sunnypilot v2026.002.000

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

openpilot/selfdrive/pandad/tests/test_pandad_loopback.py

@@ -0,0 +1,116 @@
+import os
+import copy
+import random
+import time
+import pytest
+from collections import defaultdict
+from pprint import pprint
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from opendbc.car.can_definitions import CanData
+from openpilot.common.utils import retry
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+def publish_device_state(pm, started):
+  msg = messaging.new_message('deviceState')
+  msg.deviceState.started = started
+  pm.send('deviceState', msg)
+
+@retry(attempts=3)
+def setup_pandad():
+  params = Params()
+  params.clear_all()
+
+  pm = messaging.PubMaster(['deviceState'])
+  sm = messaging.SubMaster(['pandaStates'])
+  publish_device_state(pm, False)
+  with Timeout(90, "pandad didn't start"):
+    while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+        any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
+      publish_device_state(pm, False)
+      sm.update(100)
+
+  # pandad safety setting relies on these params
+  cp = car.CarParams.new_message()
+
+  safety_config = car.CarParams.SafetyConfig.new_message()
+  safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
+  cp.safetyConfigs = [safety_config]
+
+  params.put_bool("FirmwareQueryDone", True, block=True)
+  params.put_bool("ControlsReady", True, block=True)
+  params.put("CarParams", cp.to_bytes(), block=True)
+
+  publish_device_state(pm, True)
+  with Timeout(90, "pandad didn't set safety mode"):
+    while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
+      publish_device_state(pm, True)
+      sm.update(100)
+
+def send_random_can_messages(sendcan, count):
+  sent_msgs = defaultdict(set)
+  for _ in range(count):
+    to_send = []
+    for __ in range(random.randrange(20)):
+      bus = random.choice(range(3))
+      addr = random.randrange(1, 1<<29)
+      dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
+      if (addr, dat) in sent_msgs[bus]:
+        continue
+      sent_msgs[bus].add((addr, dat))
+      to_send.append(CanData(addr, dat, bus))
+    sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
+  return sent_msgs
+
+
+@pytest.mark.tici
+class TestBoarddLoopback:
+  @classmethod
+  def setup_class(cls):
+    os.environ['STARTED'] = '1'
+    os.environ['BOARDD_LOOPBACK'] = '1'
+
+  @with_processes(['pandad'])
+  def test_loopback(self):
+    setup_pandad()
+
+    sendcan = messaging.pub_sock('sendcan')
+    can = messaging.sub_sock('can', conflate=False, timeout=100)
+    sm = messaging.SubMaster(['pandaStates'])
+    time.sleep(1)
+
+    n = 200
+    for i in range(n):
+      print(f"pandad loopback {i}/{n}")
+
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100))
+
+      sent_loopback = copy.deepcopy(sent_msgs)
+      sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+      sent_total = {k: len(v) for k, v in sent_loopback.items()}
+      for _ in range(100 * 5):
+        sm.update(0)
+        recvd = messaging.drain_sock(can, wait_for_one=True)
+        for msg in recvd:
+          for m in msg.can:
+            key = (m.address, m.dat)
+            assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+            sent_loopback[m.src].discard(key)
+
+        if all(len(v) == 0 for v in sent_loopback.values()):
+          break
+
+      # if a set isn't empty, messages got dropped
+      pprint(sent_msgs)
+      pprint(sent_loopback)
+      print({k: len(x) for k, x in sent_loopback.items()})
+      print(sum([len(x) for x in sent_loopback.values()]))
+      pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
+      for bus in sent_loopback.keys():
+        assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"