IQ.Pilot Release Commit @ 0798119

panda/tests/hitl/conftest.py

@@ -0,0 +1,165 @@
+import os
+import pytest
+
+from panda import Panda, PandaDFU, PandaJungle
+from panda.tests.hitl.helpers import clear_can_buffers
+
+SPEED_NORMAL = 500
+BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL)]
+
+# test options
+NO_JUNGLE = os.environ.get("NO_JUNGLE", "0") == "1"
+
+# Find all pandas connected
+_panda_jungle = None
+_panda_type = None
+_panda_serial = None
+def init_devices():
+  if not NO_JUNGLE:
+    global _panda_jungle
+    _panda_jungle = PandaJungle()
+    _panda_jungle.set_panda_power(True)
+
+  with Panda(serial=None, claim=False) as p:
+    global _panda_type
+    global _panda_serial
+    _panda_serial = p.get_usb_serial()
+    _panda_type = bytes(p.get_type())
+  assert _panda_serial is not None, "No panda found!"
+init_devices()
+
+def init_jungle():
+  if _panda_jungle is None:
+    return
+  clear_can_buffers(_panda_jungle)
+  _panda_jungle.set_panda_power(True)
+  _panda_jungle.set_can_loopback(False)
+  _panda_jungle.set_obd(False)
+  _panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
+  for bus, speed in BUS_SPEEDS:
+    _panda_jungle.set_can_speed_kbps(bus, speed)
+
+  # ensure FW hasn't changed
+  assert _panda_jungle.up_to_date()
+
+
+def pytest_configure(config):
+  config.addinivalue_line(
+    "markers", "test_panda_types(name): whitelist a test for specific panda types"
+  )
+  config.addinivalue_line(
+    "markers", "skip_panda_types(name): blacklist panda types from a test"
+  )
+  config.addinivalue_line(
+    "markers", "panda_expect_can_error: mark test to ignore CAN health errors"
+  )
+
+@pytest.hookimpl(tryfirst=True)
+def pytest_collection_modifyitems(items):
+  for item in items:
+    if item.get_closest_marker('timeout') is None:
+      item.add_marker(pytest.mark.timeout(60))
+
+    needs_jungle = "panda_jungle" in item.fixturenames
+    if needs_jungle and NO_JUNGLE:
+      item.add_marker(pytest.mark.skip(reason="skipping tests that requires a jungle"))
+
+@pytest.fixture(name='panda_jungle', scope='function')
+def fixture_panda_jungle(request):
+  init_jungle()
+  return _panda_jungle
+
+@pytest.fixture(name='p', scope='function')
+def func_fixture_panda(request, module_panda):
+  # *** Setup ***
+
+  p = module_panda
+
+  # Check if test is applicable to this panda
+  mark = request.node.get_closest_marker('test_panda_types')
+  if mark:
+    assert len(mark.args) > 0, "Missing panda types argument in mark"
+    test_types = mark.args[0]
+    if _panda_type not in test_types:
+      pytest.skip(f"Not applicable, {test_types} pandas only")
+
+  mark = request.node.get_closest_marker('skip_panda_types')
+  if mark:
+    assert len(mark.args) > 0, "Missing panda types argument in mark"
+    skip_types = mark.args[0]
+    if _panda_type in skip_types:
+      pytest.skip(f"Not applicable to {skip_types}")
+
+  # this is 2+ seconds on USB pandas due to slow
+  # enumeration on the host side
+  p.reset()
+
+  # ensure FW hasn't changed
+  assert p.up_to_date()
+
+  # *** Run test ***
+  yield p
+
+  # *** Teardown ***
+
+  # reconnect
+  if p.get_dfu_serial() in PandaDFU.list():
+    PandaDFU(p.get_dfu_serial()).reset()
+    p.reconnect()
+  if not p.connected:
+    p.reconnect()
+  if p.bootstub:
+    p.reset()
+
+  assert not p.bootstub
+
+  # TODO: would be nice to make these common checks in the teardown
+  # show up as failed tests instead of "errors"
+
+  # Check for faults
+  assert p.health()['faults'] == 0
+  assert p.health()['fault_status'] == 0
+
+  # Check for SPI errors
+  #assert p.health()['spi_error_count'] == 0
+
+  # Check health of each CAN core after test, normal to fail for test_gen2_loopback on OBD bus, so skipping
+  mark = request.node.get_closest_marker('panda_expect_can_error')
+  expect_can_error = mark is not None
+  if not expect_can_error:
+    for i in range(3):
+      can_health = p.can_health(i)
+      assert can_health['bus_off_cnt'] == 0
+      assert can_health['receive_error_cnt'] < 127
+      assert can_health['transmit_error_cnt'] < 255
+      assert can_health['error_passive'] == 0
+      assert can_health['error_warning'] == 0
+      assert can_health['total_rx_lost_cnt'] == 0
+      assert can_health['total_tx_lost_cnt'] == 0
+      assert can_health['total_error_cnt'] == 0
+      assert can_health['total_tx_checksum_error_cnt'] == 0
+
+@pytest.fixture(name='module_panda', scope='module')
+def fixture_panda_setup(request):
+  """
+    Clean up panda + jungle and return the panda under test.
+  """
+  # init jungle
+  init_jungle()
+
+  # init panda
+  p = Panda(serial=_panda_serial)
+  p.reset(reconnect=True)
+
+  p.set_can_loopback(False)
+  p.set_power_save(False)
+  for bus, speed in BUS_SPEEDS:
+    p.set_can_speed_kbps(bus, speed)
+  clear_can_buffers(p)
+  p.set_power_save(False)
+
+  # run test
+  yield p
+
+  # teardown
+  p.close()