github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
82 lines
2.2 KiB
Python
82 lines
2.2 KiB
Python
import os
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import pytest
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import time
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import cereal.messaging as messaging
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from cereal import log
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from openpilot.common.gpio import gpio_set, gpio_init
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from panda import Panda, PandaDFU
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from openpilot.system.manager.process_config import managed_processes
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from openpilot.system.hardware import HARDWARE
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from openpilot.system.hardware.tici.pins import GPIO
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HERE = os.path.dirname(os.path.realpath(__file__))
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@pytest.mark.tici
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class TestPandad:
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def teardown_method(self):
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managed_processes['pandad'].stop()
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def _run_test(self, timeout=30) -> float:
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st = time.monotonic()
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sm = messaging.SubMaster(['pandaStates'])
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managed_processes['pandad'].start()
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while (time.monotonic() - st) < timeout:
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sm.update(10)
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if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
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break
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dt = time.monotonic() - st
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managed_processes['pandad'].stop()
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if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
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raise Exception("pandad failed to start")
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return dt
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def _go_to_dfu(self):
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HARDWARE.recover_internal_panda()
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assert Panda.wait_for_dfu(None, 10)
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def _flash_bootstub(self, fn):
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self._go_to_dfu()
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pd = PandaDFU(None)
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if fn is None:
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fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
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with open(fn, "rb") as f:
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pd.program_bootstub(f.read())
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HARDWARE.reset_internal_panda()
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def test_in_dfu(self):
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HARDWARE.recover_internal_panda()
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self._run_test()
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def test_in_bootstub(self):
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with Panda() as p:
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p.reset(enter_bootstub=True)
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assert p.bootstub
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self._run_test()
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def test_in_reset(self):
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gpio_init(GPIO.STM_RST_N, True)
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gpio_set(GPIO.STM_RST_N, 1)
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assert not Panda.list()
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self._run_test()
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def test_release_to_devel_bootstub(self):
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st = time.monotonic()
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self._flash_bootstub(None)
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print("flash done", time.monotonic() - st)
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self._run_test()
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def test_recover_from_bad_bootstub(self):
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self._go_to_dfu()
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with PandaDFU(None) as pd:
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pd._handle.program(pd.get_mcu_type().config.bootstub_address, b"\x00"*100)
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HARDWARE.reset_internal_panda()
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assert not Panda.list()
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assert not PandaDFU.list()
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self._run_test()
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