Jenkins (#179)
* Improve panda automated testing * begin testing both white and grey panda * Improve wifi reliability * First commit for docker * Fix usb devices not showing up on reconnect * Add tests for two pandas, latency and throughput * Add Jenkinsfile * Allow flashing release on wifi * Fix Jenkins stuck in DFU mode and docker container running * Add pandaextra from xx to docker * Need more time for ST to restart, sometimes * Add xml output to tests * Try making wifi more reliable * Fix infinite loop in ping * Check connected after flash * Cleanup two panda tests * Try fixing failing test with check after udp * Try to fix with sleep * Temporarily run just 5 and 6 * Cleanup * Desperate times call for desperate measurse * BUGFIX: power saving when rx only * Fix failing when white panda is first after udp * Test both Dev and EON build * Jenkins test results for both builds * Better test case namingmaster
Nigel Armstrong
GitHub
parent
f383eee968
commit
1d2f8f0abf
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@ -0,0 +1,3 @@
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.git
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.DS_Store
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boardesp/esp-open-sdk
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@ -0,0 +1,64 @@
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FROM ubuntu:16.04
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ENV PYTHONUNBUFFERED 1
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RUN apt-get update && apt-get install -y \
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autoconf \
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automake \
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bash \
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bison \
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bzip2 \
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curl \
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dfu-util \
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flex \
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g++ \
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gawk \
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gcc \
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git \
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gperf \
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help2man \
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iputils-ping \
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libexpat-dev \
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libstdc++-arm-none-eabi-newlib \
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libtool \
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libtool-bin \
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libusb-1.0-0 \
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make \
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ncurses-dev \
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network-manager \
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python-dev \
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python-serial \
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sed \
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texinfo \
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unrar-free \
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unzip \
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wget \
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build-essential \
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python-dev \
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python-pip \
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screen \
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vim \
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wget \
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wireless-tools
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RUN pip install --upgrade pip==18.0
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COPY requirements.txt /tmp/
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RUN pip install -r /tmp/requirements.txt
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RUN mkdir -p /home/batman
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ENV HOME /home/batman
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ENV PYTHONPATH /tmp:$PYTHONPATH
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COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
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RUN useradd --system -s /sbin/nologin pandauser
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RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
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RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
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USER pandauser
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RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
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USER root
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COPY ./xx/pandaextra /tmp/pandaextra
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ADD ./panda.tar.gz /tmp/panda
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@ -0,0 +1,55 @@
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pipeline {
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agent any
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environment {
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AUTHOR = """${sh(
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returnStdout: true,
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script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
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).trim()}"""
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DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}"
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}
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stages {
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stage('Build Docker Image') {
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steps {
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timeout(time: 60, unit: 'MINUTES') {
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script {
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sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true'
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sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
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sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
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dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
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}
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}
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}
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}
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stage('Test Dev Build') {
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steps {
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lock(resource: "Pandas", inversePrecedence: true, quantity:1){
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timeout(time: 60, unit: 'MINUTES') {
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sh "docker stop panda-test || true && docker rm panda-test || true"
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sh "docker run --name panda-test --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
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}
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}
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}
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}
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stage('Test EON Build') {
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steps {
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lock(resource: "Pandas", inversePrecedence: true, quantity:1){
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timeout(time: 60, unit: 'MINUTES') {
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sh "docker cp panda-test:/tmp/panda/nosetests.xml test_results_dev.xml"
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sh "touch EON && docker cp EON panda-test:/EON"
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sh "docker start -a panda-test"
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}
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}
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}
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}
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}
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post {
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always {
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script {
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sh "docker cp panda-test:/tmp/panda/nosetests.xml test_results_EON.xml"
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sh "docker rm panda-test"
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}
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junit "test_results*.xml"
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}
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}
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}
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@ -0,0 +1,5 @@
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#!/bin/bash
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git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
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cd esp-open-sdk
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git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
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LD_LIBRARY_PATH="" make STANDALONE=y
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@ -182,6 +182,7 @@ class Panda(object):
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traceback.print_exc()
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if wait == False or self._handle != None:
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break
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context = usb1.USBContext() #New context needed so new devices show up
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assert(self._handle != None)
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print("connected")
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@ -280,11 +281,14 @@ class Panda(object):
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if reconnect:
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self.reconnect()
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def recover(self):
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def recover(self, timeout=None):
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self.reset(enter_bootloader=True)
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t_start = time.time()
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while len(PandaDFU.list()) == 0:
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print("waiting for DFU...")
