155 lines
4.1 KiB
Python
155 lines
4.1 KiB
Python
import time
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import pytest
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import datetime
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from panda import Panda, PandaJungle
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PANDA_SERIAL = "28002d000451323431333839"
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JUNGLE_SERIAL = "26001c001451313236343430"
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OBDC_PORT = 1
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@pytest.fixture(autouse=True, scope="function")
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def pj():
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jungle = PandaJungle(JUNGLE_SERIAL)
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jungle.flash()
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jungle.reset()
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jungle.set_ignition(False)
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yield jungle
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jungle.set_panda_power(False)
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jungle.close()
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@pytest.fixture(scope="function")
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def p(pj):
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# note that the 3X's panda lib isn't updated, which
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# shold be fine since it only uses stable APIs
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pj.set_panda_power(True)
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assert Panda.wait_for_panda(PANDA_SERIAL, 10)
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p = Panda(PANDA_SERIAL)
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p.flash()
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p.reset()
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yield p
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p.close()
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def setup_state(panda, jungle, state):
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jungle.set_panda_power(0)
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if state == "off":
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wait_for_full_poweroff(jungle)
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elif state == "normal boot":
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jungle.set_panda_individual_power(OBDC_PORT, 1)
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elif state == "QDL":
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time.sleep(0.5)
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jungle.set_panda_individual_power(OBDC_PORT, 1)
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elif state == "ready to bootkick":
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wait_for_full_poweroff(jungle)
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jungle.set_panda_individual_power(OBDC_PORT, 1)
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wait_for_boot(panda, jungle)
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set_som_shutdown_flag(panda)
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panda.set_safety_mode(Panda.SAFETY_SILENT)
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panda.send_heartbeat()
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wait_for_som_shutdown(panda, jungle)
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else:
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raise ValueError(f"unkown state: {state}")
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def wait_for_som_shutdown(panda, jungle):
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st = time.monotonic()
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while panda.read_som_gpio():
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# can take a while for the SOM to fully shutdown
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if time.monotonic() - st > 120:
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raise Exception("SOM didn't shutdown in time")
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if check_som_boot_flag(panda):
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raise Exception(f"SOM rebooted instead of shutdown: {time.monotonic() - st}s")
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time.sleep(0.5)
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dt = time.monotonic() - st
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print("waiting for shutdown", round(dt))
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dt = time.monotonic() - st
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print(f"took {dt:.2f}s for SOM to shutdown")
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def wait_for_full_poweroff(jungle, timeout=30):
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st = time.monotonic()
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time.sleep(15)
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while PANDA_SERIAL in Panda.list():
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if time.monotonic() - st > timeout:
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raise Exception("took too long for device to turn off")
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health = jungle.health()
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assert all(health[f"ch{i}_power"] < 0.1 for i in range(1, 7))
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def check_som_boot_flag(panda):
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h = panda.health()
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return h['safety_mode'] == Panda.SAFETY_ELM327 and h['safety_param'] == 30
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def set_som_shutdown_flag(panda):
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panda.set_datetime(datetime.datetime(year=2040, month=8, day=23))
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def wait_for_boot(panda, jungle, reset_expected=False, bootkick=False, timeout=120):
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st = time.monotonic()
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Panda.wait_for_panda(PANDA_SERIAL, timeout)
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panda.reconnect()
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if bootkick:
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assert panda.health()['uptime'] > 20
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else:
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assert panda.health()['uptime'] < 3
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for i in range(3):
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assert not check_som_boot_flag(panda)
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time.sleep(1)
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# wait for SOM to bootup
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while not check_som_boot_flag(panda):
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if time.monotonic() - st > timeout:
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raise Exception("SOM didn't boot in time")
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time.sleep(1.0)
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assert panda.health()['som_reset_triggered'] == reset_expected
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def test_cold_boot(p, pj):
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setup_state(p, pj, "off")
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setup_state(p, pj, "normal boot")
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wait_for_boot(p, pj)
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def test_bootkick_ignition_line(p, pj):
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setup_state(p, pj, "ready to bootkick")
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pj.set_ignition(True)
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wait_for_boot(p, pj, bootkick=True)
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@pytest.mark.skip("test isn't reliable yet")
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def test_bootkick_can_ignition(p, pj):
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setup_state(p, pj, "ready to bootkick")
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for _ in range(10):
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# Mazda ignition signal
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pj.can_send(0x9E, b'\xc0\x00\x00\x00\x00\x00\x00\x00', 0)
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time.sleep(0.5)
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wait_for_boot(p, pj, bootkick=True)
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def test_recovery_from_qdl(p, pj):
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setup_state(p, pj, "ready to bootkick")
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# put into QDL using the FORCE_USB_BOOT pin
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for i in range(10):
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pj.set_header_pin(i, 1)
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# try to boot
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time.sleep(1)
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pj.set_ignition(True)
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time.sleep(3)
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# release FORCE_USB_BOOT
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for i in range(10):
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pj.set_header_pin(i, 0)
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# normally, this GPIO is set immediately since it's first enabled in the ABL
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for i in range(40):
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assert not p.read_som_gpio()
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time.sleep(1)
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# should boot after 45s
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wait_for_boot(p, pj, reset_expected=True, bootkick=True, timeout=120)
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