Release 260111

panda/tests/hitl/9_harness.py

@@ -0,0 +1,78 @@
+import time
+import pytest
+import itertools
+
+from opendbc.car.structs import CarParams
+from panda import Panda
+from panda.tests.hitl.conftest import PandaGroup
+
+# TODO: test relay
+
+@pytest.mark.panda_expect_can_error
+@pytest.mark.test_panda_types(PandaGroup.GEN2)
+def test_harness_status(p, panda_jungle):
+  # map from jungle orientations to panda orientations
+  orientation_map = {
+    Panda.HARNESS_STATUS_NC: Panda.HARNESS_STATUS_NC,
+  }
+
+  # this shouldn't be parameterized since we don't want the panda to be reset
+  # between the tests.
+  for ignition, orientation in itertools.product([True, False], [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]):
+    print()
+    p.set_safety_mode(CarParams.SafetyModel.elm327)
+    panda_jungle.set_harness_orientation(orientation)
+    panda_jungle.set_ignition(ignition)
+
+    # wait for orientation detection
+    time.sleep(0.25)
+
+    health = p.health()
+    detected_orientation = health['car_harness_status']
+    print(f"orientation set: {orientation} detected: {detected_orientation}")
+
+    if detected_orientation not in orientation_map:
+      assert detected_orientation != Panda.HARNESS_STATUS_NC
+      other = {Panda.HARNESS_STATUS_NORMAL: Panda.HARNESS_STATUS_FLIPPED, Panda.HARNESS_STATUS_FLIPPED: Panda.HARNESS_STATUS_NORMAL}
+      orientation_map.update({
+        orientation: detected_orientation,
+        other[orientation]: other[detected_orientation],
+      })
+
+    # Orientation
+    assert orientation_map[detected_orientation] == orientation
+
+    # Line ignition
+    assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition)
+
+    # CAN traffic
+    if orientation != Panda.HARNESS_STATUS_NC:
+      for bus in range(3):
+        panda_jungle.can_send(0x123, f"{bus}".encode(), bus)
+      time.sleep(0.5)
+
+      msgs = p.can_recv()
+      buses = {int(dat): bus for _, dat, bus in msgs if bus <= 3}
+      print(msgs)
+
+      # jungle doesn't actually switch buses when switching orientation
+      flipped = orientation == Panda.HARNESS_STATUS_FLIPPED
+      assert buses[0] == (2 if flipped else 0)
+      assert buses[2] == (0 if flipped else 2)
+
+    # SBU voltages
+    supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300
+
+    if orientation == Panda.HARNESS_STATUS_NC:
+      assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV
+      assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV
+    else:
+      relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV'
+      ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV'
+
+      assert health[relay_line] < 0.1 * supply_voltage_mV
+      assert health[ignition_line] > health[relay_line]
+      if ignition:
+        assert health[ignition_line] < 0.3 * supply_voltage_mV
+      else:
+        assert health[ignition_line] > 0.9 * supply_voltage_mV