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time.sleep(0.1)
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if timeout is not None and (time.time() - t_start) > timeout:
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return False
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dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
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dfu.recover()
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@ -292,6 +296,7 @@ class Panda(object):
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# reflash after recover
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self.connect(True, True)
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self.flash()
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return True
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@staticmethod
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def flash_ota_st():
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@ -300,8 +305,9 @@ class Panda(object):
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return ret==0
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@staticmethod
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def flash_ota_wifi():
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ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "boardesp")))
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def flash_ota_wifi(release=False):
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release_str = "RELEASE=1" if release else ""
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ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
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time.sleep(1)
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return ret==0
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@ -1,4 +1,7 @@
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libusb1
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libusb1 == 1.6.6
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hexdump
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pycrypto
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tqdm
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nose
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parameterized
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requests
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@ -1,3 +1,9 @@
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#!/bin/bash
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PYTHONPATH="." nosetests -x -s tests/automated/$1*.py
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TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
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if [ ! -f "/EON" ]; then
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TESTSUITE_NAME="Panda_Test-EON"
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else
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TESTSUITE_NAME="Panda_Test-DEV"
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fi
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PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py
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@ -1,11 +1,15 @@
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import os
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from panda import Panda
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from helpers import panda_color_to_serial, test_white_and_grey
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def test_recover():
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p = Panda()
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p.recover()
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@test_white_and_grey
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@panda_color_to_serial
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def test_recover(serial=None):
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p = Panda(serial=serial)
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assert p.recover(timeout=30)
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def test_flash():
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p = Panda()
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@test_white_and_grey
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@panda_color_to_serial
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def test_flash(serial=None):
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p = Panda(serial=serial)
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p.flash()
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@ -3,14 +3,16 @@ import os
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import sys
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import time
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from panda import Panda
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from nose.tools import timed, assert_equal, assert_less, assert_greater
