hypothesis fuzz testing (#20818)

* add hypothesis testing

* cleanup

* some cleanup

* check for infinity too

* one-liner

* add more fields that are used

* no print

* add locationd testing

* sensor timestamp is signed

* recursive finite checking

* keep locationd inputs finite for now

* specify proces name on command line

* increase timeout and add raw speed

* abstract runner in function

* add unittest class
old-commit-hash: 33edb62967

.gitignore

@@ -10,6 +10,7 @@ venv/
 .vscode*
 model2.png
 a.out
+.hypothesis
 
 *.dylib
 *.DSYM

Pipfile

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:690153f35d93395bae301cfcd607d141203117839855754381973636a0b8a846
-size 1887
+oid sha256:803c2edc32d1e8fbfb92207f5d8f073d3c89da025e3658e6c2f1c9ec649f5e0d
+size 1904

Pipfile.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2965278134cfd52e027ef646eaf43b92e856fa895cfa67c81fac2ffe7887d32f
-size 202729
+oid sha256:050349245ca49edc60182ef21c32281623b5a5bd7c16ab1b1a8e48aecd99cc08
+size 203871

selfdrive/test/process_replay/process_replay.py

@@ -14,7 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.car_helpers import get_car
+from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.manager.process import PythonProcess
 from selfdrive.manager.process_config import managed_processes
 
@@ -148,7 +148,7 @@ class FakePubMaster(messaging.PubMaster):
     return dat
 
 
-def fingerprint(msgs, fsm, can_sock):
+def fingerprint(msgs, fsm, can_sock, fingerprint):
   print("start fingerprinting")
   fsm.wait_on_getitem = True
 
@@ -172,7 +172,11 @@ def fingerprint(msgs, fsm, can_sock):
   print("finished fingerprinting")
 
 
-def get_car_params(msgs, fsm, can_sock):
+def get_car_params(msgs, fsm, can_sock, fingerprint):
+  if fingerprint:
+    CarInterface, _, _ = interfaces[fingerprint]
+    CP = CarInterface.get_params(fingerprint)
+  else:
     can = FakeSocket(wait=False)
     sendcan = FakeSocket(wait=False)
 
@@ -328,14 +332,14 @@ CONFIGS = [
 ]
 
 
-def replay_process(cfg, lr):
+def replay_process(cfg, lr, fingerprint=None):
   if cfg.fake_pubsubmaster:
-    return python_replay_process(cfg, lr)
+    return python_replay_process(cfg, lr, fingerprint)
   else:
-    return cpp_replay_process(cfg, lr)
+    return cpp_replay_process(cfg, lr, fingerprint)
 
 
-def python_replay_process(cfg, lr):
+def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
 
@@ -356,8 +360,6 @@ def python_replay_process(cfg, lr):
   params.put_bool("CommunityFeaturesToggle", True)
 
   os.environ['NO_RADAR_SLEEP'] = "1"
-  os.environ['SKIP_FW_QUERY'] = ""
-  os.environ['FINGERPRINT'] = ""
 
   # TODO: remove after getting new route for civic & accord
   migration = {
@@ -365,6 +367,12 @@ def python_replay_process(cfg, lr):
     "HONDA ACCORD 2018 SPORT 2T": "HONDA ACCORD 2018 2T",
   }
 
+  if fingerprint is not None:
+    os.environ['SKIP_FW_QUERY'] = "1"
+    os.environ['FINGERPRINT'] = fingerprint
+  else:
+    os.environ['SKIP_FW_QUERY'] = ""
+    os.environ['FINGERPRINT'] = ""
     for msg in lr:
       if msg.which() == 'carParams':
         car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
@@ -385,7 +393,7 @@ def python_replay_process(cfg, lr):
   if cfg.init_callback is not None:
     if 'can' not in list(cfg.pub_sub.keys()):
       can_sock = None
-    cfg.init_callback(all_msgs, fsm, can_sock)
+    cfg.init_callback(all_msgs, fsm, can_sock, fingerprint)
 
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
 
@@ -421,7 +429,7 @@ def python_replay_process(cfg, lr):
   return log_msgs
 
 
-def cpp_replay_process(cfg, lr):
+def cpp_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]  # We get responses here
   pm = messaging.PubMaster(cfg.pub_sub.keys())
   sockets = {s: messaging.sub_sock(s, timeout=1000) for s in sub_sockets}

