![Willem Melching](/assets/img/avatar_default.png)
* remove unnecessary trim levels from car name * remove hardcoded strings * fix process replay * more fixes * fix migration * update ref
205 lines
7.2 KiB
Python
Executable file
205 lines
7.2 KiB
Python
Executable file
#!/usr/bin/env python3
|
|
# pylint: disable=E1101
|
|
import os
|
|
import importlib
|
|
import unittest
|
|
from collections import defaultdict, Counter
|
|
from parameterized import parameterized_class
|
|
|
|
from cereal import log, car
|
|
from selfdrive.car.fingerprints import all_known_cars
|
|
from selfdrive.car.car_helpers import interfaces
|
|
from selfdrive.car.honda.values import HONDA_BOSCH
|
|
from selfdrive.car.honda.values import CAR as HONDA
|
|
from selfdrive.car.toyota.values import CAR as TOYOTA
|
|
from selfdrive.car.chrysler.values import CAR as CHRYSLER
|
|
from selfdrive.car.hyundai.values import CAR as HYUNDAI
|
|
from selfdrive.test.test_routes import routes, non_tested_cars
|
|
from selfdrive.test.openpilotci import get_url
|
|
from tools.lib.logreader import LogReader
|
|
|
|
from panda.tests.safety import libpandasafety_py
|
|
from panda.tests.safety.common import package_can_msg
|
|
|
|
PandaType = log.PandaState.PandaType
|
|
|
|
ROUTES = {v['carFingerprint']: k for k, v in routes.items() if 'enableCamera' not in v or v['enableCamera']}
|
|
|
|
# TODO: get updated routes for these cars
|
|
ignore_can_valid = [
|
|
HONDA.ACURA_ILX,
|
|
TOYOTA.LEXUS_RXH,
|
|
TOYOTA.AVALON,
|
|
HONDA.PILOT_2019,
|
|
HYUNDAI.SANTA_FE,
|
|
|
|
# TODO: get new routes for these cars, current routes are from giraffe with different buses
|
|
HONDA.CRV_HYBRID,
|
|
HONDA.INSIGHT,
|
|
HONDA.ACCORDH,
|
|
]
|
|
|
|
ignore_carstate_check = [
|
|
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
|
|
CHRYSLER.PACIFICA_2017_HYBRID,
|
|
|
|
# TODO: get new routes for these cars, current routes are from giraffe with different buses
|
|
HONDA.CRV_HYBRID,
|
|
HONDA.ACCORD,
|
|
HONDA.INSIGHT,
|
|
HONDA.ACCORDH,
|
|
]
|
|
|
|
@parameterized_class(('car_model'), [(car,) for car in all_known_cars()])
|
|
class TestCarModel(unittest.TestCase):
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
if cls.car_model not in ROUTES:
|
|
# TODO: get routes for missing cars and remove this
|
|
if cls.car_model in non_tested_cars:
|
|
print(f"Skipping tests for {cls.car_model}: missing route")
|
|
raise unittest.SkipTest
|
|
else:
|
|
raise Exception(f"missing test route for car {cls.car_model}")
|
|
|
|
for seg in [2, 1, 0]:
|
|
try:
|
|
lr = LogReader(get_url(ROUTES[cls.car_model], seg))
|
|
break
|
|
except Exception:
|
|
if seg == 0:
|
|
raise
|
|
|
|
can_msgs = []
|
|
fingerprint = {i: dict() for i in range(3)}
|
|
for msg in lr:
|
|
if msg.which() == "can":
|
|
for m in msg.can:
|
|
if m.src < 128:
|
|
fingerprint[m.src][m.address] = len(m.dat)
|
|
can_msgs.append(msg)
|
|
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
|
|
|
|
CarInterface, CarController, CarState = interfaces[cls.car_model]
|
|
|
|
cls.CP = CarInterface.get_params(cls.car_model, fingerprint, [])
|
|
assert cls.CP
|
|
|
|
cls.CI = CarInterface(cls.CP, CarController, CarState)
|
|
assert cls.CI
|
|
|
|
def test_car_params(self):
|
|
if self.CP.dashcamOnly:
|
|
self.skipTest("no need to check carParams for dashcamOnly")
|
|
|
|
# make sure car params are within a valid range
|
|
self.assertGreater(self.CP.mass, 1)
|
|
self.assertGreater(self.CP.steerRateCost, 1e-3)
|
|
|
|
if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
|
|
tuning = self.CP.lateralTuning.which()
|
|
if tuning == 'pid':
|
|
self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
|
|
elif tuning == 'lqr':
|
|