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from helpers import time_many_sends, connect_wo_esp
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from nose.tools import assert_equal, assert_less, assert_greater
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from helpers import time_many_sends, connect_wo_esp, test_white_and_grey, panda_color_to_serial
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SPEED_NORMAL = 500
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SPEED_GMLAN = 33.3
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def test_can_loopback():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_can_loopback(serial=None):
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p = connect_wo_esp(serial)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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@ -42,8 +44,10 @@ def test_can_loopback():
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assert 0x1aa == sr[0][0] == lb[0][0]
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assert "message" == sr[0][2] == lb[0][2]
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def test_safety_nooutput():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_safety_nooutput(serial=None):
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p = connect_wo_esp(serial)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
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@ -59,8 +63,10 @@ def test_safety_nooutput():
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r = p.can_recv()
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assert len(r) == 0
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def test_reliability():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_reliability(serial=None):
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p = connect_wo_esp(serial)
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LOOP_COUNT = 100
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MSG_COUNT = 100
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@ -97,8 +103,10 @@ def test_reliability():
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sys.stdout.write("P")
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sys.stdout.flush()
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def test_throughput():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_throughput(serial=None):
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p = connect_wo_esp(serial)
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# enable output mode
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p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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@ -120,8 +128,10 @@ def test_throughput():
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print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
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def test_gmlan():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_gmlan(serial=None):
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p = connect_wo_esp(serial)
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if p.legacy:
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return
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@ -135,7 +145,7 @@ def test_gmlan():
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p.set_can_speed_kbps(1, SPEED_NORMAL)
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p.set_can_speed_kbps(2, SPEED_NORMAL)
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p.set_can_speed_kbps(3, SPEED_GMLAN)
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# set gmlan on CAN2
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for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
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p.set_gmlan(bus)
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@ -150,8 +160,10 @@ def test_gmlan():
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print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
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def test_gmlan_bad_toggle():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_gmlan_bad_toggle(serial=None):
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p = connect_wo_esp(serial)
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if p.legacy:
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return
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|
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@ -178,9 +190,10 @@ def test_gmlan_bad_toggle():
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# this will fail if you have hardware serial connected
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def test_serial_debug():
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p = connect_wo_esp()
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@test_white_and_grey
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@panda_color_to_serial