selfdrive/test/process_replay/test_fuzzy.py

@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+import sys
+import unittest
+from collections import Counter
+
+import hypothesis.strategies as st
+import numpy as np
+from hypothesis import assume, given, settings
+
+from cereal import log
+from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.test.process_replay.process_replay import (CONFIGS,
+                                                          replay_process)
+
+
+def get_process_config(process):
+  return [cfg for cfg in CONFIGS if cfg.proc_name == process][0]
+
+
+def get_event_union_strategy(r, name):
+  return st.fixed_dictionaries({
+    'valid': st.booleans(),
+    'logMonoTime': st.integers(min_value=0, max_value=2**64-1),
+    name: r[name[0].upper() + name[1:]],
+  })
+
+
+def get_strategy_for_events(event_types, finite=False):
+  # TODO: generate automatically based on capnp definitions
+  def floats(**kwargs):
+    allow_nan = False if finite else None
+    allow_infinity = False if finite else None
+    return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
+
+  r = {}
+  r['liveLocationKalman.Measurement'] = st.fixed_dictionaries({
+    'value': st.lists(floats(), min_size=3, max_size=3),
+    'std': st.lists(floats(), min_size=3, max_size=3),
+    'valid': st.booleans(),
+  })
+  r['LiveLocationKalman'] = st.fixed_dictionaries({
+    'angularVelocityCalibrated': r['liveLocationKalman.Measurement'],
+    'inputsOK': st.booleans(),
+    'posenetOK': st.booleans(),
+  })
+  r['CarState'] = st.fixed_dictionaries({
+    'vEgo': floats(width=32),
+    'vEgoRaw': floats(width=32),
+    'steeringPressed': st.booleans(),
+    'steeringAngleDeg': floats(width=32),
+  })
+  r['CameraOdometry'] = st.fixed_dictionaries({
+    'frameId': st.integers(min_value=0, max_value=2**32-1),
+    'timestampEof': st.integers(min_value=0, max_value=2**64-1),
+    'trans': st.lists(floats(width=32), min_size=3, max_size=3),
+    'rot': st.lists(floats(width=32), min_size=3, max_size=3),
+    'transStd': st.lists(floats(width=32), min_size=3, max_size=3),
+    'rotStd': st.lists(floats(width=32), min_size=3, max_size=3),
+  })
+  r['SensorEventData.SensorVec'] = st.fixed_dictionaries({
+    'v': st.lists(floats(width=32), min_size=3, max_size=3),
+    'status': st.integers(min_value=0, max_value=1),
+  })
+  r['SensorEventData_gyro'] = st.fixed_dictionaries({
+    'version': st.just(1),
+    'sensor': st.just(5),
+    'type': st.just(16),  # BMX055
+    'timestamp': st.integers(min_value=0, max_value=2**63-1),
+    'source': st.just(8),
+    'gyroUncalibrated': r['SensorEventData.SensorVec'],
+  })
+  r['SensorEventData_accel'] = st.fixed_dictionaries({
+    'version': st.just(1),
+    'sensor': st.just(1),
+    'type': st.just(1),  # BMX055
+    'timestamp': st.integers(min_value=0, max_value=2**63-1),
+    'source': st.just(8),
+    'acceleration': r['SensorEventData.SensorVec'],
+  })
+  r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1)
+  r['GpsLocationExternal'] = st.fixed_dictionaries({
+    'flags': st.integers(min_value=0, max_value=1),
+    'latitude': floats(),
+    'longitude': floats(),
+    'altitude': floats(),
+    'speed': floats(width=32),
+    'bearingDeg': floats(width=32),
+    'accuracy': floats(width=32),
+    'timestamp': st.integers(min_value=0, max_value=2**63-1),
+    'source': st.just(6),  # Ublox
+    'vNED': st.lists(floats(width=32), min_size=3, max_size=3),
+    'verticalAccuracy': floats(width=32),
+    'bearingAccuracyDeg': floats(width=32),
+    'speedAccuracy': floats(width=32),
+  })
+  r['LiveCalibration'] = st.fixed_dictionaries({
+    'calStatus': st.integers(min_value=0, max_value=1),
+    'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
+  })
+
+  return st.lists(st.one_of(*[get_event_union_strategy(r, n) for n in event_types]))
+
+
+def get_strategy_for_process(process, finite=False):
+  return get_strategy_for_events(get_process_config(process).pub_sub.keys(), finite)
+
+
+def convert_to_lr(msgs):
+  return [log.Event.new_message(**m).as_reader() for m in msgs]
+
+
+def assume_all_services_present(cfg, lr):
+  tps = Counter([m.which() for m in lr])
+  for p in cfg.pub_sub:
+    assume(tps[p] > 0)
+
+
+def is_finite(d, exclude=[], prefix=""):  # pylint: disable=dangerous-default-value
+  ret = True
+  for k, v in d.items():
+    name = prefix + f"{k}"
+    if name in exclude:
+      continue
+
+    if isinstance(v, dict):
+      ret = ret and is_finite(v, exclude, name + ".")
+    else:
+      try:
+        ret = ret and np.isfinite(v).all()
+      except TypeError:
+        pass
+
+  return ret
+
+
+def test_process(dat, name):
+  cfg = get_process_config(name)
+  lr = convert_to_lr(dat)
+  assume_all_services_present(cfg, lr)
+  return replay_process(cfg, lr, TOYOTA.COROLLA_TSS2)
+
+
+class TestFuzzy(unittest.TestCase):
+  @given(get_strategy_for_process('paramsd'))
+  @settings(deadline=1000)
+  def test_paramsd(self, dat):
+    for r in test_process(dat, 'paramsd'):
+      lp = r.liveParameters.to_dict()
+      assert is_finite(lp)
+
+  @given(get_strategy_for_process('locationd', finite=True))
+  @settings(deadline=10000)
+  def test_locationd(self, dat):
+    exclude = [
+      'positionGeodetic.std',
+      'velocityNED.std',
+      'orientationNED.std',
+      'calibratedOrientationECEF.std',
+    ]
+    for r in test_process(dat, 'locationd'):
+      lp = r.liveLocationKalman.to_dict()
+      assert is_finite(lp, exclude)
+
+
+if __name__ == "__main__":
+  procs = {
+    'locationd': TestFuzzy().test_locationd,
+    'paramsd': TestFuzzy().test_paramsd,
+  }
+
+  if len(sys.argv) != 2:
+    print("Usage: ./test_fuzzy.py <process name>")
+    sys.exit(0)
+
+  proc = sys.argv[1]
+  if proc not in procs:
+    print(f"{proc} not available")
+    sys.exit(0)
+  else:
+    procs[proc]()