HIL Tester for PER

Running

• Code in ./TestBench runs on the Arduino
  • Basically it just reads commands over the serial port and either executs them or writes messages back over the serial port
  • To flash it, use the Arduino IDE
• Code in ./scripts starts the Python code that runs on your laptop
  • It uses all the Python files
  • Each file in ./scripts can run a Pytest script to test some board or signal set on the car
• Make sure you correctly set firmware_path in ./hil_params.json to the path of the primary PER firmware repo!

Python ibraries

• pyserial for serial communication
• pytest (and pytest-check) for testing
• python-can, cantools, and gs_usb for CAN communication
• numpy for data types
• jsonschema for validating JSON files

Notes

Input vs Output

• AI/DI = inputs to hil (reads from the car/other board -> Arduino -> laptop/Python)
• AO/DO = outputs from hil (writes from laptop/Python -> Arduino -> car/other board)