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def test_serial_debug(serial=None):
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p = connect_wo_esp(serial)
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junk = p.serial_read(Panda.SERIAL_DEBUG)
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p.call_control_api(0xc0)
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assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))
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|
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|
|
|
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|
|
@ -1,33 +1,60 @@
|
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from __future__ import print_function
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import os
|
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import time
|
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from panda import Panda
|
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from helpers import connect_wifi
|
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from helpers import connect_wifi, test_white, test_white_and_grey, panda_color_to_serial
|
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import requests
|
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|
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def test_get_serial():
|
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p = Panda()
|
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@test_white_and_grey
|
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@panda_color_to_serial
|
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def test_get_serial(serial=None):
|
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p = Panda(serial)
|
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print(p.get_serial())
|
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|
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def test_get_serial_in_flash_mode():
|
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p = Panda()
|
||||
@test_white_and_grey
|
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@panda_color_to_serial
|
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def test_get_serial_in_flash_mode(serial=None):
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p = Panda(serial)
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p.reset(enter_bootstub=True)
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assert(p.bootstub)
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print(p.get_serial())
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p.reset()
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|
||||
def test_connect_wifi():
|
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connect_wifi()
|
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@test_white
|
||||
@panda_color_to_serial
|
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def test_connect_wifi(serial=None):
|
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connect_wifi(serial)
|
||||
|
||||
def test_flash_wifi():
|
||||
Panda.flash_ota_wifi()
|
||||
connect_wifi()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_flash_wifi(serial=None):
|
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connect_wifi(serial)
|
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assert Panda.flash_ota_wifi(release=True), "OTA Wifi Flash Failed"
|
||||
connect_wifi(serial)
|
||||
|
||||
def test_wifi_flash_st():
|
||||
Panda.flash_ota_st()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_wifi_flash_st(serial=None):
|
||||
connect_wifi(serial)
|
||||
assert Panda.flash_ota_st(), "OTA ST Flash Failed"
|
||||
connected = False
|
||||
st = time.time()
|
||||
while not connected and (time.time() - st) < 20:
|
||||
try:
|
||||
p = Panda(serial=serial)
|
||||
p.get_serial()
|
||||
connected = True
|
||||
except:
|
||||
time.sleep(1)
|
||||
|
||||
def test_webpage_fetch():
|
||||
if not connected:
|
||||
assert False, "Panda failed to connect on USB after flashing"
|
||||
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_webpage_fetch(serial=None):
|
||||
connect_wifi(serial)
|
||||
r = requests.get("http://192.168.0.10/")
|
||||
print(r.text)
|
||||
|
||||
assert "This is your comma.ai panda" in r.text
|
||||
|
||||
|
|
|
|||
|
|
@ -1,17 +1,22 @@
|
|||
from __future__ import print_function
|
||||
import time
|
||||
from panda import Panda
|
||||
from helpers import time_many_sends, connect_wifi
|
||||
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
|
||||
from nose.tools import timed, assert_equal, assert_less, assert_greater
|
||||
|
||||
def test_get_serial_wifi():
|
||||
connect_wifi()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_get_serial_wifi(serial=None):
|
||||
connect_wifi(serial)
|
||||
|
||||
p = Panda("WIFI")
|
||||
print(p.get_serial())
|
||||
|
||||
def test_throughput():
|
||||
p = Panda()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_throughput(serial=None):
|
||||
