class TestPedal(unittest.TestCase):
def setUp(self):
self.jungle = PandaJungle(JUNGLE_SERIAL)
self.jungle.set_panda_power(True)
self.jungle.set_ignition(False)
def tearDown(self):
self.jungle.close()
def _flash_over_can(self, bus, fw_file):
print(f"Flashing {fw_file}")
while len(self.jungle.can_recv()) != 0:
continue
self.jungle.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", bus)
time.sleep(0.1)
with open(fw_file, "rb") as code:
PandaJungle.flash_static(CanHandle(self.jungle, bus), code.read())
def _listen_can_frames(self):
self.jungle.can_clear(0xFFFF)
msgs = 0
for _ in range(10):
incoming = self.jungle.can_recv()
for message in incoming:
address, _, _, bus = message
if address == 0x201 and bus == PEDAL_BUS:
msgs += 1
time.sleep(0.1)
return msgs
def test_usb_fw(self):
subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 PEDAL_USB=1 scons", shell=True)
self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal_usb.bin.signed")
time.sleep(2)
p = Panda(PEDAL_SERIAL)
self.assertTrue(p.is_pedal())
p.close()
self.assertTrue(self._listen_can_frames() > 40)
def test_nonusb_fw(self):
subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 scons", shell=True)
self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal.bin.signed")
time.sleep(2)
self.assertTrue(PEDAL_SERIAL not in Panda.list())
self.assertTrue(self._listen_can_frames() > 40)
def panda_init(serial):
p = Panda(serial=serial)
assert p.recover(timeout=30)
start_heartbeat_thread(p)
for bus in range(3):
p.set_can_speed_kbps(bus, 500)
p.set_can_data_speed_kbps(bus, 2000)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_power_save(False)
return p
if JUNGLE_SERIAL:
panda_jungle = PandaJungle(JUNGLE_SERIAL)
panda_jungle.set_panda_power(False)
time.sleep(2)
panda_jungle.set_panda_power(True)
time.sleep(4)
#panda_jungle.set_can_enable(0, False)
#panda_jungle.set_can_enable(1, False)
#panda_jungle.set_can_enable(2, False)
for serial in Panda.list():
if serial not in H7_PANDAS_EXCLUDE:
p = Panda(serial=serial)
if p.get_type() in H7_HW_TYPES:
_panda_serials.append(serial)
p.close()
if len(_panda_serials) < 2:
