tests.dashboard.main3

  1"""
  2    We only have 1 DAC rn (because all 8 DACs accidently have the same I2C address)
  3    So we will use voltage dividers for 3 pedal inputs and use the 1 DAC for the 4th
  4    pedal input.
  5"""
  6
  7from typing import Optional
  8
  9import hil2.hil2 as hil2
 10import hil2.component as hil2_comp
 11import hil2.can_helper as can_helper
 12import mk_assert.mk_assert as mka
 13
 14import time
 15import logging
 16
 17# MSG_NAME = "raw_throttle_brake"
 18MSG_NAME = 144705536
 19BRAKE_PERCENT = 0.0 # precent
 20BRAKE_TOL = 10
 21THROTTLE_TOL = 10
 22
 23# BRAKE1_RAW = 300
 24# BRAKE2_RAW = 300
 25# THROTTLE2_RAW = 300
 26# V_TO_ADC = lambda v: (v / 5.0) * 4095
 27SCALE = lambda x, in_min, in_max, out_min, out_max: (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 28# V_TO_ADC_INV = lambda v: 4095 - V_TO_ADC(v)
 29
 30def check_msg(msg: Optional[can_helper.CanMessage], v: float, test_prefix: str):
 31    mka.assert_true(msg is not None, f"{test_prefix}: VCAN message received")
 32    if msg is None:
 33        return
 34    
 35    brake = msg.data["brake"]
 36    # brake_right = msg.data["brake_right"]
 37    throttle = msg.data["throttle"]
 38    # throttle_right = msg.data["throttle_right"]
 39
 40    adc_exp = SCALE(v, 0.5, 4.5, 0, 4095)
 41
 42    logging.info(f"{test_prefix}: throttle={throttle}, brake={brake}")
 43    mka.assert_eqf(brake, adc_exp, BRAKE_TOL, f"{test_prefix}: brake ({brake}) should be approximately {adc_exp}")
 44    mka.assert_eqf(throttle, adc_exp, THROTTLE_TOL, f"{test_prefix}: throttle ({throttle}) should be approximately {adc_exp}")
 45
 46    # logging.info(f"{test_prefix}: throttle={throttle}, brake={brake}, throttle_right={throttle_right}, brake_right={brake_right}")
 47
 48    # adc_exp = V_TO_ADC_INV(v)
 49    # adc_exp_inv = V_TO_ADC(v)
 50    # mka.assert_eqf(brake, adc_exp, BRAKE_TOL, f"{test_prefix}: brake ({brake}) should be approximately {adc_exp}")
 51    # mka.assert_eqf(brake_right, adc_exp, BRAKE_TOL, f"{test_prefix}: brake_right ({brake_right}) should be approximately {adc_exp}")
 52    # mka.assert_eqf(throttle, adc_exp, THROTTLE_TOL, f"{test_prefix}: throttle ({throttle}) should be approximately {adc_exp}")
 53    # mka.assert_eqf(throttle_right, adc_exp_inv, THROTTLE_TOL, f"{test_prefix}: throttle_right ({throttle_right}) should be approximately {adc_exp_inv}")
 54
 55
 56def t_4_2_5_test(h: hil2.Hil2):
 57    """
 58    - Questionable setup:
 59        - Brake pedal 1 is 0.5v (0% pressed) (via 5v -> 0.5v voltage divider)
 60        - Brake pedal 2 is 0.5v (0% pressed) (via 5v -> 0.5v voltage divider)
 61        - Throttle pedal 1 is varied (DAC/AO)
 62        - Throttle pedal 2 is 2.5v (50% pressed) (via 5v -> 2.5v voltage divider)
 63    
 64    Ideally:
 65    - sens1 and sens2 similar, check motor on, sdc not triggered
 66    - sens1 and sens2 slightly different, check motor on, sdc not triggered
 67    - sens1 and sens2 10% different, check motor on, sdc not triggered
 68    - sens1 and sens2 slightly different, check motor on, sdc not triggered
 69    - sens1 and sens2 10% different, check motor on, sdc not triggered
 70    - sens1 and sens2 still 10% different (~100 msec later), check motor off, sdc not triggered
 71    - sens1 and sens2 similar, check motor on, sdc not triggered
 72    Note: Check for motor off: throttle can message is 0
 73
 74    Right now:
 75    - Setup everything
 76    - Just check that the message is correct (throttle 50%, brake 0%)
 77    """
 78    
 79    # brake1 = h.do("HIL2", "DO1")
 80    # brake2 = h.do("HIL2", "DO5")
 81    # throttle1 = h.ao("HIL2", "DAC3")
 82    # throttle2 = h.do("HIL2", "DO9")
 83
 84    vcan = h.can("HIL2", "VCAN")
 85    dac = h.ao("HIL2", "DAC1")
 86
 87    # brake1.set(True)
 88    # brake2.set(True)
 89    # throttle1.set(2.5)
 90    # throttle2.set(True)
 91
 92    dac.set(2.5)
 93
 94    input("Setup (brakes 0%, throttle 50%), press Enter to continue...")
 95
 96    check_msg(vcan.get_last(MSG_NAME), 2.5, "Initial")
 97
 98    # vcan.clear()
 99    # time.sleep(0.02)
100    # msg = vcan.get_last(MSG_NAME)
101    # check_msg(msg, 50.0, "Initial")
102
103    # all_msgs = vcan.get_all()
104    # for msg in all_msgs:
105    #     print(f"Received CAN message: ID={msg.signal}, Data={msg.data}")
106    # # msg_ids = set([m. for m in all_msgs])
107    # # msg_ids = msg_ids - {MSG_NAME}
108    # # print(f"Other CAN message IDs received on VCAN: {msg_ids}")
109
110    for i in range(5, 46, 1):
111        vcan.clear()
112        v = i / 10.0
113        dac.set(v)
114        time.sleep(0.02)
115
116        msg = vcan.get_last(MSG_NAME)
117        check_msg(msg, v, f"Throttle set to {v}V")
118
119        time.sleep(0.2)
120
121
122# Main --------------------------------------------------------------------------------#
123def main():
124    logging.basicConfig(level=logging.INFO)
125
126    with hil2.Hil2(
127        "./tests/dashboard/config.json",
128        "device_configs",
129        None,
130        "./tests/dashboard/dbc"
131    ) as h:
132        
133        mka.add_test(t_4_2_5_test, h)
134        mka.run_tests()
135
136
137if __name__ == "__main__":
138    main()