wip

panda/tests/hitl/2_health.py

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+import time
+import pytest
+
+from panda import Panda
+from panda import PandaJungle
+from panda.tests.hitl.conftest import PandaGroup
+
+
+def test_ignition(p, panda_jungle):
+  # Set harness orientation to #2, since the ignition line is on the wrong SBU bus :/
+  panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_2)
+  p.reset()
+
+  for ign in (True, False):
+    panda_jungle.set_ignition(ign)
+    time.sleep(0.1)
+    assert p.health()['ignition_line'] == ign
+
+
+@pytest.mark.test_panda_types(PandaGroup.GEN2)
+def test_harness_status(p, panda_jungle):
+  flipped = None
+  for ignition in [True, False]:
+    for orientation in [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]:
+      panda_jungle.set_harness_orientation(orientation)
+      panda_jungle.set_ignition(ignition)
+      time.sleep(1)
+
+      health = p.health()
+      detected_orientation = health['car_harness_status']
+      print(f"set: {orientation} detected: {detected_orientation}")
+
+      # Orientation
+      if orientation == Panda.HARNESS_STATUS_NC:
+        assert detected_orientation == Panda.HARNESS_STATUS_NC
+      else:
+        if flipped is None:
+          flipped = (detected_orientation != orientation)
+
+        if orientation == Panda.HARNESS_STATUS_NORMAL:
+          assert detected_orientation == (Panda.HARNESS_STATUS_FLIPPED if flipped else Panda.HARNESS_STATUS_NORMAL)
+        else:
+          assert detected_orientation == (Panda.HARNESS_STATUS_NORMAL if flipped else Panda.HARNESS_STATUS_FLIPPED)
+
+      # Line ignition
+      assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
+
+      # SBU voltages
+      supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
+
+      if orientation == Panda.HARNESS_STATUS_NC:
+        assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
+        assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
+      else:
+        relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
+        ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
+
+        assert health[relay_line] < 0.1 * supply_voltage_mV
+        assert health[ignition_line] > health[relay_line]
+        if ignition:
+          assert health[ignition_line] < 0.3 * supply_voltage_mV
+        else:
+          assert health[ignition_line] > 0.9 * supply_voltage_mV
+
+
+
+@pytest.mark.skip_panda_types((Panda.HW_TYPE_DOS, ))
+def test_voltage(p):
+  for _ in range(10):
+    voltage = p.health()['voltage']
+    assert ((voltage > 11000) and (voltage < 13000))
+    time.sleep(0.1)
+
+def test_hw_type(p):
+  """
+    hw type should be same in bootstub as application
+  """
+
+  hw_type = p.get_type()
+  mcu_type = p.get_mcu_type()
+  assert mcu_type is not None
+
+  app_uid =  p.get_uid()
+  usb_serial = p.get_usb_serial()
+  assert app_uid == usb_serial
+
+  p.reset(enter_bootstub=True, reconnect=True)
+  p.close()
+  time.sleep(3)
+  with Panda(p.get_usb_serial()) as pp:
+    assert pp.bootstub
+    assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch"
+    assert pp.get_mcu_type() == mcu_type, "Bootstub and app MCU type mismatch"
+    assert pp.get_uid() == app_uid
+
+def test_heartbeat(p, panda_jungle):
+  panda_jungle.set_ignition(True)
+  # TODO: add more cases here once the tests aren't super slow
+  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
+  p.send_heartbeat()
+  assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
+  assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
+
+  # shouldn't do anything once we're in a car safety mode
+  p.set_heartbeat_disabled()
+
+  time.sleep(6.)
+
+  h = p.health()
+  assert h['heartbeat_lost']
+  assert h['safety_mode'] == Panda.SAFETY_SILENT
+  assert h['safety_param'] == 0
+  assert h['controls_allowed'] == 0
+
+def test_microsecond_timer(p):
+  start_time = p.get_microsecond_timer()
+  time.sleep(1)
+  end_time = p.get_microsecond_timer()
+
+  # account for uint32 overflow
+  if end_time < start_time:
+    end_time += 2**32
+
+  time_diff = (end_time - start_time) / 1e6
+  assert 0.98 < time_diff  < 1.02, f"Timer not running at the correct speed! (got {time_diff:.2f}s instead of 1.0s)"