96 lines
2.1 KiB
Python
Executable File
96 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python
|
|
import os
|
|
import sys
|
|
import time
|
|
import usb1
|
|
import random
|
|
import struct
|
|
from panda.lib.panda import Panda
|
|
from hexdump import hexdump
|
|
|
|
def get_test_string():
|
|
return "test"+os.urandom(10)
|
|
|
|
def run_test():
|
|
pandas = Panda.list()
|
|
print pandas
|
|
h = map(lambda x: Panda(x), pandas)
|
|
print h
|
|
|
|
# test both directions
|
|
for ho in [[0,1], [1,0]]:
|
|
|
|
# **** test health packet ****
|
|
print "health", ho[0], h[ho[0]].health()
|
|
|
|
# **** test K/L line loopback ****
|
|
for bus in [2,3]:
|
|
# flush the output
|
|
h[ho[1]].kline_drain(bus=bus)
|
|
|
|
# send the characters
|
|
st = get_test_string()
|
|
st = "\xaa"+chr(len(st)+3)+st
|
|
h[ho[0]].kline_send(st, bus=bus, checksum=False)
|
|
|
|
# check for receive
|
|
ret = h[ho[1]].kline_drain(bus=bus)
|
|
|
|
hexdump(st)
|
|
hexdump(ret)
|
|
assert st == ret
|
|
print "K/L pass", bus, ho
|
|
|
|
# **** test can line loopback ****
|
|
for bus in [0,1,4,5]:
|
|
print "test can", bus
|
|
# flush
|
|
cans_echo = h[ho[0]].can_recv()
|
|
cans_loop = h[ho[1]].can_recv()
|
|
|
|
# set GMLAN mode
|
|
if bus == 5:
|
|
h[ho[0]].set_gmlan(True)
|
|
h[ho[1]].set_gmlan(True)
|
|
bus = 1 # GMLAN is multiplexed with CAN2
|
|
is_gmlan = True
|
|
else:
|
|
h[ho[0]].set_gmlan(False)
|
|
h[ho[1]].set_gmlan(False)
|
|
is_gmlan = False
|
|
|
|
# send the characters
|
|
# pick addresses high enough to not conflict with honda code
|
|
at = random.randint(1024, 2000)
|
|
st = get_test_string()[0:8]
|
|
h[ho[0]].can_send(at, st, bus)
|
|
time.sleep(0.1)
|
|
|
|
# check for receive
|
|
cans_echo = h[ho[0]].can_recv()
|
|
cans_loop = h[ho[1]].can_recv()
|
|
|
|
print bus, cans_echo, cans_loop
|
|
|
|
assert len(cans_echo) == 1
|
|
assert len(cans_loop) == 1
|
|
|
|
assert cans_echo[0][0] == at
|
|
assert cans_loop[0][0] == at
|
|
|
|
assert cans_echo[0][2] == st
|
|
assert cans_loop[0][2] == st
|
|
|
|
assert cans_echo[0][3] == bus+2
|
|
assert cans_loop[0][3] == bus
|
|
|
|
print "CAN pass", bus, ho
|
|
|
|
if __name__ == "__main__":
|
|
i = 0
|
|
while 1:
|
|
print "************* testing %d" % i
|
|
run_test()
|
|
i += 1
|
|
|