adding delay made it much better

boardesp/proxy.c

@@ -326,6 +326,11 @@ void ICACHE_FLASH_ATTR loop(os_event_t *events) {
       }
     }
   }
+
+  // 5ms pause = 200 hz polling
+  // TODO: Ratekeeperize this
+  os_delay_us(5000);
+
   system_os_post(LOOP_PRIO, 0, 0);
 }
 

panda/__init__.py

@@ -7,6 +7,7 @@ import socket
 import usb1
 import os
 import time
+import traceback
 
 __version__ = '0.0.3'
 
@@ -44,7 +45,9 @@ class PandaWifiStreaming(object):
         dat, addr = self.sock.recvfrom(0x200*0x10)
         if addr == (self.ip, self.port):
           ret += parse_can_buffer(dat)
-      except socket.error:
+      except socket.error as e:
+        if e.errno != 35:
+          traceback.print_exc()
         break
     return ret
 

tests/automated/5_wifi_udp.py

@@ -3,6 +3,7 @@ import sys
 import time
 from helpers import time_many_sends
 from panda import Panda, PandaWifiStreaming
+from nose.tools import timed, assert_equal, assert_less, assert_greater
 
 def test_udp_doesnt_drop():
   p = Panda()
@@ -10,17 +11,25 @@ def test_udp_doesnt_drop():
   p.set_can_loopback(True)
 
   pwifi = PandaWifiStreaming()
+  pwifi.can_recv()
 
-  for i in range(30):
-    pwifi.kick()
+  for msg_count in [1, 100]:
+    for i in range({1: 0x80, 100: 0x10}[msg_count]):
+      pwifi.kick()
 
-    speed = 500
-    p.set_can_speed_kbps(0, speed)
-    comp_kbps = time_many_sends(p, 0, pwifi, msg_count=10)
-    saturation_pct = (comp_kbps/speed) * 100.0
+      speed = 500
+      p.set_can_speed_kbps(0, speed)
+      comp_kbps = time_many_sends(p, 0, pwifi, msg_count=msg_count, msg_id=0x100+i)
+      saturation_pct = (comp_kbps/speed) * 100.0
 
-    sys.stdout.write(".")
-    sys.stdout.flush()
+      if msg_count == 1:
+        sys.stdout.write(".")
+        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, 60)
+        assert_less(saturation_pct, 100)
+    print("")
 
 
 

tests/automated/helpers.py

@@ -2,6 +2,7 @@ from panda import Panda
 from nose.tools import timed, assert_equal, assert_less, assert_greater
 import time
 import os
+import random
 
 def connect_wo_esp():
   # connect to the panda
@@ -27,19 +28,21 @@ def connect_wifi():
   # TODO: Ubuntu
   os.system("networksetup -setairportnetwork en0 %s %s" % (ssid, pw))
 
-def time_many_sends(p, bus, precv=None, msg_count=100):
+def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None):
   if precv == None:
     precv = p
+  if msg_id == None:
+    msg_id = random.randint(0x100, 0x200)
 
   st = time.time()
-  p.can_send_many([(0x1aa, 0, "\xaa"*8, bus)]*msg_count)
+  p.can_send_many([(msg_id, 0, "\xaa"*8, bus)]*msg_count)
   r = []
 
   while len(r) < (msg_count*2) and (time.time() - st) < 3:
     r.extend(precv.can_recv())
 
-  sent_echo = filter(lambda x: x[3] == 0x80 | bus, r)
-  loopback_resp = filter(lambda x: x[3] == bus, r)
+  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)
 
   assert_equal(len(sent_echo), msg_count)
   assert_equal(len(loopback_resp), msg_count)