gmlan harness test

tests/gmlan_harness_test.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import time
+import random
+import argparse
+
+from hexdump import hexdump
+from itertools import permutations
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
+from panda import Panda  # noqa: E402
+
+WHITE_GMLAN_BUS = 3
+OTHER_GMLAN_BUS = 1
+
+def set_gmlan(p):
+  if p.is_white():
+    p.set_gmlan(2)
+  else:
+    p.set_obd(True)
+
+def set_speed_kbps(p, speed):
+  if p.is_white():
+    p.set_can_speed_kbps(WHITE_GMLAN_BUS, speed)
+  else:
+    p.set_can_speed_kbps(OTHER_GMLAN_BUS, speed)
+
+def send(p, id, msg):
+  if p.is_white():
+    p.can_send(id, msg, WHITE_GMLAN_BUS)
+  else:
+    p.can_send(id, msg, OTHER_GMLAN_BUS)
+
+if __name__ == "__main__":
+  pl = Panda.list()
+  assert(len(pl) == 2)
+  p0 = Panda(pl[1])
+  p1 = Panda(pl[0])
+
+  p0.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p1.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  print("0: ", p0.get_type())
+  print("1: ", p1.get_type())
+
+  set_gmlan(p0)
+  set_gmlan(p1)
+
+  p0.can_clear(0xFFFF)
+  p1.can_clear(0xFFFF)
+
+  loops = 0
+  while True:
+    for speed in [33.3, 83.3]:
+      set_speed_kbps(p0, speed)
+      set_speed_kbps(p1, speed)
+      p0.can_clear(0xFFFF)
+      p1.can_clear(0xFFFF)
+
+      print(f"Speed: {speed}")
+      time.sleep(0.1)
+
+      print("Send 1 -> 0")
+      send(p1, 1, b"1to0:" + bytes(str(loops%100), "utf-8"))
+      time.sleep(0.05)
+      rx = list(filter(lambda x: x[3] < 128, p0.can_recv()))
+      #print(rx)
+      assert(len(rx) == 1)
+
+      print("Send 0 -> 1")
+      send(p0, 1, b"0to1:" + bytes(str(loops%100), "utf-8"))
+      time.sleep(0.05)
+      rx = list(filter(lambda x: x[3] < 128, p1.can_recv()))
+      #print(rx)
+      assert(len(rx) == 1)
+
+      time.sleep(0.5)
+
+
+    loops += 1
+    print(f"Completed {loops} loops")
+    #time.sleep(2)