self.assertTrue(len(self.CP.lateralTuning.lqr.a))
|
|
elif tuning == 'indi':
|
|
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
|
|
|
|
self.assertTrue(self.CP.enableCamera)
|
|
|
|
# TODO: check safetyModel is in release panda build
|
|
safety = libpandasafety_py.libpandasafety
|
|
set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
|
|
self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyModel}")
|
|
|
|
def test_car_interface(self):
|
|
# TODO: also check for checkusm and counter violations from can parser
|
|
can_invalid_cnt = 0
|
|
CC = car.CarControl.new_message()
|
|
for i, msg in enumerate(self.can_msgs):
|
|
CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
|
|
self.CI.apply(CC)
|
|
|
|
# wait 2s for low frequency msgs to be seen
|
|
if i > 200:
|
|
can_invalid_cnt += not CS.canValid
|
|
|
|
if self.car_model not in ignore_can_valid:
|
|
self.assertLess(can_invalid_cnt, 50)
|
|
|
|
def test_radar_interface(self):
|
|
os.environ['NO_RADAR_SLEEP'] = "1"
|
|
RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % self.CP.carName).RadarInterface
|
|
RI = RadarInterface(self.CP)
|
|
assert RI
|
|
|
|
error_cnt = 0
|
|
for msg in self.can_msgs:
|
|
radar_data = RI.update((msg.as_builder().to_bytes(),))
|
|
if radar_data is not None:
|
|
error_cnt += car.RadarData.Error.canError in radar_data.errors
|
|
self.assertLess(error_cnt, 20)
|
|
|
|
def test_panda_safety_rx_valid(self):
|
|
if self.CP.dashcamOnly:
|
|
self.skipTest("no need to check panda safety for dashcamOnly")
|
|
|
|
safety = libpandasafety_py.libpandasafety
|
|
set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
|
|
self.assertEqual(0, set_status)
|
|
|
|
failed_addrs = Counter()
|
|
for can in self.can_msgs:
|
|
for msg in can.can:
|
|
if msg.src >= 128:
|
|
continue
|
|
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
|
|
if not safety.safety_rx_hook(to_send):
|
|
failed_addrs[hex(msg.address)] += 1
|
|
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
|
|
|
|
def test_panda_safety_carstate(self):
|
|
if self.CP.dashcamOnly:
|
|
self.skipTest("no need to check panda safety for dashcamOnly")
|
|
if self.car_model in ignore_carstate_check:
|
|
self.skipTest("see comments in test_models.py")
|
|
|
|
safety = libpandasafety_py.libpandasafety
|
|
set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)
|
|
self.assertEqual(0, set_status)
|
|
|
|
checks = defaultdict(lambda: 0)
|
|
CC = car.CarControl.new_message()
|
|
for can in self.can_msgs:
|
|
for msg in can.can:
|
|
if msg.src >= 128:
|
|
continue
|
|
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
|
|
safety.safety_rx_hook(to_send)
|
|
CS = self.CI.update(CC, (can.as_builder().to_bytes(),))
|
|
|
|
# TODO: check steering state
|
|
# check that openpilot and panda safety agree on the car's state
|
|
checks['gasPressed'] += CS.gasPressed != safety.get_gas_pressed_prev()
|
|
checks['brakePressed'] += CS.brakePressed != safety.get_brake_pressed_prev()
|
|
checks['controlsAllowed'] += not CS.cruiseState.enabled and safety.get_controls_allowed()
|
|
|
|
# TODO: reduce tolerance to 0
|
|
failed_checks = {k: v for k, v in checks.items() if v > 25}
|
|
|
|
# TODO: the panda and openpilot interceptor thresholds should match
|
|
if "gasPressed" in failed_checks and self.CP.enableGasInterceptor:
|
|
if failed_checks['gasPressed'] < 150:
|
|
del failed_checks['gasPressed']
|
|
|
|
# TODO: honda nidec: do same checks in carState and panda
|
|
if "brakePressed" in failed_checks and self.car_model.startswith(("HONDA", "ACURA")) and self.car_model not in HONDA_BOSCH:
|
|
if failed_checks['brakePressed'] < 150:
|
|
del failed_checks['brakePressed']
|
|
|
|
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|