != Panda.HARNESS_STATUS_NC:
|
|
for bus in range(3):
|
|
panda_jungle.can_send(0x123, f"{bus}".encode(), bus)
|
|
time.sleep(0.5)
|
|
|
|
msgs = p.can_recv()
|
|
buses = {int(dat): bus for _, dat, bus in msgs if bus <= 3}
|
|
print(msgs)
|
|
|
|
# jungle doesn't actually switch buses when switching orientation
|
|
flipped = orientation == Panda.HARNESS_STATUS_FLIPPED
|
|
assert buses[0] == (2 if flipped else 0)
|
|
assert buses[2] == (0 if flipped else 2)
|
|
|
|
# SBU voltages
|
|
supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, Panda.HW_TYPE_CUATRO] else 3300
|
|
|
|
if orientation == Panda.HARNESS_STATUS_NC:
|
|
assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
|
|
assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
|
|
else:
|
|
relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
|
|
ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
|
|
|
|
assert health[relay_line] < 0.1 * supply_voltage_mV
|
|
assert health[ignition_line] > health[relay_line]
|
|
if ignition:
|
|
assert health[ignition_line] < 0.3 * supply_voltage_mV
|
|
else:
|
|
assert health[ignition_line] > 0.9 * supply_voltage_mV
|