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129 lines
4.9 KiB
129 lines
4.9 KiB
#!/usr/bin/env python3
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import os
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import unittest
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from parameterized import parameterized
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from cereal import log, car
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import cereal.messaging as messaging
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from openpilot.common.params import Params
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from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
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from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
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from openpilot.selfdrive.controls.lib.events import EVENT_NAME
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from openpilot.selfdrive.manager.process_config import managed_processes
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EventName = car.CarEvent.EventName
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Ecu = car.CarParams.Ecu
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COROLLA_FW_VERSIONS = [
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(Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
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(Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
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(Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
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]
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COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
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COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
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CX5_FW_VERSIONS = [
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(Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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]
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class TestStartup(unittest.TestCase):
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def tearDown(self):
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managed_processes['controlsd'].stop()
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@parameterized.expand([
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# TODO: test EventName.startup for release branches
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# officially supported car
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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# unrecognized car with no fw
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(EventName.startupNoFw, None, None, ""),
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(EventName.startupNoFw, None, None, ""),
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# unrecognized car
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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# fuzzy match
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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])
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def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
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controls_sock = messaging.sub_sock("controlsState")
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pm = messaging.PubMaster(['can', 'pandaStates'])
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params = Params()
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params.put_bool("OpenpilotEnabledToggle", True)
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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f.brand = brand
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if subaddress is not None:
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f.subAddress = subaddress
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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else:
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os.environ['SKIP_FW_QUERY'] = '1'
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managed_processes['controlsd'].start()
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assert pm.wait_for_readers_to_update('can', 5)
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pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
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msg = messaging.new_message('pandaStates', 1)
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msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', msg)
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# fingerprint
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if (car_model is None) or (fw_versions is not None):
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car_model][0]
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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for _ in range(1000):
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# controlsd waits for boardd to echo back that it has changed the multiplexing mode
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if not params.get_bool("ObdMultiplexingChanged"):
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params.put_bool("ObdMultiplexingChanged", True)
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pm.send('can', can_list_to_can_capnp(msgs))
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assert pm.wait_for_readers_to_update('can', 2, dt=0.001)
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ctrls = messaging.drain_sock(controls_sock)
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if len(ctrls):
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event_name = ctrls[0].controlsState.alertType.split("/")[0]
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self.assertEqual(EVENT_NAME[expected_event], event_name,
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f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car_model}")
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if __name__ == "__main__":
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unittest.main()
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