sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/common/hardware/tici/tests/__init__.py

@@ -0,0 +1 @@
+

openpilot/common/hardware/tici/tests/test_agnos_updater.py

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+import json
+import os
+import requests
+
+TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
+MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
+
+
+class TestAgnosUpdater:
+
+  def test_manifest(self):
+    with open(MANIFEST) as f:
+      m = json.load(f)
+
+    for img in m:
+      r = requests.head(img['url'], timeout=10)
+      r.raise_for_status()
+      assert r.headers['Content-Type'] == "application/x-xz"
+      if not img['sparse']:
+        assert img['hash'] == img['hash_raw']

openpilot/common/hardware/tici/tests/test_amplifier.py

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+import pytest
+import time
+import subprocess
+
+from panda import Panda
+from openpilot.common.hardware import TICI, HARDWARE
+from openpilot.common.hardware.tici.amplifier import Amplifier
+
+
+class TestAmplifier:
+
+  @classmethod
+  def setup_class(cls):
+    if not TICI:
+      pytest.skip()
+
+  def setup_method(self):
+    # clear dmesg
+    subprocess.check_call("sudo dmesg -C", shell=True)
+
+    HARDWARE.reset_internal_panda()
+    Panda.wait_for_panda(None, 30)
+    self.panda = Panda()
+
+  def teardown_method(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
+
+  def test_init(self):
+    amp = Amplifier(debug=True)
+    r = amp.initialize_configuration()
+    assert r
+    assert self._check_for_i2c_errors(False)
+
+  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)
+
+  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(0.1)
+
+      amp = Amplifier(debug=True)
+      r = amp.initialize_configuration()
+      assert r
+
+      if self._check_for_i2c_errors(True):
+        break
+    else:
+      pytest.fail("didn't hit any i2c errors")