import time
import pytest
from panda import Panda
pytestmark = [
pytest.mark.skip_panda_types(Panda.HW_TYPE_UNO),
pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES)
]
[docs]
@pytest.mark.timeout(2*60)
def test_fan_controller(p):
start_health = p.health()
for power in (30, 50, 80, 100):
p.set_fan_power(0)
while p.get_fan_rpm() > 0:
time.sleep(0.1)
# wait until fan spins up (and recovers if needed),
# then wait a bit more for the RPM to converge
p.set_fan_power(power)
for _ in range(20):
time.sleep(1)
if p.get_fan_rpm() > 1000:
break
time.sleep(5)
expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100
assert 0.9 * expected_rpm <= p.get_fan_rpm() <= 1.1 * expected_rpm
# Ensure the stall detection is tested on dos
if p.get_type() == Panda.HW_TYPE_DOS:
stalls = p.health()['fan_stall_count'] - start_health['fan_stall_count']
assert stalls >= 2
print("stall count", stalls)
else:
assert p.health()['fan_stall_count'] == 0
[docs]
def test_fan_cooldown(p):
# if the fan cooldown doesn't work, we get high frequency noise on the tach line
# while the rotor spins down. this makes sure it never goes beyond the expected max RPM
p.set_fan_power(100)
time.sleep(3)
p.set_fan_power(0)
for _ in range(5):
assert p.get_fan_rpm() <= 7000
time.sleep(0.5)
[docs]
def test_fan_overshoot(p):
if p.get_type() == Panda.HW_TYPE_DOS:
pytest.skip("panda's fan controller overshoots on the comma three fans that need stall recovery")
# make sure it's stopped completely
p.set_fan_power(0)
while p.get_fan_rpm() > 0:
time.sleep(0.1)
# set it to 30% power to mimic going onroad
p.set_fan_power(30)
max_rpm = 0
for _ in range(50):
max_rpm = max(max_rpm, p.get_fan_rpm())
time.sleep(0.1)
# tolerate 10% overshoot
expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * 30 / 100
assert max_rpm <= 1.1 * expected_rpm, f"Fan overshoot: {(max_rpm / expected_rpm * 100) - 100:.1f}%"