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import unittest
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import random
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from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld
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from selfdrive.can.packer import CANPacker
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import selfdrive.car.honda.hondacan as hondacan
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from selfdrive.car.honda.values import HONDA_BOSCH
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from selfdrive.car.honda.carcontroller import HUDData
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class TestPackerMethods(unittest.TestCase):
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def setUp(self):
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self.honda_cp_old = CANPackerOld("honda_pilot_touring_2017_can_generated")
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self.honda_cp = CANPacker("honda_pilot_touring_2017_can_generated")
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def test_correctness(self):
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# Test all commands, randomize the params.
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for _ in xrange(1000):
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apply_brake = (random.randint(0, 2) % 2 == 0)
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pump_on = (random.randint(0, 2) % 2 == 0)
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pcm_override = (random.randint(0, 2) % 2 == 0)
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pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
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chime = random.randint(0, 65536)
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fcw = random.randint(0, 65536)
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idx = random.randint(0, 65536)
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m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx)
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m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx)
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self.assertEqual(m_old, m)
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apply_steer = (random.randint(0, 2) % 2 == 0)
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lkas_active = (random.randint(0, 2) % 2 == 0)
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car_fingerprint = HONDA_BOSCH[0]
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idx = random.randint(0, 65536)
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m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx)
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m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx)
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self.assertEqual(m_old, m)
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pcm_speed = random.randint(0, 65536)
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hud = HUDData(random.randint(0, 65536), random.randint(0, 65536), 1, random.randint(0, 65536),
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0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536),
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random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
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car_fingerprint = HONDA_BOSCH[0]
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idx = random.randint(0, 65536)
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is_metric = (random.randint(0, 2) % 2 == 0)
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m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx)
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m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, is_metric, idx)
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self.assertEqual(m_old, m)
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button_val = random.randint(0, 65536)
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idx = random.randint(0, 65536)
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m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx)
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m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx)
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self.assertEqual(m_old, m)
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if __name__ == "__main__":
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unittest.main()
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