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35 lines
1.4 KiB
35 lines
1.4 KiB
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.chrysler.chryslercan as chryslercan
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class TestPackerMethods(unittest.TestCase):
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def setUp(self):
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self.chrysler_cp_old = CANPackerOld("chrysler_pacifica_2017_hybrid")
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self.chrysler_cp = CANPacker("chrysler_pacifica_2017_hybrid")
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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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gear = ('drive', 'reverse', 'low')[random.randint(0, 3) % 3]
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lkas_active = (random.randint(0, 2) % 2 == 0)
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hud_alert = random.randint(0, 6)
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hud_count = random.randint(0, 65536)
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lkas_car_model = random.randint(0, 65536)
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m_old = chryslercan.create_lkas_hud(self.chrysler_cp_old, gear, lkas_active, hud_alert, hud_count, lkas_car_model)
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m = chryslercan.create_lkas_hud(self.chrysler_cp, gear, lkas_active, hud_alert, hud_count, lkas_car_model)
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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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moving_fast = (random.randint(0, 2) % 2 == 0)
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frame = random.randint(0, 65536)
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m_old = chryslercan.create_lkas_command(self.chrysler_cp_old, apply_steer, moving_fast, frame)
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m = chryslercan.create_lkas_command(self.chrysler_cp, apply_steer, moving_fast, frame)
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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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