#!/usr/bin/env python3
import time
import random
import unittest
import subprocess
from panda import Panda
from openpilot.system.hardware import TICI, HARDWARE
from openpilot.system.hardware.tici.hardware import Tici
from openpilot.system.hardware.tici.amplifier import Amplifier
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class TestAmplifier(unittest.TestCase):
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@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
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def setUp(self):
# clear dmesg
subprocess.check_call("sudo dmesg -C", shell=True)
HARDWARE.reset_internal_panda()
Panda.wait_for_panda(None, 30)
self.panda = Panda()
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def tearDown(self):
HARDWARE.reset_internal_panda()
def _check_for_i2c_errors(self, expected):
dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
i2c_str = '\n'.join(i2c_lines)
if not expected:
return len(i2c_lines) == 0
else:
return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
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def test_init(self):
amp = Amplifier(debug=True)
r = amp.initialize_configuration(Tici().get_device_type())
assert r
assert self._check_for_i2c_errors(False)
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def test_shutdown(self):
amp = Amplifier(debug=True)
for _ in range(10):
r = amp.set_global_shutdown(True)
r = amp.set_global_shutdown(False)
# amp config should be successful, with no i2c errors
assert r
assert self._check_for_i2c_errors(False)
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def test_init_while_siren_play(self):
for _ in range(10):
self.panda.set_siren(False)
time.sleep(0.1)
self.panda.set_siren(True)
time.sleep(random.randint(0, 5))
amp = Amplifier(debug=True)
r = amp.initialize_configuration(Tici().get_device_type())
assert r
if self._check_for_i2c_errors(True):
break
else:
self.fail("didn't hit any i2c errors")
if __name__ == "__main__":
unittest.main()