Squashed 'panda/' content from commit 3b356216

git-subtree-dir: panda git-subtree-split: 3b35621671aaa6de3fc66d85d30e4208a77e2489
2026-08-21 08:03:42 +08:00 · 2020-01-15 14:04:42 -08:00
commit b0b7a768f0
370 changed files with 70350 additions and 0 deletions
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+#!/usr/bin/env python3
+
+# Loopback test between two black pandas (+ harness and power)
+# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
+# To be sure, the test should be run with both harness orientations
+
+
+import os
+import sys
+import time
+import random
+import argparse
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda
+
+def get_test_string():
+  return b"test"+os.urandom(10)
+
+def run_test(sleep_duration):
+  pandas = Panda.list()
+  print(pandas)
+
+  # make sure two pandas are connected
+  if len(pandas) != 2:
+    print("Connect white/grey and black panda to run this test!")
+    assert False
+
+  # connect
+  pandas[0] = Panda(pandas[0])
+  pandas[1] = Panda(pandas[1])
+
+  # find out the hardware types
+  if not pandas[0].is_black() or not pandas[1].is_black():
+    print("Connect two black pandas to run this test!")
+    assert False
+
+  for panda in pandas:
+    # disable safety modes
+    panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+    # test health packet
+    print("panda health", panda.health())
+
+  # setup test array (send bus, sender obd, reciever obd, expected busses)
+  test_array = [
+    (0, False, False, [0]),
+    (1, False, False, [1]),
+    (2, False, False, [2]),
+    (0, False, True, [0, 1]),
+    (1, False, True, []),
+    (2, False, True, [2]),
+    (0, True, False, [0]),
+    (1, True, False, [0]),
+    (2, True, False, [2]),
+    (0, True, True, [0, 1]),
+    (1, True, True, [0, 1]),
+    (2, True, True, [2])
+  ]
+
+  # test both orientations
+  print("***************** TESTING (0 --> 1) *****************")
+  test_buses(pandas[0], pandas[1], test_array, sleep_duration)
+  print("***************** TESTING (1 --> 0) *****************")
+  test_buses(pandas[1], pandas[0], test_array, sleep_duration)
+
+
+def test_buses(send_panda, recv_panda, test_array, sleep_duration):
+  for send_bus, send_obd, recv_obd, recv_buses in test_array:
+    send_panda.send_heartbeat()
+    recv_panda.send_heartbeat()
+    print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
+
+    # set OBD on pandas
+    send_panda.set_gmlan(True if send_obd else None)
+    recv_panda.set_gmlan(True if recv_obd else None)
+
+    # clear and flush
+    send_panda.can_clear(send_bus)
+    for recv_bus in recv_buses:
+      recv_panda.can_clear(recv_bus)
+    send_panda.can_recv()
+    recv_panda.can_recv()
+
+    # send the characters
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    send_panda.can_send(at, st, send_bus)
+    time.sleep(0.1)
+
+    # check for receive
+    _ = send_panda.can_recv()  # cans echo
+    cans_loop = recv_panda.can_recv()
+
+    loop_buses = []
+    for loop in cans_loop:
+      print("  Loop on bus", str(loop[3]))
+      loop_buses.append(loop[3])
+    if len(cans_loop) == 0:
+      print("  No loop")
+
+    # test loop buses
+    recv_buses.sort()
+    loop_buses.sort()
+    assert recv_buses == loop_buses
+    print("  TEST PASSED")
+
+    time.sleep(sleep_duration)
+  print("\n")
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("-n", type=int, help="Number of test iterations to run")
+  parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
+  args = parser.parse_args()
+
+  if args.n is None:
+    while True:
+      run_test(sleep_duration=args.sleep)
+  else:
+    for i in range(args.n):
+      run_test(sleep_duration=args.sleep)