IQ.Pilot Release Commit @ 0798119

selfdrive/pandad/tests/test_pandad_spi.py

@@ -0,0 +1,102 @@
+import os
+import time
+import numpy as np
+import pytest
+import random
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
+
+JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
+
+@pytest.mark.tici
+class TestBoarddSpi:
+  @classmethod
+  def setup_class(cls):
+    os.environ['STARTED'] = '1'
+    os.environ['SPI_ERR_PROB'] = '0.001'
+    if not JUNGLE_SPAM:
+      os.environ['BOARDD_LOOPBACK'] = '1'
+
+  @with_processes(['pandad'])
+  def test_spi_corruption(self, subtests):
+    setup_pandad(1)
+
+    sendcan = messaging.pub_sock('sendcan')
+    socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
+    time.sleep(2)
+    for s in socks.values():
+      messaging.drain_sock_raw(s)
+
+    total_recv_count = 0
+    total_sent_count = 0
+    sent_msgs = {bus: list() for bus in range(3)}
+
+    st = time.monotonic()
+    ts = {s: list() for s in socks.keys()}
+    for _ in range(int(os.getenv("TEST_TIME", "20"))):
+      # send some CAN messages
+      if not JUNGLE_SPAM:
+        sent = send_random_can_messages(sendcan, random.randrange(2, 20))
+        for k, v in sent.items():
+          sent_msgs[k].extend(list(v))
+          total_sent_count += len(v)
+
+      for service, sock in socks.items():
+        for m in messaging.drain_sock(sock):
+          ts[service].append(m.logMonoTime)
+
+          # sanity check for corruption
+          assert m.valid or (service == "can")
+          if service == "can":
+            for msg in m.can:
+              if JUNGLE_SPAM:
+                # PandaJungle.set_generated_can(True)
+                i = msg.address - 0x200
+                assert msg.address >= 0x200
+                assert msg.src == (i%3)
+                assert msg.dat == b"\xff"*(i%8)
+                total_recv_count += 1
+                continue
+
+              if msg.src > 4:
+                continue
+              key = (msg.address, msg.dat)
+              assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
+              # TODO: enable this
+              #sent_msgs[msg.src].remove(key)
+              total_recv_count += 1
+          elif service == "pandaStates":
+            assert len(m.pandaStates) == 1
+            ps = m.pandaStates[0]
+            assert ps.uptime < 1000
+            assert ps.pandaType == "tres"
+            assert ps.ignitionLine
+            assert not ps.ignitionCan
+            assert 4000 < ps.voltage < 14000
+          elif service == "peripheralState":
+            ps = m.peripheralState
+            assert ps.pandaType == "tres"
+            assert 4000 < ps.voltage < 14000
+            assert 50 < ps.current < 1000
+            assert ps.fanSpeedRpm < 10000
+
+      time.sleep(0.5)
+    et = time.monotonic() - st
+
+    print("\n======== timing report ========")
+    for service, times in ts.items():
+      dts = np.diff(times)/1e6
+      print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}")
+      with subtests.test(msg="timing check", service=service):
+        edt = 1e3 / SERVICE_LIST[service].frequency
+        assert edt*0.9 < np.mean(dts) < edt*1.1
+        assert np.max(dts) < edt*8
+        assert np.min(dts) < edt
+        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
+
+    with subtests.test(msg="CAN traffic"):
+      print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
+      assert total_recv_count > 20