103 lines
2.6 KiB
Python
103 lines
2.6 KiB
Python
#!/usr/bin/env python3
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import unittest
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import cereal.messaging as messaging
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from opendbc.can.parser import CANParser
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from opendbc.can.packer import CANPacker
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# Python implementation so we don't have to depend on boardd
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def can_list_to_can_capnp(can_msgs, msgtype='can'):
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dat = messaging.new_message()
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dat.init(msgtype, len(can_msgs))
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for i, can_msg in enumerate(can_msgs):
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if msgtype == 'sendcan':
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cc = dat.sendcan[i]
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else:
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cc = dat.can[i]
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cc.address = can_msg[0]
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cc.busTime = can_msg[1]
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cc.dat = bytes(can_msg[2])
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cc.src = can_msg[3]
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return dat.to_bytes()
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class TestCanParserPacker(unittest.TestCase):
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def test_civic(self):
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dbc_file = "honda_civic_touring_2016_can_generated"
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signals = [
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("STEER_TORQUE", "STEERING_CONTROL", 0),
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("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
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]
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checks = []
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for steer in range(-256, 255):
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for active in [1, 0]:
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values = {
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"STEER_TORQUE": steer,
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"STEER_TORQUE_REQUEST": active,
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}
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msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
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bts = can_list_to_can_capnp([msgs])
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parser.update_string(bts)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"], active)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
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idx += 1
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def test_subaru(self):
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# Subuaru is little endian
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dbc_file = "subaru_global_2017_generated"
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signals = [
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("Counter", "ES_LKAS", 0),
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("LKAS_Output", "ES_LKAS", 0),
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("LKAS_Request", "ES_LKAS", 0),
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("SET_1", "ES_LKAS", 0),
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]
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checks = []
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for steer in range(-256, 255):
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for active in [1, 0]:
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values = {
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"Counter": idx,
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"LKAS_Output": steer,
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"LKAS_Request": active,
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"SET_1": 1
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}
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msgs = packer.make_can_msg("ES_LKAS", 0, values)
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bts = can_list_to_can_capnp([msgs])
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parser.update_string(bts)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"], idx % 16)
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idx += 1
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if __name__ == "__main__":
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unittest.main()
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