#!/usr/bin/env python3
import unittest
from unittest.mock import patch
from openpilot.common.params import Params
from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
# Create fake time
ssb = 0.
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def mock_time_monotonic():
global ssb
ssb += 1.
return ssb
TEST_DURATION_S = 50
GOOD_VOLTAGE = 12 * 1e3
VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
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def pm_patch(name, value, constant=False):
if constant:
return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
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@patch("time.monotonic", new=mock_time_monotonic)
class TestPowerMonitoring(unittest.TestCase):
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def setUp(self):
self.params = Params()
# Test to see that it doesn't do anything when pandaState is None
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def test_pandaState_present(self):
pm = PowerMonitoring()
for _ in range(10):
pm.calculate(None, None)
self.assertEqual(pm.get_power_used(), 0)
self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10))
# Test to see that it doesn't integrate offroad when ignition is True
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def test_offroad_ignition(self):
pm = PowerMonitoring()
for _ in range(10):
pm.calculate(GOOD_VOLTAGE, True)
self.assertEqual(pm.get_power_used(), 0)
# Test to see that it integrates with discharging battery
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def test_offroad_integration_discharging(self):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
for _ in range(TEST_DURATION_S + 1):
pm.calculate(GOOD_VOLTAGE, False)
expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10)
# Test to check positive integration of car_battery_capacity
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def test_car_battery_integration_onroad(self):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 0
for _ in range(TEST_DURATION_S + 1):
pm.calculate(GOOD_VOLTAGE, True)
expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
# Test to check positive integration upper limit
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def test_car_battery_integration_upper_limit(self):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
for _ in range(TEST_DURATION_S + 1):
pm.calculate(GOOD_VOLTAGE, True)
estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
# Test to check negative integration of car_battery_capacity
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def test_car_battery_integration_offroad(self):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
for _ in range(TEST_DURATION_S + 1):
pm.calculate(GOOD_VOLTAGE, False)
expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
# Test to check negative integration lower limit
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def test_car_battery_integration_lower_limit(self):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 1000
for _ in range(TEST_DURATION_S + 1):
pm.calculate(GOOD_VOLTAGE, False)
estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
# Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
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def test_max_time_offroad(self):
MOCKED_MAX_OFFROAD_TIME = 3600
POWER_DRAW = 0 # To stop shutting down for other reasons
with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
start_time = ssb
ignition = False
while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
pm.calculate(GOOD_VOLTAGE, ignition)
if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
self.assertFalse(pm.should_shutdown(ignition, True, start_time, False))
self.assertTrue(pm.should_shutdown(ignition, True, start_time, False))
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def test_car_voltage(self):
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 350
VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
start_time = ssb
for i in range(TEST_TIME):
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
if i % 10 == 0:
self.assertEqual(pm.should_shutdown(ignition, True, start_time, True),
(pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and
(ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and
(ssb - start_time) > DELAY_SHUTDOWN_TIME_S))
self.assertTrue(pm.should_shutdown(ignition, True, start_time, True))
# Test to check policy of not stopping charging when DisablePowerDown is set
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def test_disable_power_down(self):
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
self.params.put_bool("DisablePowerDown", True)
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
for i in range(TEST_TIME):
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
if i % 10 == 0:
self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
# Test to check policy of not stopping charging when ignition
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def test_ignition(self):
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = True
for i in range(TEST_TIME):
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
if i % 10 == 0:
self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
# Test to check policy of not stopping charging when harness is not connected
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def test_harness_connection(self):
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
for i in range(TEST_TIME):
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
if i % 10 == 0:
self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
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def test_delay_shutdown_time(self):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 0
ignition = False
in_car = True
offroad_timestamp = ssb
started_seen = True
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
self.assertFalse(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
started_seen),
f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
self.assertTrue(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
started_seen),
f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
if __name__ == "__main__":
unittest.main()