Add openpilot tests

panda/tests/message_drop_test.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import os
+import usb1
+import time
+import struct
+import itertools
+import threading
+from typing import Any
+
+from panda import Panda
+
+JUNGLE = "JUNGLE" in os.environ
+if JUNGLE:
+  from panda import PandaJungle
+
+# Generate unique messages
+NUM_MESSAGES_PER_BUS = 10000
+messages = [bytes(struct.pack("Q", i)) for i in range(NUM_MESSAGES_PER_BUS)]
+tx_messages = list(itertools.chain.from_iterable([[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] for msg in messages))
+
+def flood_tx(panda):
+  print('Sending!')
+  transferred = 0
+  while True:
+    try:
+      print(f"Sending block {transferred}-{len(tx_messages)}: ", end="")
+      panda.can_send_many(tx_messages[transferred:], timeout=10)
+      print("OK")
+      break
+    except usb1.USBErrorTimeout as e:
+      transferred += (e.transferred // 16)
+      print("timeout, transferred: ", transferred)
+
+  print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
+
+if __name__ == "__main__":
+  serials = Panda.list()
+  receiver: Panda | PandaJungle
+  if JUNGLE:
+    sender = Panda()
+    receiver = PandaJungle()
+  else:
+    if len(serials) != 2:
+      raise Exception("Connect two pandas to perform this test!")
+    sender = Panda(serials[0])
+    receiver = Panda(serials[1])
+    receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+
+  # Start transmisson
+  threading.Thread(target=flood_tx, args=(sender,)).start()
+
+  # Receive as much as we can, and stop when there hasn't been anything for a second
+  rx: list[Any] = []
+  old_len = 0
+  last_change = time.monotonic()
+  while time.monotonic() - last_change < 1:
+    if old_len < len(rx):
+      last_change = time.monotonic()
+    old_len = len(rx)
+
+    rx.extend(receiver.can_recv())
+  print(f"Received {len(rx)} messages")
+
+  # Check if we received everything
+  for bus in range(3):
+    received_msgs = {bytes(m[2]) for m in filter(lambda m, b=bus: m[3] == b, rx)} # type: ignore
+    dropped_msgs = set(messages).difference(received_msgs)
+    print(f"Bus {bus} dropped msgs: {len(list(dropped_msgs))} / {len(messages)}")