def test_udp_doesnt_drop():
connect_wifi()
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = PandaWifiStreaming()
while 1:
if len(pwifi.can_recv()) == 0:
break
for msg_count in [1, 100]:
for i in range({1: 0x80, 100: 0x20}[msg_count]):
pwifi.kick()
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
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, 40)
assert_less(saturation_pct, 100)
print("")
def test_udp_doesnt_drop(serials=None):
connect_wifi(serials[0])
p = Panda(serials[0])
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = PandaWifiStreaming()
while 1:
if len(pwifi.can_recv()) == 0:
break
for msg_count in [1, 100]:
saturation_pcts = []
for i in range({1: 0x80, 100: 0x20}[msg_count]):
pwifi.kick()
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
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,
20) #sometimes the wifi can be slow...
assert_less(saturation_pct, 100)
saturation_pcts.append(saturation_pct)
if len(saturation_pcts) > 0:
assert_greater(sum(saturation_pcts) / len(saturation_pcts), 60)
time.sleep(5)
usb_ok_cnt = 0
REQ_USB_OK_CNT = 500
st = time.time()
msg_id = 0x1bb
bus = 0
last_missing_msg = 0
while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
p.can_send(msg_id, "message", bus)
time.sleep(0.01)
r = [1]
missing = True
while len(r) > 0:
r = p.can_recv()
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
if len(r) > 0:
missing = False
usb_ok_cnt += len(r)
if missing:
last_missing_msg = time.time()
et = time.time() - st
last_missing_msg = last_missing_msg - st
print(
"waited {} for panda to recv can on usb, {} msgs, last missing at {}".
format(et, usb_ok_cnt, last_missing_msg))
assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"