166 lines
4.6 KiB
Python
166 lines
4.6 KiB
Python
import os
|
|
import pytest
|
|
|
|
from panda import Panda, PandaDFU, PandaJungle
|
|
from panda.tests.hitl.helpers import clear_can_buffers
|
|
|
|
SPEED_NORMAL = 500
|
|
BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL)]
|
|
|
|
# test options
|
|
NO_JUNGLE = os.environ.get("NO_JUNGLE", "0") == "1"
|
|
|
|
# Find all pandas connected
|
|
_panda_jungle = None
|
|
_panda_type = None
|
|
_panda_serial = None
|
|
def init_devices():
|
|
if not NO_JUNGLE:
|
|
global _panda_jungle
|
|
_panda_jungle = PandaJungle()
|
|
_panda_jungle.set_panda_power(True)
|
|
|
|
with Panda(serial=None, claim=False) as p:
|
|
global _panda_type
|
|
global _panda_serial
|
|
_panda_serial = p.get_usb_serial()
|
|
_panda_type = bytes(p.get_type())
|
|
assert _panda_serial is not None, "No panda found!"
|
|
init_devices()
|
|
|
|
def init_jungle():
|
|
if _panda_jungle is None:
|
|
return
|
|
clear_can_buffers(_panda_jungle)
|
|
_panda_jungle.set_panda_power(True)
|
|
_panda_jungle.set_can_loopback(False)
|
|
_panda_jungle.set_obd(False)
|
|
_panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
|
|
for bus, speed in BUS_SPEEDS:
|
|
_panda_jungle.set_can_speed_kbps(bus, speed)
|
|
|
|
# ensure FW hasn't changed
|
|
assert _panda_jungle.up_to_date()
|
|
|
|
|
|
def pytest_configure(config):
|
|
config.addinivalue_line(
|
|
"markers", "test_panda_types(name): whitelist a test for specific panda types"
|
|
)
|
|
config.addinivalue_line(
|
|
"markers", "skip_panda_types(name): blacklist panda types from a test"
|
|
)
|
|
config.addinivalue_line(
|
|
"markers", "panda_expect_can_error: mark test to ignore CAN health errors"
|
|
)
|
|
|
|
@pytest.hookimpl(tryfirst=True)
|
|
def pytest_collection_modifyitems(items):
|
|
for item in items:
|
|
if item.get_closest_marker('timeout') is None:
|
|
item.add_marker(pytest.mark.timeout(60))
|
|
|
|
needs_jungle = "panda_jungle" in item.fixturenames
|
|
if needs_jungle and NO_JUNGLE:
|
|
item.add_marker(pytest.mark.skip(reason="skipping tests that requires a jungle"))
|
|
|
|
@pytest.fixture(name='panda_jungle', scope='function')
|
|
def fixture_panda_jungle(request):
|
|
init_jungle()
|
|
return _panda_jungle
|
|
|
|
@pytest.fixture(name='p', scope='function')
|
|
def func_fixture_panda(request, module_panda):
|
|
# *** Setup ***
|
|
|
|
p = module_panda
|
|
|
|
# Check if test is applicable to this panda
|
|
mark = request.node.get_closest_marker('test_panda_types')
|
|
if mark:
|
|
assert len(mark.args) > 0, "Missing panda types argument in mark"
|
|
test_types = mark.args[0]
|
|
if _panda_type not in test_types:
|
|
pytest.skip(f"Not applicable, {test_types} pandas only")
|
|
|
|
mark = request.node.get_closest_marker('skip_panda_types')
|
|
if mark:
|
|
assert len(mark.args) > 0, "Missing panda types argument in mark"
|
|
skip_types = mark.args[0]
|
|
if _panda_type in skip_types:
|
|
pytest.skip(f"Not applicable to {skip_types}")
|
|
|
|
# this is 2+ seconds on USB pandas due to slow
|
|
# enumeration on the host side
|
|
p.reset()
|
|
|
|
# ensure FW hasn't changed
|
|
assert p.up_to_date()
|
|
|
|
# *** Run test ***
|
|
yield p
|
|
|
|
# *** Teardown ***
|
|
|
|
# reconnect
|
|
if p.get_dfu_serial() in PandaDFU.list():
|
|
PandaDFU(p.get_dfu_serial()).reset()
|
|
p.reconnect()
|
|
if not p.connected:
|
|
p.reconnect()
|
|
if p.bootstub:
|
|
p.reset()
|
|
|
|
assert not p.bootstub
|
|
|
|
# TODO: would be nice to make these common checks in the teardown
|
|
# show up as failed tests instead of "errors"
|
|
|
|
# Check for faults
|
|
assert p.health()['faults'] == 0
|
|
assert p.health()['fault_status'] == 0
|
|
|
|
# Check for SPI errors
|
|
#assert p.health()['spi_error_count'] == 0
|
|
|
|
# Check health of each CAN core after test, normal to fail for test_gen2_loopback on OBD bus, so skipping
|
|
mark = request.node.get_closest_marker('panda_expect_can_error')
|
|
expect_can_error = mark is not None
|
|
if not expect_can_error:
|
|
for i in range(3):
|
|
can_health = p.can_health(i)
|
|
assert can_health['bus_off_cnt'] == 0
|
|
assert can_health['receive_error_cnt'] < 127
|
|
assert can_health['transmit_error_cnt'] < 255
|
|
assert can_health['error_passive'] == 0
|
|
assert can_health['error_warning'] == 0
|
|
assert can_health['total_rx_lost_cnt'] == 0
|
|
assert can_health['total_tx_lost_cnt'] == 0
|
|
assert can_health['total_error_cnt'] == 0
|
|
assert can_health['total_tx_checksum_error_cnt'] == 0
|
|
|
|
@pytest.fixture(name='module_panda', scope='module')
|
|
def fixture_panda_setup(request):
|
|
"""
|
|
Clean up panda + jungle and return the panda under test.
|
|
"""
|
|
# init jungle
|
|
init_jungle()
|
|
|
|
# init panda
|
|
p = Panda(serial=_panda_serial)
|
|
p.reset(reconnect=True)
|
|
|
|
p.set_can_loopback(False)
|
|
p.set_power_save(False)
|
|
for bus, speed in BUS_SPEEDS:
|
|
p.set_can_speed_kbps(bus, speed)
|
|
clear_can_buffers(p)
|
|
p.set_power_save(False)
|
|
|
|
# run test
|
|
yield p
|
|
|
|
# teardown
|
|
p.close()
|