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89 lines
3.5 KiB
89 lines
3.5 KiB
6 years ago
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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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from selfdrive.car.toyota.toyotacan import (
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create_ipas_steer_command, create_steer_command, create_accel_command,
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create_fcw_command, create_ui_command
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)
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from common.realtime import sec_since_boot
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class TestPackerMethods(unittest.TestCase):
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def setUp(self):
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self.cp_old = CANPackerOld("toyota_rav4_hybrid_2017_pt_generated")
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self.cp = CANPacker("toyota_rav4_hybrid_2017_pt_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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# Toyota
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steer = random.randint(-1, 1)
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enabled = (random.randint(0, 2) % 2 == 0)
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apgs_enabled = (random.randint(0, 2) % 2 == 0)
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m_old = create_ipas_steer_command(self.cp_old, steer, enabled, apgs_enabled)
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m = create_ipas_steer_command(self.cp, steer, enabled, apgs_enabled)
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self.assertEqual(m_old, m)
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steer = (random.randint(0, 2) % 2 == 0)
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steer_req = (random.randint(0, 2) % 2 == 0)
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raw_cnt = random.randint(1, 65536)
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m_old = create_steer_command(self.cp_old, steer, steer_req, raw_cnt)
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m = create_steer_command(self.cp, steer, steer_req, raw_cnt)
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self.assertEqual(m_old, m)
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accel = (random.randint(0, 2) % 2 == 0)
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pcm_cancel = (random.randint(0, 2) % 2 == 0)
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standstill_req = (random.randint(0, 2) % 2 == 0)
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lead = (random.randint(0, 2) % 2 == 0)
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m_old = create_accel_command(self.cp_old, accel, pcm_cancel, standstill_req, lead)
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m = create_accel_command(self.cp, accel, pcm_cancel, standstill_req, lead)
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self.assertEqual(m_old, m)
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fcw = random.randint(1, 65536)
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m_old = create_fcw_command(self.cp_old, fcw)
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m = create_fcw_command(self.cp, fcw)
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self.assertEqual(m_old, m)
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steer = (random.randint(0, 2) % 2 == 0)
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sound1 = random.randint(1, 65536)
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sound2 = random.randint(1, 65536)
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left_line = (random.randint(0, 2) % 2 == 0)
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right_line = (random.randint(0, 2) % 2 == 0)
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left_lane_depart = (random.randint(0, 2) % 2 == 0)
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right_lane_depart = (random.randint(0, 2) % 2 == 0)
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m_old = create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
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m = create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
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self.assertEqual(m_old, m)
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def test_performance(self):
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n1 = sec_since_boot()
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recursions = 100000
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steer = (random.randint(0, 2) % 2 == 0)
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sound1 = random.randint(1, 65536)
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sound2 = random.randint(1, 65536)
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left_line = (random.randint(0, 2) % 2 == 0)
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right_line = (random.randint(0, 2) % 2 == 0)
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left_lane_depart = (random.randint(0, 2) % 2 == 0)
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right_lane_depart = (random.randint(0, 2) % 2 == 0)
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for _ in xrange(recursions):
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create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
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n2 = sec_since_boot()
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elapsed_old = n2 - n1
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# print('Old API, elapsed time: {} secs'.format(elapsed_old))
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n1 = sec_since_boot()
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for _ in xrange(recursions):
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create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
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n2 = sec_since_boot()
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elapsed_new = n2 - n1
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# print('New API, elapsed time: {} secs'.format(elapsed_new))
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self.assertTrue(elapsed_new < elapsed_old / 2)
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if __name__ == "__main__":
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unittest.main()
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