#!/usr/bin/env python3
import os
import time
import random
import argparse
from itertools import permutations
from panda import Panda
[docs]
def get_test_string():
return b"test" + os.urandom(10)
[docs]
def run_test(sleep_duration):
pandas = Panda.list()
print(pandas)
if len(pandas) < 2:
raise Exception("Minimum two pandas are needed for test")
run_test_w_pandas(pandas, sleep_duration)
[docs]
def run_test_w_pandas(pandas, sleep_duration):
h = [Panda(x) for x in pandas]
print("H", h)
for hh in h:
hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# test both directions
for ho in permutations(list(range(len(h))), r=2):
print("***************** TESTING", ho)
panda0, panda1 = h[ho[0]], h[ho[1]]
# **** test health packet ****
print("health", ho[0], h[ho[0]].health())
# **** test can line loopback ****
for bus, obd in [(0, False), (1, False), (2, False), (1, True), (2, True)]:
print("\ntest can", bus)
# flush
cans_echo = panda0.can_recv()
cans_loop = panda1.can_recv()
panda0.set_obd(None)
panda1.set_obd(None)
if obd is True:
panda0.set_obd(bus)
panda1.set_obd(bus)
bus = 3
# send the characters
at = random.randint(1, 2000)
st = get_test_string()[0:8]
panda0.can_send(at, st, bus)
time.sleep(0.1)
# check for receive
cans_echo = panda0.can_recv()
cans_loop = panda1.can_recv()
print("Bus", bus, "echo", cans_echo, "loop", cans_loop)
assert len(cans_echo) == 1
assert len(cans_loop) == 1
assert cans_echo[0][0] == at
assert cans_loop[0][0] == at
assert cans_echo[0][2] == st
assert cans_loop[0][2] == st
assert cans_echo[0][3] == 0x80 | bus
if cans_loop[0][3] != bus:
print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3]))
assert cans_loop[0][3] == bus
print("CAN pass", bus, ho)
time.sleep(sleep_duration)
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)