126 lines
3.0 KiB
Python
Executable File
126 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python
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from __future__ import print_function
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import os
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import sys
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import time
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import random
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from hexdump import hexdump
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from itertools import permutations
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sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
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from panda import Panda
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def get_test_string():
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return b"test"+os.urandom(10)
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def run_test():
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pandas = Panda.list()
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print(pandas)
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if len(pandas) == 0:
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print("NO PANDAS")
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assert False
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if len(pandas) == 1:
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# if we only have one on USB, assume the other is on wifi
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pandas.append("WIFI")
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run_test_w_pandas(pandas)
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def run_test_w_pandas(pandas):
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h = list(map(lambda x: Panda(x), pandas))
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print("H", h)
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for hh in h:
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hh.set_controls_allowed(True)
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# test both directions
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for ho in permutations(range(len(h)), r=2):
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print("***************** TESTING", ho)
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# **** test health packet ****
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print("health", ho[0], h[ho[0]].health())
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# **** test K/L line loopback ****
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for bus in [2,3]:
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# flush the output
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h[ho[1]].kline_drain(bus=bus)
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# send the characters
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st = get_test_string()
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st = b"\xaa"+chr(len(st)+3).encode()+st
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h[ho[0]].kline_send(st, bus=bus, checksum=False)
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# check for receive
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ret = h[ho[1]].kline_drain(bus=bus)
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print("ST Data:")
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hexdump(st)
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print("RET Data:")
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hexdump(ret)
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assert st == ret
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print("K/L pass", bus, ho, "\n")
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# **** test can line loopback ****
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for bus in [0,1,4,5,6]:
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panda0 = h[ho[0]]
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panda1 = h[ho[1]]
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print("\ntest can", bus)
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# flush
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cans_echo = panda0.can_recv()
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cans_loop = panda1.can_recv()
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# set GMLAN mode
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if bus == 5:
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panda0.set_gmlan(True,2)
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panda1.set_gmlan(True,2)
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bus = 1 # GMLAN is multiplexed with CAN2
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elif bus == 6:
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# on REV B panda, this just retests CAN2 GMLAN
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panda0.set_gmlan(True,3)
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panda1.set_gmlan(True,3)
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bus = 4 # GMLAN is also multiplexed with CAN3
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else:
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panda0.set_gmlan(False)
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panda1.set_gmlan(False)
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# send the characters
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# pick addresses high enough to not conflict with honda code
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at = random.randint(1024, 2000)
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st = get_test_string()[0:8]
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panda0.can_send(at, st, bus)
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time.sleep(0.1)
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# check for receive
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cans_echo = panda0.can_recv()
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cans_loop = panda1.can_recv()
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print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
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assert len(cans_echo) == 1
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assert len(cans_loop) == 1
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assert cans_echo[0][0] == at
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assert cans_loop[0][0] == at
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assert cans_echo[0][2] == st
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assert cans_loop[0][2] == st
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assert cans_echo[0][3] == bus+2
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if cans_loop[0][3] != bus:
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print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
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assert cans_loop[0][3] == bus
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print("CAN pass", bus, ho)
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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for i in range(int(sys.argv[1])):
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run_test()
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else :
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i = 0
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while True:
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print("************* testing %d" % i)
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run_test()
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i += 1
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