openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

panda/board/jungle/scripts/echo_loopback_test.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import os
+import time
+import contextlib
+import random
+from termcolor import cprint
+
+from panda import PandaJungle
+
+# This script is intended to be used in conjunction with the echo.py test script from panda.
+# It sends messages on bus 0, 1, 2 and checks for a reversed response to be sent back.
+
+#################################################################
+############################# UTILS #############################
+#################################################################
+def print_colored(text, color):
+  cprint(text + " "*40, color, end="\r")
+
+def get_test_string():
+  return b"test"+os.urandom(4)
+
+#################################################################
+############################# TEST ##############################
+#################################################################
+
+def test_loopback():
+  for bus in range(3):
+    # Clear can
+    jungle.can_clear(bus)
+    # Send a random message
+    address = random.randint(1, 2000)
+    data = get_test_string()
+    jungle.can_send(address, data, bus)
+    time.sleep(0.1)
+
+    # Make sure it comes back reversed
+    incoming = jungle.can_recv()
+    found = False
+    for message in incoming:
+      incomingAddress, _, incomingData, incomingBus = message
+      if incomingAddress == address and incomingData == data[::-1] and incomingBus == bus:
+        found = True
+        break
+    if not found:
+      cprint("\nFAILED", "red")
+      raise AssertionError
+
+#################################################################
+############################# MAIN ##############################
+#################################################################
+jungle = None
+counter = 0
+
+if __name__ == "__main__":
+  # Connect to jungle silently
+  print_colored("Connecting to jungle", "blue")
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      jungle = PandaJungle()
+  jungle.set_panda_power(True)
+  jungle.set_ignition(False)
+
+  # Run test
+  while True:
+    jungle.can_clear(0xFFFF)
+    test_loopback()
+    counter += 1
+    print_colored(str(counter) + " loopback cycles complete", "blue")