Fixed some python3 bugs in the test scripts and PandaSerial

jyoung8607 · Sep 27, 2019 · c4aabae · c4aabae
1 parent 9af0cb3
commit c4aabae
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Showing 7 changed files with 39 additions and 48 deletions.
diff --git a/python/__init__.py b/python/__init__.py
@@ -135,11 +135,11 @@ class Panda(object):
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
-  HW_TYPE_UNKNOWN = '\x00'
-  HW_TYPE_WHITE_PANDA = '\x01'
-  HW_TYPE_GREY_PANDA = '\x02'
-  HW_TYPE_BLACK_PANDA = '\x03'
-  HW_TYPE_PEDAL = '\x04'
+  HW_TYPE_UNKNOWN = b'\x00'
+  HW_TYPE_WHITE_PANDA = b'\x01'
+  HW_TYPE_GREY_PANDA = b'\x02'
+  HW_TYPE_BLACK_PANDA = b'\x03'
+  HW_TYPE_PEDAL = b'\x04'
 
   def __init__(self, serial=None, claim=True):
     self._serial = serial
@@ -429,7 +429,7 @@ def set_can_speed_kbps(self, bus, speed):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
 
   def set_uart_baud(self, uart, rate):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, rate/300, b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
 
   def set_uart_parity(self, uart, parity):
     # parity, 0=off, 1=even, 2=odd

diff --git a/python/serial.py b/python/serial.py
@@ -5,7 +5,7 @@ def __init__(self, panda, port, baud):
     self.port = port
     self.panda.set_uart_parity(self.port, 0)
     self.panda.set_uart_baud(self.port, baud)
-    self.buf = ""
+    self.buf = b""
 
   def read(self, l=1):
     tt = self.panda.serial_read(self.port)
@@ -19,7 +19,7 @@ def read(self, l=1):
   def write(self, dat):
     #print "W: ", dat.encode("hex")
     #print '  pigeon_send("' + ''.join(map(lambda x: "\\x%02X" % ord(x), dat)) + '");'
-    return self.panda.serial_write(self.port, dat)
+    return self.panda.serial_write(self.port, str.encode(dat))
 
   def close(self):
     pass

diff --git a/tests/black_loopback_test.py b/tests/black_loopback_test.py
@@ -33,11 +33,8 @@ def run_test(sleep_duration):
   pandas[0] = Panda(pandas[0])
   pandas[1] = Panda(pandas[1])
 
-  # find out the hardware types
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
-  if type0 != "\x03" or type1 != "\x03":
+  # find out the hardware types  
+  if not pandas[0].is_black() or not pandas[1].is_black():
     print("Connect two black pandas to run this test!")
     assert False
 

diff --git a/tests/black_white_loopback_test.py b/tests/black_white_loopback_test.py
@@ -40,17 +40,14 @@ def run_test(sleep_duration):
   pandas[0] = Panda(pandas[0])
   pandas[1] = Panda(pandas[1])
 
-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
   black_panda = None
   other_panda = None
-
-  if type0 == "\x03" and type1 != "\x03":
+
+  # find out which one is black
+  if pandas[0].is_black() and not pandas[1].is_black():
     black_panda = pandas[0]
     other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
+  elif not pandas[0].is_black() and pandas[1].is_black():
     black_panda = pandas[1]
     other_panda = pandas[0]
   else:
@@ -71,13 +68,13 @@ def run_test(sleep_duration):
     test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
     counter += 1
     print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
-    
+
     # Toggle relay
     black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
     time.sleep(1)
     black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
     time.sleep(1)
-	
+
 
 def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
   global nonzero_bus_errors, zero_bus_errors, content_errors
@@ -91,7 +88,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
     black_panda.send_heartbeat()
     other_panda.send_heartbeat()
     print("\ntest can: ", send_bus, " OBD: ", obd)
-    
+
     # set OBD on black panda
     black_panda.set_gmlan(True if obd else None)
 
@@ -105,8 +102,8 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
       if direction:
         other_panda.can_clear(recv_bus)
       else:
-	black_panda.can_clear(recv_bus)
-    
+        black_panda.can_clear(recv_bus)
+
     black_panda.can_recv()
     other_panda.can_recv()
 
@@ -138,7 +135,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
       print("  No loop")
       if not os.getenv("NOASSERT"):
         assert False
-    
+
     # test loop buses
     recv_buses.sort()
     loop_buses.sort()

diff --git a/tests/black_white_relay_endurance.py b/tests/black_white_relay_endurance.py
@@ -40,17 +40,14 @@ def run_test(sleep_duration):
   pandas[0] = Panda(pandas[0])
   pandas[1] = Panda(pandas[1])
 
-  # find out which one is black
-  type0 = pandas[0].get_type()
-  type1 = pandas[1].get_type()
-
   black_panda = None
   other_panda = None
 
-  if type0 == "\x03" and type1 != "\x03":
+  # find out which one is black
+  if pandas[0].is_black() and not pandas[1].is_black():
     black_panda = pandas[0]
     other_panda = pandas[1]
-  elif type0 != "\x03" and type1 == "\x03":
+  elif not pandas[0].is_black() and pandas[1].is_black():
     black_panda = pandas[1]
     other_panda = pandas[0]
   else:
@@ -78,11 +75,11 @@ def run_test(sleep_duration):
 
     if (time.time() - temp_start_time) > 3600*6:
     	# Toggle relay
-    	black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
-    	time.sleep(1)
-	black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-    	time.sleep(1)
-	temp_start_time = time.time()
+      black_panda.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+      time.sleep(1)
+      black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+      time.sleep(1)
+      temp_start_time = time.time()
 
 
 def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
@@ -111,7 +108,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
       if direction:
         other_panda.can_clear(recv_bus)
       else:
-	black_panda.can_clear(recv_bus)
+	      black_panda.can_clear(recv_bus)
 
     black_panda.can_recv()
     other_panda.can_recv()

diff --git a/tests/debug_console.py b/tests/debug_console.py
@@ -33,16 +33,16 @@
       while True:
         for i, panda in enumerate(pandas):
           while True:
-      	    ret = panda.serial_read(port_number)
-  	    if len(ret) > 0:
-	      sys.stdout.write(setcolor[i] + str(ret) + unsetcolor)
-	      sys.stdout.flush()
-	    else:
-	      break
+            ret = panda.serial_read(port_number)
+            if len(ret) > 0:
+              sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor)
+              sys.stdout.flush()
+            else:
+              break
           if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []):
-	    ln = sys.stdin.readline()
-	    if claim:
-	      panda.serial_write(port_number, ln)
+            ln = sys.stdin.readline()
+            if claim:
+              panda.serial_write(port_number, ln)
           time.sleep(0.01)
     except:
       print("panda disconnected!")

diff --git a/tests/location_listener.py b/tests/location_listener.py
@@ -41,7 +41,7 @@ def add_nmea_checksum(msg):
   while True:
     ret = ser.read(1024)
     if len(ret) > 0:
-      sys.stdout.write(ret)
+      sys.stdout.write(ret.decode('ascii', 'ignore'))
       sys.stdout.flush()
       #print str(ret).encode("hex")