connect_wifi(serial)
|
||||
p = Panda(serial)
|
||||
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
|
@ -24,7 +29,7 @@ def test_throughput():
|
|||
for speed in [100,250,500,750,1000]:
|
||||
# set bus 0 speed to speed
|
||||
p.set_can_speed_kbps(0, speed)
|
||||
time.sleep(0.05)
|
||||
time.sleep(0.1)
|
||||
|
||||
comp_kbps = time_many_sends(p, 0)
|
||||
|
||||
|
|
@ -35,8 +40,11 @@ def test_throughput():
|
|||
|
||||
print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
|
||||
|
||||
def test_recv_only():
|
||||
p = Panda()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_recv_only(serial=None):
|
||||
connect_wifi(serial)
|
||||
p = Panda(serial)
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p.set_can_loopback(True)
|
||||
pwifi = Panda("WIFI")
|
||||
|
|
@ -49,4 +57,3 @@ def test_recv_only():
|
|||
saturation_pct = (comp_kbps/speed) * 100.0
|
||||
|
||||
print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
|
||||
|
||||
|
|
|
|||
|
|
@ -1,14 +1,16 @@
|
|||
from __future__ import print_function
|
||||
import sys
|
||||
import time
|
||||
from helpers import time_many_sends, connect_wifi
|
||||
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
|
||||
from panda import Panda, PandaWifiStreaming
|
||||
from nose.tools import timed, assert_equal, assert_less, assert_greater
|
||||
|
||||
def test_udp_doesnt_drop():
|
||||
connect_wifi()
|
||||
@test_white
|
||||
@panda_color_to_serial
|
||||
def test_udp_doesnt_drop(serial=None):
|
||||
connect_wifi(serial)
|
||||
|
||||
p = Panda()
|
||||
p = Panda(serial)
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p.set_can_loopback(True)
|
||||
|
||||
|
|
@ -18,6 +20,7 @@ def test_udp_doesnt_drop():
|
|||
break
|
||||
|
||||
for msg_count in [1, 100]:
|
||||
saturation_pcts = []
|
||||
for i in range({1: 0x80, 100: 0x20}[msg_count]):
|
||||
pwifi.kick()
|
||||
|
||||
|
|
@ -31,9 +34,33 @@ def test_udp_doesnt_drop():
|
|||
sys.stdout.flush()
|
||||
else:
|
||||
print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
|
||||
assert_greater(saturation_pct, 40)
|
||||
assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
|
||||
assert_less(saturation_pct, 100)
|
||||
print("")
|
||||
|
||||
|
||||
saturation_pcts.append(saturation_pct)
|
||||
if len(saturation_pcts) > 0:
|
||||
assert_greater(sum(saturation_pcts)/len(saturation_pcts), 60)
|
||||
|
||||
time.sleep(5)
|
||||
usb_ok_cnt = 0
|
||||
REQ_USB_OK_CNT = 500
|
||||
st = time.time()
|
||||
msg_id = 0x1bb
|
||||
bus = 0
|
||||
last_missing_msg = 0
|
||||
while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
|
||||
p.can_send(msg_id, "message", bus)
|
||||
time.sleep(0.01)
|
||||
r = [1]
|
||||
missing = True
|
||||
while len(r) > 0:
|
||||
r = p.can_recv()
|
||||
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
|
||||
if len(r) > 0:
|
||||
missing = False
|
||||
usb_ok_cnt += len(r)
|
||||
if missing:
|
||||
last_missing_msg = time.time()
|
||||
et = time.time() - st
|
||||
last_missing_msg = last_missing_msg - st
|
||||
print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
|
||||
assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,121 @@
|
|||
from __future__ import print_function
|
||||
import time
|
||||
from panda import Panda
|
||||
from nose.tools import assert_equal, assert_less, assert_greater
|
||||
from helpers import time_many_sends, test_two_panda, panda_color_to_serial
|
||||
|
||||
@test_two_panda
|
||||
@panda_color_to_serial
|
||||
def test_send_recv(serial_sender=None, serial_reciever=None):
|
||||
p_send = Panda(serial_sender)
|
||||
p_recv = Panda(serial_reciever)
|
||||
|
||||
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p_send.set_can_loopback(False)
|
||||
|
||||
p_recv.set_can_loopback(False)
|
||||
|
||||
assert not p_send.legacy
|
||||
assert not p_recv.legacy
|
||||
|
||||
p_send.can_send_many([(0x1ba, 0, "message", 0)]*2)
|
||||
time.sleep(0.05)
|
||||
p_recv.can_recv()
|
||||
p_send.can_recv()
|
||||
|
||||
busses = [0,1,2]
|
||||
|
||||
for bus in busses:
|
||||
for speed in [100, 250, 500, 750, 1000]:
|
||||
p_send.set_can_speed_kbps(bus, speed)
|
||||
p_recv.set_can_speed_kbps(bus, speed)
|
||||
time.sleep(0.05)
|
||||
|
||||
comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
|
||||
|
||||
saturation_pct = (comp_kbps/speed) * 100.0
|
||||
assert_greater(saturation_pct, 80)
|
||||
assert_less(saturation_pct, 100)
|
||||
|
||||
print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
|
||||
|
||||
@test_two_panda
|
||||
@panda_color_to_serial
|
||||
def test_latency(serial_sender=None, serial_reciever=None):
|
||||
p_send = Panda(serial_sender)
|
||||
p_recv = Panda(serial_reciever)
|
||||
|
||||
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p_send.set_can_loopback(False)
|
||||
|
||||
p_recv.set_can_loopback(False)
|
||||
|
||||
assert not p_send.legacy
|
||||
assert not p_recv.legacy
|
||||
|
||||
p_send.set_can_speed_kbps(0, 100)
|
||||
p_recv.set_can_speed_kbps(0, 100)
|
||||
time.sleep(0.05)
|
||||
|
