openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+import os
+import copy
+import random
+import time
+import unittest
+from collections import defaultdict
+from pprint import pprint
+
+import cereal.messaging as messaging
+from cereal import car, log
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
+
+
+class TestBoardd(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    os.environ['STARTED'] = '1'
+    os.environ['BOARDD_LOOPBACK'] = '1'
+
+  @phone_only
+  @with_processes(['pandad'])
+  def test_loopback(self):
+    params = Params()
+    params.put_bool("IsOnroad", False)
+
+    with Timeout(90, "boardd didn't start"):
+      sm = messaging.SubMaster(['pandaStates'])
+      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
+        sm.update(1000)
+
+    num_pandas = len(sm['pandaStates'])
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
+                                                   connect another panda for multipanda tests.")
+
+    # boardd safety setting relies on these params
+    cp = car.CarParams.new_message()
+
+    safety_config = car.CarParams.SafetyConfig.new_message()
+    safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
+    cp.safetyConfigs = [safety_config]*num_pandas
+
+    params.put_bool("IsOnroad", True)
+    params.put_bool("FirmwareQueryDone", True)
+    params.put_bool("ControlsReady", True)
+    params.put("CarParams", cp.to_bytes())
+
+    sendcan = messaging.pub_sock('sendcan')
+    can = messaging.sub_sock('can', conflate=False, timeout=100)
+    sm = messaging.SubMaster(['pandaStates'])
+    time.sleep(0.5)
+
+    n = 200
+    for i in range(n):
+      print(f"boardd loopback {i}/{n}")
+
+      sent_msgs = defaultdict(set)
+      for _ in range(random.randrange(20, 100)):
+        to_send = []
+        for __ in range(random.randrange(20)):
+          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+          addr = random.randrange(1, 1<<29)
+          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
+          sent_msgs[bus].add((addr, dat))
+          to_send.append(make_can_msg(addr, dat, bus))
+        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
+
+      sent_loopback = copy.deepcopy(sent_msgs)
+      sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+      sent_total = {k: len(v) for k, v in sent_loopback.items()}
+      for _ in range(100 * 5):
+        sm.update(0)
+        recvd = messaging.drain_sock(can, wait_for_one=True)
+        for msg in recvd:
+          for m in msg.can:
+            key = (m.address, m.dat)
+            assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+            sent_loopback[m.src].discard(key)
+
+        if all(len(v) == 0 for v in sent_loopback.values()):
+          break
+
+      # if a set isn't empty, messages got dropped
+      pprint(sent_msgs)
+      pprint(sent_loopback)
+      print({k: len(x) for k, x in sent_loopback.items()})
+      print(sum([len(x) for x in sent_loopback.values()]))
+      pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
+      for bus in sent_loopback.keys():
+        assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
+
+
+if __name__ == "__main__":
+  unittest.main()