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https://jihulab.com/mr-one/openpilot.git
synced 2026-10-28 05:23:46 +08:00
1okko
50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
import time
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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 TestMisc(PandaTestCase):
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def test_boot_time(self):
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p = self.p
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# boot time should be instant
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st = time.monotonic()
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p.reset(reconnect=False)
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assert Panda.wait_for_panda(p.get_usb_serial(), timeout=3.0)
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# USB enumeration is slow, so SPI is faster
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assert time.monotonic() - st < (1.0 if p.spi else 5.0)
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@panda_test(needs_jungle=True)
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@panda_test(expect_can_error=True)
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@panda_test(panda_types=(Panda.HW_TYPE_CUATRO, ))
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def test_stop_mode(self):
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p = self.p
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panda_jungle = self.panda_jungle
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serial = p.get_usb_serial()
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panda_jungle.set_obd(True)
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for orientation in (Panda.HARNESS_STATUS_FLIPPED, Panda.HARNESS_STATUS_NORMAL):
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panda_jungle.set_harness_orientation(orientation)
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time.sleep(0.25) # wait for orientation detection
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for wakeup in ("ign", "0", "1", "2"):
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panda_jungle.set_ignition(False)
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print(f"orientation={orientation} wakeup={wakeup}")
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p.enter_stop_mode()
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p.close()
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# wait for panda to enter stop mode
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time.sleep(1.5)
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# wake via ignition or CAN activity
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if wakeup == "ign":
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panda_jungle.set_ignition(True)
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else:
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panda_jungle.can_send(0x123, b'\x01\x02', int(wakeup))
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# panda should reset and come back
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assert Panda.wait_for_panda(serial, timeout=10)
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p.reconnect()
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assert p.health()['uptime'] < 3
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