def test_gmlan_bad_toggle():
p = connect_wo_esp()
if p.legacy:
return
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
# GMLAN_CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
# normal
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
def test_can_loopback():
p = connect_wo_esp()
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
if p.legacy:
busses = [0, 1]
else:
busses = [0, 1, 2]
for bus in busses:
# set bus 0 speed to 250
p.set_can_speed_kbps(bus, 250)
# send a message on bus 0
p.can_send(0x1aa, "message", bus)
# confirm receive both on loopback and send receipt
time.sleep(0.05)
r = p.can_recv()
sr = filter(lambda x: x[3] == 0x80 | bus, r)
lb = filter(lambda x: x[3] == bus, r)
assert len(sr) == 1
assert len(lb) == 1
# confirm data is correct
assert 0x1aa == sr[0][0] == lb[0][0]
assert "message" == sr[0][2] == lb[0][2]
def test_gmlan():
p = connect_wo_esp()
if p.legacy:
return
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
# set gmlan on CAN2
for bus in [
Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2,
Panda.GMLAN_CAN3
]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.8 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
print("%d: %.2f kbps vs %.2f kbps" %
(bus, comp_kbps_gmlan, comp_kbps_normal))
def test_gmlan_bad_toggle():
p = connect_wo_esp()
if p.legacy:
return
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
# GMLAN_CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
# normal
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
def test_gmlan():
p = connect_wo_esp()
if p.legacy:
return
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
# set gmlan on CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
comp_kbps_gmlan = time_many_sends(p, 3)
assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
assert_less(comp_kbps_gmlan, 1.0 * SPEED_GMLAN)
p.set_gmlan(None)
comp_kbps_normal = time_many_sends(p, bus)
assert_greater(comp_kbps_normal, 0.8 * SPEED_NORMAL)
assert_less(comp_kbps_normal, 1.0 * SPEED_NORMAL)
print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
def test_can_loopback():
p = connect_wo_esp()
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
if p.legacy:
busses = [0,1]
else:
busses = [0,1,2]
for bus in busses:
# set bus 0 speed to 250
p.set_can_speed_kbps(bus, 250)
# send a message on bus 0
p.can_send(0x1aa, "message", bus)
# confirm receive both on loopback and send receipt
time.sleep(0.05)
r = p.can_recv()
sr = filter(lambda x: x[3] == 0x80 | bus, r)
lb = filter(lambda x: x[3] == bus, r)
assert len(sr) == 1
assert len(lb) == 1
# confirm data is correct
assert 0x1aa == sr[0][0] == lb[0][0]
assert "message" == sr[0][2] == lb[0][2]
def test_throughput(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# send heartbeat
p.send_heartbeat()
# enable CAN loopback mode
p.set_can_loopback(True)
for speed in [100,250,500,750,1000]:
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.05)
# send heartbeat
p.send_heartbeat()
comp_kbps = time_many_sends(p, 0)
# bit count from https://en.wikipedia.org/wiki/CAN_bus
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_safety_nooutput():
p = connect_wo_esp()
# enable output mode
p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
# send a message on bus 0
p.can_send(0x1aa, "message", 0)
# confirm receive nothing
time.sleep(0.05)
r = p.can_recv()
assert len(r) == 0
def test_safety_nooutput(): p = connect_wo_esp() # enable output mode p.set_safety_mode(Panda.SAFETY_NOOUTPUT) # enable CAN loopback mode p.set_can_loopback(True) # send a message on bus 0 p.can_send(0x1aa, "message", 0) # confirm receive nothing time.sleep(0.05) r = p.can_recv() assert len(r) == 0
def test_reliability(serial=None):
p = connect_wo_esp(serial)
LOOP_COUNT = 100
MSG_COUNT = 100
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
p.set_can_speed_kbps(0, 1000)
# send heartbeat
p.send_heartbeat()
addrs = range(100, 100+MSG_COUNT)
ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
# 100 loops
for i in range(LOOP_COUNT):
# send heartbeat
p.send_heartbeat()
st = time.time()
p.can_send_many(ts)
r = []
while len(r) < 200 and (time.time() - st) < 0.5:
r.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80, r)
loopback_resp = filter(lambda x: x[3] == 0, r)
assert_equal(sorted(map(lambda x: x[0], loopback_resp)), addrs)
assert_equal(sorted(map(lambda x: x[0], sent_echo)), addrs)
assert_equal(len(r), 200)
# take sub 20ms
et = (time.time()-st)*1000.0
assert_less(et, 20)
sys.stdout.write("P")
sys.stdout.flush()
def test_throughput():
p = connect_wo_esp()
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)
for speed in [100,250,500,750,1000]:
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.05)
comp_kbps = time_many_sends(p, 0)
# bit count from https://en.wikipedia.org/wiki/CAN_bus
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_reliability():
p = connect_wo_esp()
LOOP_COUNT = 100
MSG_COUNT = 100
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
p.set_can_speed_kbps(0, 1000)
addrs = range(100, 100+MSG_COUNT)
ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
# 100 loops
for i in range(LOOP_COUNT):
st = time.time()
p.can_send_many(ts)
r = []
while len(r) < 200 and (time.time() - st) < 0.5:
r.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80, r)
loopback_resp = filter(lambda x: x[3] == 0, r)
assert_equal(sorted(map(lambda x: x[0], loopback_resp)), addrs)
assert_equal(sorted(map(lambda x: x[0], sent_echo)), addrs)
assert_equal(len(r), 200)
# take sub 20ms
et = (time.time()-st)*1000.0
assert_less(et, 20)
sys.stdout.write("P")
sys.stdout.flush()
def test_serial_debug():
p = connect_wo_esp()
junk = p.serial_read(Panda.SERIAL_DEBUG)
p.call_control_api(0xc0)
assert (p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))
def test_serial_debug():
p = connect_wo_esp()
junk = p.serial_read(Panda.SERIAL_DEBUG)
p.call_control_api(0xc0)
assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))