257 lines
9.7 KiB
Python
Executable File
257 lines
9.7 KiB
Python
Executable File
#!/usr/bin/env python3
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# pylint: disable=E1101
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import os
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import importlib
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import unittest
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from collections import defaultdict, Counter
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from typing import List, Optional, Tuple
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from parameterized import parameterized_class
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from cereal import log, car
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from common.realtime import DT_CTRL
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from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.gm.values import CAR as GM
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from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.tests.routes import routes, non_tested_cars
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from selfdrive.test.openpilotci import get_url
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from tools.lib.logreader import LogReader
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import package_can_msg
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PandaType = log.PandaState.PandaType
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NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
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JOB_ID = int(os.environ.get("JOB_ID", "0"))
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ignore_addr_checks_valid = [
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GM.BUICK_REGAL,
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HYUNDAI.GENESIS_G70_2020,
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]
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# build list of test cases
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routes_by_car = defaultdict(set)
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for r in routes:
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routes_by_car[r.car_fingerprint].add(r.route)
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test_cases: List[Tuple[str, Optional[str]]] = []
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for i, c in enumerate(sorted(all_known_cars())):
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if i % NUM_JOBS == JOB_ID:
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test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
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SKIP_ENV_VAR = "SKIP_LONG_TESTS"
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@parameterized_class(('car_model', 'route'), test_cases)
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class TestCarModel(unittest.TestCase):
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@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
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@classmethod
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def setUpClass(cls):
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if cls.route is None:
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if cls.car_model in non_tested_cars:
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print(f"Skipping tests for {cls.car_model}: missing route")
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raise unittest.SkipTest
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raise Exception(f"missing test route for {cls.car_model}")
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disable_radar = False
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for seg in (2, 1, 0):
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try:
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lr = LogReader(get_url(cls.route, seg))
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except Exception:
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continue
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can_msgs = []
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fingerprint = {i: dict() for i in range(3)}
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for msg in lr:
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if msg.which() == "can":
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for m in msg.can:
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if m.src < 64:
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fingerprint[m.src][m.address] = len(m.dat)
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can_msgs.append(msg)
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elif msg.which() == "carParams":
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if msg.carParams.openpilotLongitudinalControl:
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disable_radar = True
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if len(can_msgs) > int(50 / DT_CTRL):
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break
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else:
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raise Exception(f"Route {repr(cls.route)} not found or no CAN msgs found. Is it uploaded?")
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cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
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cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
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cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [], disable_radar)
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assert cls.CP
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assert cls.CP.carFingerprint == cls.car_model
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def setUp(self):
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self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
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assert self.CI
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# TODO: check safetyModel is in release panda build
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self.safety = libpandasafety_py.libpandasafety
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set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
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self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs}")
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self.safety.init_tests()
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def test_car_params(self):
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if self.CP.dashcamOnly:
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self.skipTest("no need to check carParams for dashcamOnly")
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# make sure car params are within a valid range
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self.assertGreater(self.CP.mass, 1)
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self.assertGreater(self.CP.steerRateCost, 1e-3)
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if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
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tuning = self.CP.lateralTuning.which()
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if tuning == 'pid':
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self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
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elif tuning == 'lqr':
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self.assertTrue(len(self.CP.lateralTuning.lqr.a))
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elif tuning == 'indi':
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self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
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else:
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raise Exception("unkown tuning")
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def test_car_interface(self):
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# TODO: also check for checkusm and counter violations from can parser
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can_invalid_cnt = 0
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CC = car.CarControl.new_message()
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for i, msg in enumerate(self.can_msgs):
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CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
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self.CI.apply(CC)
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# wait 2s for low frequency msgs to be seen
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if i > 200:
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can_invalid_cnt += not CS.canValid
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self.assertLess(can_invalid_cnt, 50)
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def test_radar_interface(self):
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os.environ['NO_RADAR_SLEEP'] = "1"
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RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
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RI = RadarInterface(self.CP)
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assert RI
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error_cnt = 0
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for msg in self.can_msgs:
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radar_data = RI.update((msg.as_builder().to_bytes(),))
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if radar_data is not None:
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error_cnt += car.RadarData.Error.canError in radar_data.errors
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self.assertLess(error_cnt, 20)
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def test_panda_safety_rx_valid(self):
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if self.CP.dashcamOnly:
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self.skipTest("no need to check panda safety for dashcamOnly")
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start_ts = self.can_msgs[0].logMonoTime
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failed_addrs = Counter()
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for can in self.can_msgs:
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# update panda timer
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t = (can.logMonoTime - start_ts) / 1e3
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self.safety.set_timer(int(t))
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# run all msgs through the safety RX hook
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for msg in can.can:
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if msg.src >= 64:
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continue
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to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
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if self.safety.safety_rx_hook(to_send) != 1:
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failed_addrs[hex(msg.address)] += 1
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# ensure all msgs defined in the addr checks are valid
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if self.car_model not in ignore_addr_checks_valid:
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self.safety.safety_tick_current_rx_checks()
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if t > 1e6:
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self.assertTrue(self.safety.addr_checks_valid())
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self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
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def test_panda_safety_carstate(self):
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"""
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Assert that panda safety matches openpilot's carState
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"""
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if self.CP.dashcamOnly:
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self.skipTest("no need to check panda safety for dashcamOnly")
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CC = car.CarControl.new_message()
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# warm up pass, as initial states may be different
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for can in self.can_msgs[:300]:
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for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
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to_send = package_can_msg(msg)
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self.safety.safety_rx_hook(to_send)
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self.CI.update(CC, (can_list_to_can_capnp([msg, ]), ))
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if not self.CP.pcmCruise:
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self.safety.set_controls_allowed(0)
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controls_allowed_prev = False
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CS_prev = car.CarState.new_message()
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checks = defaultdict(lambda: 0)
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for can in self.can_msgs:
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CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
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for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
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to_send = package_can_msg(msg)
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ret = self.safety.safety_rx_hook(to_send)
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self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
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# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
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# TODO: make the interceptor thresholds in openpilot and panda match, then remove this exception
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gas_pressed = CS.gasPressed
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if self.CP.enableGasInterceptor and gas_pressed and not self.safety.get_gas_pressed_prev():
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# panda intentionally has a higher threshold
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if self.CP.carName == "toyota" and 15 < CS.gas < 15*1.5:
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gas_pressed = False
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if self.CP.carName == "honda":
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gas_pressed = False
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checks['gasPressed'] += gas_pressed != self.safety.get_gas_pressed_prev()
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# TODO: remove this exception once this mismatch is resolved
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brake_pressed = CS.brakePressed
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if CS.brakePressed and not self.safety.get_brake_pressed_prev():
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if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
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brake_pressed = False
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checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
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if self.CP.pcmCruise:
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# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
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# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
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# openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
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if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
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# only the rising edges are expected to match
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if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
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checks['controlsAllowed'] += not self.safety.get_controls_allowed()
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else:
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checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
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else:
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# Check for enable events on rising edge of controls allowed
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button_enable = any(evt.enable for evt in CS.events)
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mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
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checks['controlsAllowed'] += mismatch
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controls_allowed_prev = self.safety.get_controls_allowed()
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if button_enable and not mismatch:
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self.safety.set_controls_allowed(False)
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if self.CP.carName == "honda":
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checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
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CS_prev = CS
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# TODO: add flag to toyota safety
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if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
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checks['brakePressed'] = 0
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failed_checks = {k: v for k, v in checks.items() if v > 0}
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self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
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if __name__ == "__main__":
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unittest.main()
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