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 runs on your laptop
  • It uses all the Python files
  • Each file in ./scripts can run a Pytest script to test some board on the car
  • Do ./test.sh [filename] to run the script, or no filename to run all of them
    • (Note: have to run from the ./scripts directory)
• Make sure you correctly set firmware_path in ./hil_params.json to the path of the primary PER firmware repo!

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)