Add openpilot tests

panda/tests/hitl/5_spi.py

@@ -0,0 +1,103 @@
+import binascii
+import pytest
+import random
+from unittest.mock import patch
+
+from panda import Panda, PandaDFU
+from panda.python.spi import SpiDevice, PandaProtocolMismatch, PandaSpiNackResponse
+
+pytestmark = [
+  pytest.mark.test_panda_types((Panda.HW_TYPE_TRES, ))
+]
+
+@pytest.mark.skip("doesn't work, bootloader seems to ignore commands once it sees junk")
+def test_dfu_with_spam(p):
+  dfu_serial = p.get_dfu_serial()
+
+  # enter DFU
+  p.reset(enter_bootstub=True)
+  p.reset(enter_bootloader=True)
+  assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU"
+
+  # send junk
+  d = SpiDevice()
+  for _ in range(9):
+    with d.acquire() as spi:
+      dat = [random.randint(-1, 255) for _ in range(random.randint(1, 100))]
+      spi.xfer(dat)
+
+    # should still show up
+    assert dfu_serial in PandaDFU.list()
+
+class TestSpi:
+  def _ping(self, mocker, panda):
+    # should work with no retries
+    spy = mocker.spy(panda._handle, '_wait_for_ack')
+    panda.health()
+    assert spy.call_count == 2
+    mocker.stop(spy)
+
+  def test_protocol_version_check(self, p):
+    for bootstub in (False, True):
+      p.reset(enter_bootstub=bootstub)
+      with patch('panda.python.spi.PandaSpiHandle.PROTOCOL_VERSION', return_value="abc"):
+        # list should still work with wrong version
+        assert p._serial in Panda.list()
+
+        # connect but raise protocol error
+        with pytest.raises(PandaProtocolMismatch):
+          Panda(p._serial)
+
+  def test_protocol_version_data(self, p):
+    for bootstub in (False, True):
+      p.reset(enter_bootstub=bootstub)
+      v = p._handle.get_protocol_version()
+
+      uid = binascii.hexlify(v[:12]).decode()
+      assert uid == p.get_uid()
+
+      hwtype = v[12]
+      assert hwtype == ord(p.get_type())
+
+      bstub = v[13]
+      assert bstub == (0xEE if bootstub else 0xCC)
+
+  def test_all_comm_types(self, mocker, p):
+    spy = mocker.spy(p._handle, '_wait_for_ack')
+
+    # controlRead + controlWrite
+    p.health()
+    p.can_clear(0)
+    assert spy.call_count == 2*2
+
+    # bulkRead + bulkWrite
+    p.can_recv()
+    p.can_send(0x123, b"somedata", 0)
+    assert spy.call_count == 2*4
+
+  def test_bad_header(self, mocker, p):
+    with patch('panda.python.spi.SYNC', return_value=0):
+      with pytest.raises(PandaSpiNackResponse):
+        p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
+    self._ping(mocker, p)
+
+  def test_bad_checksum(self, mocker, p):
+    cnt = p.health()['spi_checksum_error_count']
+    with patch('panda.python.spi.PandaSpiHandle._calc_checksum', return_value=0):
+      with pytest.raises(PandaSpiNackResponse):
+        p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50)
+    self._ping(mocker, p)
+    assert (p.health()['spi_checksum_error_count'] - cnt) > 0
+
+  def test_non_existent_endpoint(self, mocker, p):
+    for _ in range(10):
+      ep = random.randint(4, 20)
+      with pytest.raises(PandaSpiNackResponse):
+        p._handle.bulkRead(ep, random.randint(1, 1000), timeout=50)
+
+      self._ping(mocker, p)
+
+      with pytest.raises(PandaSpiNackResponse):
+        p._handle.bulkWrite(ep, b"abc", timeout=50)
+
+      self._ping(mocker, p)