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_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_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_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_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_send_recv(p_send, p_recv):
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.can_send_many([(0x1ba, 0, "message", 0)]*2)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0,1,2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.05)
comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
def test_recv_only():
p = Panda()
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_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_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_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"
