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#!/usr/bin/env python3
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import copy
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from hypothesis import given, HealthCheck, Phase, settings
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import hypothesis.strategies as st
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from parameterized import parameterized
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import unittest
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from cereal import log
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
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import openpilot.selfdrive.test.process_replay.process_replay as pr
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# These processes currently fail because of unrealistic data breaking assumptions
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# that openpilot makes causing error with NaN, inf, int size, array indexing ...
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# TODO: Make each one testable
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NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
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TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
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class TestFuzzProcesses(unittest.TestCase):
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# TODO: make this faster and increase examples
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@parameterized.expand(TEST_CASES)
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@given(st.data())
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@settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
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def test_fuzz_process(self, proc_name, cfg, data):
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msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
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lr = [log.Event.new_message(**m).as_reader() for m in msgs]
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cfg.timeout = 5
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pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
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if __name__ == "__main__":
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unittest.main()
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