def test_throughput(serial=None):
connect_wifi(serial)
p = Panda(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)
p = Panda("WIFI")
for speed in [100,250,500,750,1000]:
# send heartbeat
p.send_heartbeat()
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.1)
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("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
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_wifi_flash_st(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_st(), "OTA ST Flash Failed"
connected = False
st = time.time()
while not connected and (time.time() - st) < 20:
try:
p = Panda(serial=serial)
p.get_serial()
connected = True
except:
time.sleep(1)
if not connected:
assert False, "Panda failed to connect on USB after flashing"
def test_recv_only(serial=None):
connect_wifi(serial)
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = Panda("WIFI")
# TODO: msg_count=1000 drops packets, is this fixable?
for msg_count in [10,100,200]:
speed = 500
p.set_can_speed_kbps(0, speed)
comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
saturation_pct = (comp_kbps/speed) * 100.0
print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
def test_get_serial_wifi():
connect_wifi()
p = Panda("WIFI")
print(p.get_serial())
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"
def test_get_serial_wifi(serial=None):
connect_wifi(serial)
p = Panda("WIFI")
print(p.get_serial())
def test_flash_wifi(): Panda.flash_ota_wifi() connect_wifi()
def test_connect_wifi(): connect_wifi()
def test_webpage_fetch(serial=None):
connect_wifi(serial)
r = requests.get("http://192.168.0.10/")
print(r.text)
assert "This is your comma.ai panda" in r.text
def test_flash_wifi(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_wifi(release=True), "OTA Wifi Flash Failed"
connect_wifi(serial)
def test_connect_wifi(serial=None):
connect_wifi(serial)
def test_flash_wifi(serials=None): connect_wifi(serials[0]) assert Panda.flash_ota_wifi(release=False), "OTA Wifi Flash Failed" connect_wifi(serials[0])
def test_connect_wifi(serials=None): connect_wifi(serials[0])
def test_flash_wifi():
Panda.flash_ota_wifi()
connect_wifi()
def test_connect_wifi():
connect_wifi()
