#!/usr/bin/env python3
# Loopback test between black panda (+ harness and power) and white/grey panda
# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
# To be sure, the test should be run with both harness orientations
import os
import time
import random
import argparse
from panda import Panda
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def get_test_string():
return b"test" + os.urandom(10)
counter = 0
nonzero_bus_errors = 0
zero_bus_errors = 0
content_errors = 0
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def run_test(sleep_duration):
global counter
pandas = Panda.list()
print(pandas)
# make sure two pandas are connected
if len(pandas) != 2:
raise Exception("Connect white/grey and black panda to run this test!")
# connect
pandas[0] = Panda(pandas[0])
pandas[1] = Panda(pandas[1])
black_panda = None
other_panda = None
# find out which one is black
if pandas[0].is_black() and not pandas[1].is_black():
black_panda = pandas[0]
other_panda = pandas[1]
elif not pandas[0].is_black() and pandas[1].is_black():
black_panda = pandas[1]
other_panda = pandas[0]
else:
raise Exception("Connect white/grey and black panda to run this test!")
# disable safety modes
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# test health packet
print("black panda health", black_panda.health())
print("other panda health", other_panda.health())
# test black -> other
while True:
test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
counter += 1
print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
# Toggle relay
black_panda.set_safety_mode(Panda.SAFETY_SILENT)
time.sleep(1)
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
time.sleep(1)
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def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
global nonzero_bus_errors, zero_bus_errors, content_errors
if direction:
print("***************** TESTING (BLACK --> OTHER) *****************")
else:
print("***************** TESTING (OTHER --> BLACK) *****************")
for send_bus, obd, recv_buses in test_array:
black_panda.send_heartbeat()
other_panda.send_heartbeat()
print("\ntest can: ", send_bus, " OBD: ", obd)
# set OBD on black panda
black_panda.set_obd(True if obd else None)
# clear and flush
if direction:
black_panda.can_clear(send_bus)
else:
other_panda.can_clear(send_bus)
for recv_bus in recv_buses:
if direction:
other_panda.can_clear(recv_bus)
else:
black_panda.can_clear(recv_bus)
black_panda.can_recv()
other_panda.can_recv()
# send the characters
at = random.randint(1, 2000)
st = get_test_string()[0:8]
if direction:
black_panda.can_send(at, st, send_bus)
else:
other_panda.can_send(at, st, send_bus)
time.sleep(0.1)
# check for receive
if direction:
_ = black_panda.can_recv() # can echo
cans_loop = other_panda.can_recv()
else:
_ = other_panda.can_recv() # can echo
cans_loop = black_panda.can_recv()
loop_buses = []
for loop in cans_loop:
if (loop[0] != at) or (loop[2] != st):
content_errors += 1
print(" Loop on bus", str(loop[3]))
loop_buses.append(loop[3])
if len(cans_loop) == 0:
print(" No loop")
assert not os.getenv("NOASSERT")
# test loop buses
recv_buses.sort()
loop_buses.sort()
if(recv_buses != loop_buses):
if len(loop_buses) == 0:
zero_bus_errors += 1
else:
nonzero_bus_errors += 1
assert not os.getenv("NOASSERT")
else:
print(" TEST PASSED")
time.sleep(sleep_duration)
print("\n")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("-n", type=int, help="Number of test iterations to run")
parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
args = parser.parse_args()
if args.n is None:
while True:
run_test(sleep_duration=args.sleep)
else:
for _ in range(args.n):
run_test(sleep_duration=args.sleep)