openpilot v0.9.6 release

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

panda/board/jungle/scripts/loopback_test.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+import os
+import time
+import contextlib
+import random
+from termcolor import cprint
+
+from panda import Panda, PandaJungle
+
+NUM_PANDAS_PER_TEST = 1
+FOR_RELEASE_BUILDS = os.getenv("RELEASE") is not None       # Release builds do not have ALLOUTPUT mode
+
+BUS_SPEEDS = [125, 500, 1000]
+
+#################################################################
+############################# UTILS #############################
+#################################################################
+# To suppress the connection text
+def silent_panda_connect(serial):
+  with open(os.devnull, "w") as devnull:
+    with contextlib.redirect_stdout(devnull):
+      panda = Panda(serial)
+  return panda
+
+def print_colored(text, color):
+  cprint(text + " "*40, color, end="\r")
+
+def connect_to_pandas():
+  print_colored("Connecting to pandas", "blue")
+  # Connect to pandas
+  pandas = []
+  for serial in panda_serials:
+    pandas.append(silent_panda_connect(serial))
+  print_colored("Connected", "blue")
+
+def start_with_orientation(orientation):
+  print_colored("Restarting pandas with orientation " + str(orientation), "blue")
+  jungle.set_panda_power(False)
+  jungle.set_harness_orientation(orientation)
+  time.sleep(4)
+  jungle.set_panda_power(True)
+  time.sleep(2)
+  connect_to_pandas()
+
+def can_loopback(sender):
+  receivers = list(filter((lambda p: (p != sender)), [jungle] + pandas))
+
+  for bus in range(4):
+    obd = False
+    if bus == 3:
+      obd = True
+      bus = 1
+
+    # Clear buses
+    for receiver in receivers:
+      receiver.set_obd(obd)
+      receiver.can_clear(bus)     # TX
+      receiver.can_clear(0xFFFF)  # RX
+
+    # Send a random string
+    addr = 0x18DB33F1 if FOR_RELEASE_BUILDS else random.randint(1, 2000)
+    string = b"test"+os.urandom(4)
+    sender.set_obd(obd)
+    time.sleep(0.2)
+    sender.can_send(addr, string, bus)
+    time.sleep(0.2)
+
+    # Check if all receivers have indeed received them in their receiving buffers
+    for receiver in receivers:
+      content = receiver.can_recv()
+
+      # Check amount of messages
+      if len(content) != 1:
+        raise Exception("Amount of received CAN messages (" + str(len(content)) + ") does not equal 1. Bus: " + str(bus) +" OBD: " + str(obd))
+
+      # Check content
+      if content[0][0] != addr or content[0][2] != string:
+        raise Exception("Received CAN message content or address does not match")
+
+      # Check bus
+      if content[0][3] != bus:
+        raise Exception("Received CAN message bus does not match")
+
+#################################################################
+############################# TEST ##############################
+#################################################################
+
+def test_loopback():
+  # disable safety modes
+  for panda in pandas:
+    panda.set_safety_mode(Panda.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Panda.SAFETY_ALLOUTPUT)
+
+  # perform loopback with jungle as a sender
+  can_loopback(jungle)
+
+  # perform loopback with each possible panda as a sender
+  for panda in pandas:
+    can_loopback(panda)
+
+  # enable safety modes
+  for panda in pandas:
+    panda.set_safety_mode(Panda.SAFETY_SILENT)
+
+#################################################################
+############################# MAIN ##############################
+#################################################################
+jungle = None
+pandas = []  # type: ignore
+panda_serials = []
+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)
+
+  # Connect to <NUM_PANDAS_PER_TEST> new pandas before starting tests
+  print_colored("Waiting for " + str(NUM_PANDAS_PER_TEST) + " pandas to be connected", "yellow")
+  while True:
+    connected_serials = Panda.list()
+    if len(connected_serials) == NUM_PANDAS_PER_TEST:
+      panda_serials = connected_serials
+      break
+
+  start_with_orientation(PandaJungle.HARNESS_ORIENTATION_1)
+
+  # Set bus speeds
+  for device in pandas + [jungle]:
+    for bus in range(len(BUS_SPEEDS)):
+      device.set_can_speed_kbps(bus, BUS_SPEEDS[bus])
+
+  # Run test
+  while True:
+    test_loopback()
+    counter += 1
+    print_colored(str(counter) + " loopback cycles complete", "blue")