||||
p_send.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
|
||||
time.sleep(0.05)
|
||||
p_recv.can_recv()
|
||||
p_send.can_recv()
|
||||
|
||||
busses = [0,1,2]
|
||||
|
||||
for bus in busses:
|
||||
for speed in [100, 250, 500, 750, 1000]:
|
||||
p_send.set_can_speed_kbps(bus, speed)
|
||||
p_recv.set_can_speed_kbps(bus, speed)
|
||||
time.sleep(0.1)
|
||||
#clear can buffers
|
||||
r = [1]
|
||||
while len(r) > 0:
|
||||
r = p_send.can_recv()
|
||||
r = [1]
|
||||
while len(r) > 0:
|
||||
r = p_recv.can_recv()
|
||||
time.sleep(0.05)
|
||||
|
||||
latencies = []
|
||||
comp_kbps_list = []
|
||||
saturation_pcts = []
|
||||
|
||||
num_messages = 100
|
||||
|
||||
for i in range(num_messages):
|
||||
st = time.time()
|
||||
p_send.can_send(0x1ab, "message", bus)
|
||||
r = []
|
||||
while len(r) < 1 and (time.time() - st) < 5:
|
||||
r = p_recv.can_recv()
|
||||
et = time.time()
|
||||
r_echo = []
|
||||
while len(r_echo) < 1 and (time.time() - st) < 10:
|
||||
r_echo = p_send.can_recv()
|
||||
|
||||
if len(r) == 0 or len(r_echo) == 0:
|
||||
print("r: {}, r_echo: {}".format(r, r_echo))
|
||||
|
||||
assert_equal(len(r),1)
|
||||
assert_equal(len(r_echo),1)
|
||||
|
||||
et = (et - st)*1000.0
|
||||
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7) / et
|
||||
latency = et - ((1+11+1+1+1+4+8*8+15+1+1+1+7) / speed)
|
||||
|
||||
assert_less(latency, 5.0)
|
||||
|
||||
saturation_pct = (comp_kbps/speed) * 100.0
|
||||
latencies.append(latency)
|
||||
comp_kbps_list.append(comp_kbps)
|
||||
saturation_pcts.append(saturation_pct)
|
||||
|
||||
average_latency = sum(latencies)/num_messages
|
||||
assert_less(average_latency, 1.0)
|
||||
average_comp_kbps = sum(comp_kbps_list)/num_messages
|
||||
average_saturation_pct = sum(saturation_pcts)/num_messages
|
||||
|
||||
print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
|
||||
.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))
|
||||
|
|
@ -4,12 +4,34 @@ import time
|
|||
import random
|
||||
import subprocess
|
||||
import requests
|
||||
from functools import wraps
|
||||
from panda import Panda
|
||||
from nose.tools import timed, assert_equal, assert_less, assert_greater
|
||||
from parameterized import parameterized, param
|
||||
|
||||
def connect_wo_esp():
|
||||
test_white_and_grey = parameterized([param(panda_color="White"),
|
||||
param(panda_color="Grey")])
|
||||
test_white = parameterized([param(panda_color="White")])
|
||||
test_grey = parameterized([param(panda_color="Grey")])
|
||||
test_two_panda = parameterized([param(panda_color=["Grey", "White"]),
|
||||
param(panda_color=["White", "Grey"])])
|
||||
|
||||
_serials = {}
|
||||
def get_panda_serial(is_grey=None):
|
||||
global _serials
|
||||
if is_grey not in _serials:
|
||||
for serial in Panda.list():
|
||||
p = Panda(serial=serial)
|
||||
if is_grey is None or p.is_grey() == is_grey:
|
||||
_serials[is_grey] = serial
|
||||
return serial
|
||||
raise IOError("Panda not found. is_grey: {}".format(is_grey))
|
||||
else:
|
||||
return _serials[is_grey]
|
||||
|
||||
def connect_wo_esp(serial=None):
|
||||
# connect to the panda
|
||||
p = Panda()
|
||||
p = Panda(serial=serial)
|
||||
|
||||
# power down the ESP
|
||||
p.set_esp_power(False)
|
||||
|
|
@ -20,15 +42,28 @@ def connect_wo_esp():
|
|||
|
||||
return p
|
||||
|
||||
def connect_wifi():
|
||||
p = Panda()
|
||||
def connect_wifi(serial=None):
|
||||
p = Panda(serial=serial)
|
||||
p.set_esp_power(True)
|
||||
dongle_id, pw = p.get_serial()
|
||||
assert(dongle_id.isalnum())
|
||||
_connect_wifi(dongle_id, pw)
|
||||
|
||||
FNULL = open(os.devnull, 'w')
|
||||
def _connect_wifi(dongle_id, pw, insecure_okay=False):
|
||||
ssid = str("panda-" + dongle_id)
|
||||
|
||||
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
|
||||
if not r:
|
||||
#Can already ping, try connecting on wifi
|
||||
try:
|
||||
p = Panda("WIFI")
|
||||
p.get_serial()
|
||||
print("Already connected")
|
||||
return
|
||||
except:
|
||||
pass
|
||||
|
||||
print("WIFI: connecting to %s" % ssid)
|
||||
|
||||
while 1:
|
||||
|
|
@ -39,8 +74,8 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
|
|||
cnt = 0
|
||||
MAX_TRIES = 10
|
||||
while cnt < MAX_TRIES:
|
||||
print "WIFI: scanning %d" % cnt
|
||||
os.system("sudo iwlist %s scanning > /dev/null" % wlan_interface)
|
||||
print("WIFI: scanning %d" % cnt)
|
||||
os.system("iwlist %s scanning > /dev/null" % wlan_interface)
|
||||
os.system("nmcli device wifi rescan")
|
||||
wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
|
||||
if len(wifi_scan) != 0:
|
||||
|
|
@ -51,45 +86,107 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
|
|||
assert cnt < MAX_TRIES
|
||||
if "-pair" in wifi_scan[0]:
|
||||
os.system("nmcli d wifi connect %s-pair" % (ssid))
|
||||
connect_cnt = 0
|
||||
MAX_TRIES = 20
|
||||
while connect_cnt < MAX_TRIES:
|
||||
connect_cnt += 1
|
||||
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
|
||||
if r:
|
||||
print("Waiting for panda to ping...")
