mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 07:23:45 +08:00
firestarsdog
125 lines
4.0 KiB
Python
125 lines
4.0 KiB
Python
import json
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from pathlib import Path
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import re
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import subprocess
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import pytest
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PANDA = Path(__file__).resolve().parents[1]
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@pytest.fixture(scope="module")
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def fan_simulator(tmp_path_factory):
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tmp = tmp_path_factory.mktemp("fan")
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declarations = (PANDA / "board/drivers/drivers.h").read_text()
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state = re.search(r"struct fan_state_t \{.*?\};", declarations, re.S).group()
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board_header = PANDA / "board/boards/board_declarations.h"
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boards = []
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for name in ("dos", "tres", "cuatro", "red"):
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definition = (PANDA / f"board/boards/{name}.h").read_text().split(f"board board_{name} = {{", 1)[1]
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fields = []
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for field in ("has_fan", "fan_enable_cooldown_time", "fan_stall_recovery"):
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match = re.search(rf"\.{field}\s*=\s*(\w+)", definition)
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if match:
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fields.append(f".{field} = {match[1]}")
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boards.append("{" + ", ".join(fields + [".set_fan_enabled = set_enabled"]) + "}")
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header = tmp / "board/drivers/drivers.h"
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header.parent.mkdir(parents=True)
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header.write_text(f"""#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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typedef struct harness_configuration harness_configuration;
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typedef struct GPIO_TypeDef GPIO_TypeDef;
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#include "{board_header}"
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{state}
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void llfan_init(void);
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""")
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source = tmp / "fan.c"
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source.write_text(r"""
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#include <stdio.h>
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#include <stdlib.h>
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#include <assert.h>
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#include "board/drivers/drivers.h"
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#define MIN(a,b) ((a)<(b)?(a):(b))
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#define CLAMP(x,a,b) ((x)<(a)?(a):((x)>(b)?(b):(x)))
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#define TIM3 0
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static bool enabled;
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static unsigned tick, pwm, resets[64], reset_count;
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static void set_enabled(bool value) {
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enabled = value;
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if (!value && pwm > 0U) resets[reset_count++] = tick;
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}
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void llfan_init(void) {}
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static void pwm_set(int timer, int channel, uint8_t value) {
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(void)timer; (void)channel; pwm = value;
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}
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static struct board boards[] = {
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""" + ",\n".join(boards) + r"""
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};
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static struct board *current_board;
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#include "board/drivers/fan.h"
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static void step(unsigned pulses) {
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tick++;
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fan_state.tach_counter = pulses;
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fan_tick();
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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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current_board = &boards[atoi(argv[1])];
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unsigned scenario = (unsigned)atoi(argv[2]);
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fan_init(); fan_set_power(30U);
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if (scenario == 0U) {
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for (unsigned i = 0; i < 240U; i++) step(0U);
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} else if (scenario == 1U) {
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for (unsigned i = 1; i <= 240U; i++) step(i % 24U == 0U ? 1U : 0U);
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} else if (scenario == 2U) {
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fan_state.rpm = 6500U;
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for (unsigned i = 0; i < 25U; i++) step(0U);
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} else if (scenario == 3U) {
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for (unsigned i = 0; i < 25U; i++) step(0U);
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fan_set_power(0U);
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for (unsigned i = 0; i < 23U; i++) {step(0U); assert(enabled);}
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step(0U); assert(!enabled);
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fan_set_power(30U);
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for (unsigned i = 0; i < 25U; i++) step(0U);
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}
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printf("{\"power\":%u,\"rpm\":%u,\"resets\":[", pwm, fan_state.rpm);
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for (unsigned i = 0; i < reset_count; i++) printf("%s%u", i ? "," : "", resets[i]);
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puts("]}");
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}
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""")
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binary = tmp / "fan"
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subprocess.run(["cc", "-std=c11", "-Wall", "-Wextra", "-Werror", "-I", str(tmp), "-I", str(PANDA),
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str(source), "-o", str(binary)], check=True)
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def run(board, scenario):
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return json.loads(subprocess.check_output([str(binary), str(board), str(scenario)], text=True))
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return run
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def test_tici_retries_a_stopped_fan_with_bounded_backoff(fan_simulator):
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result = fan_simulator(0, 0)
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assert result["resets"] == [25, 66, 123, 188]
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assert result["power"] == 30
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@pytest.mark.parametrize("board", [1, 2, 3])
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def test_other_boards_do_not_gain_enable_resets(fan_simulator, board):
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assert fan_simulator(board, 0)["resets"] == []
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def test_tach_pulses_clear_consecutive_stall_time(fan_simulator):
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assert fan_simulator(0, 1)["resets"] == []
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def test_recovery_uses_raw_tach_even_while_filtered_rpm_is_nonzero(fan_simulator):
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result = fan_simulator(0, 2)
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assert result["resets"] == [25]
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assert result["rpm"] > 0
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def test_stopping_preserves_cooldown_and_resets_retry_interval(fan_simulator):
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assert fan_simulator(0, 3)["resets"] == [25, 74]
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