|
||||
time.sleep(0.1)
|
||||
else:
|
||||
break
|
||||
if insecure_okay:
|
||||
break
|
||||
# fetch webpage
|
||||
print "connecting to insecure network to secure"
|
||||
r = requests.get("http://192.168.0.10/")
|
||||
print("connecting to insecure network to secure")
|
||||
try:
|
||||
r = requests.get("http://192.168.0.10/")
|
||||
except requests.ConnectionError:
|
||||
r = requests.get("http://192.168.0.10/")
|
||||
assert r.status_code==200
|
||||
|
||||
print "securing"
|
||||
print("securing")
|
||||
try:
|
||||
r = requests.get("http://192.168.0.10/secure", timeout=0.01)
|
||||
except requests.exceptions.Timeout:
|
||||
print("timeout http request to secure")
|
||||
pass
|
||||
else:
|
||||
os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
|
||||
break
|
||||
|
||||
ret = os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
|
||||
if os.WEXITSTATUS(ret) == 0:
|
||||
#check ping too
|
||||
ping_ok = False
|
||||
connect_cnt = 0
|
||||
MAX_TRIES = 10
|
||||
while connect_cnt < MAX_TRIES:
|
||||
connect_cnt += 1
|
||||
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
|
||||
if r:
|
||||
print("Waiting for panda to ping...")
|
||||
time.sleep(0.1)
|
||||
else:
|
||||
ping_ok = True
|
||||
break
|
||||
if ping_ok:
|
||||
break
|
||||
|
||||
# TODO: confirm that it's connected to the right panda
|
||||
|
||||
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None):
|
||||
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=False):
|
||||
if precv == None:
|
||||
precv = p
|
||||
if msg_id == None:
|
||||
msg_id = random.randint(0x100, 0x200)
|
||||
if p == precv and two_pandas:
|
||||
raise ValueError("Cannot have two pandas that are the same panda")
|
||||
|
||||
st = time.time()
|
||||
p.can_send_many([(msg_id, 0, "\xaa"*8, bus)]*msg_count)
|
||||
r = []
|
||||
r_echo = []
|
||||
r_len_expected = msg_count if two_pandas else msg_count*2
|
||||
r_echo_len_exected = msg_count if two_pandas else 0
|
||||
|
||||
while len(r) < (msg_count*2) and (time.time() - st) < 3:
|
||||
while len(r) < r_len_expected and (time.time() - st) < 5:
|
||||
r.extend(precv.can_recv())
|
||||
et = time.time()
|
||||
if two_pandas:
|
||||
while len(r_echo) < r_echo_len_exected and (time.time() - st) < 10:
|
||||
r_echo.extend(p.can_recv())
|
||||
|
||||
sent_echo = filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r)
|
||||
loopback_resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
|
||||
sent_echo.extend(filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r_echo))
|
||||
resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
|
||||
|
||||
leftovers = filter(lambda x: (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id, r)
|
||||
assert_equal(len(leftovers), 0)
|
||||
|
||||
assert_equal(len(resp), msg_count)
|
||||
assert_equal(len(sent_echo), msg_count)
|
||||
assert_equal(len(loopback_resp), msg_count)
|
||||
|
||||
et = (time.time()-st)*1000.0
|
||||
et = (et-st)*1000.0
|
||||
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*msg_count / et
|
||||
|
||||
return comp_kbps
|
||||
|
||||
|
||||
def panda_color_to_serial(fn):
|
||||
@wraps(fn)
|
||||
def wrapper(panda_color=None, **kwargs):
|
||||
pandas_is_grey = []
|
||||
if panda_color is not None:
|
||||
if not isinstance(panda_color, list):
|
||||
panda_color = [panda_color]
|
||||
panda_color = [s.lower() for s in panda_color]
|
||||
for p in panda_color:
|
||||
if p is None:
|
||||
pandas_is_grey.append(None)
|
||||
elif p in ["grey", "gray"]:
|
||||
pandas_is_grey.append(True)
|
||||
elif p in ["white"]:
|
||||
pandas_is_grey.append(False)
|
||||
else:
|
||||
raise ValueError("Invalid Panda Color {}".format(p))
|
||||
return fn(*[get_panda_serial(is_grey) for is_grey in pandas_is_grey], **kwargs)
|
||||
return wrapper
|
||||
|
|
|
|||
Loading…
Reference in New Issue