You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
129 lines
4.9 KiB
129 lines
4.9 KiB
#!/usr/bin/env python3
|
|
import time
|
|
import unittest
|
|
from parameterized import parameterized
|
|
|
|
from cereal import log, car
|
|
import cereal.messaging as messaging
|
|
from openpilot.common.params import Params
|
|
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
|
|
from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
|
|
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
|
|
from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
|
|
from openpilot.selfdrive.controls.lib.events import EVENT_NAME
|
|
from openpilot.selfdrive.test.helpers import with_processes
|
|
|
|
EventName = car.CarEvent.EventName
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
COROLLA_FW_VERSIONS = [
|
|
(Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
|
|
(Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
|
|
(Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
|
|
]
|
|
COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
|
|
COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
|
|
|
|
CX5_FW_VERSIONS = [
|
|
(Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
(Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
|
|
]
|
|
|
|
class TestStartup(unittest.TestCase):
|
|
|
|
@parameterized.expand([
|
|
# TODO: test EventName.startup for release branches
|
|
|
|
# officially supported car
|
|
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
|
|
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
|
|
|
|
# dashcamOnly car
|
|
(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
|
|
(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
|
|
|
|
# unrecognized car with no fw
|
|
(EventName.startupNoFw, None, None, ""),
|
|
(EventName.startupNoFw, None, None, ""),
|
|
|
|
# unrecognized car
|
|
(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
|
|
(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
|
|
|
|
# fuzzy match
|
|
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
|
|
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
|
|
])
|
|
@with_processes(['controlsd'])
|
|
def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
|
|
|
|
# TODO: this should be done without any real sockets
|
|
controls_sock = messaging.sub_sock("controlsState")
|
|
pm = messaging.PubMaster(['can', 'pandaStates'])
|
|
|
|
params = Params()
|
|
params.clear_all()
|
|
params.put_bool("Passive", False)
|
|
params.put_bool("OpenpilotEnabledToggle", True)
|
|
|
|
# Build capnn version of FW array
|
|
if fw_versions is not None:
|
|
car_fw = []
|
|
cp = car.CarParams.new_message()
|
|
for ecu, addr, subaddress, version in fw_versions:
|
|
f = car.CarParams.CarFw.new_message()
|
|
f.ecu = ecu
|
|
f.address = addr
|
|
f.fwVersion = version
|
|
f.brand = brand
|
|
|
|
if subaddress is not None:
|
|
f.subAddress = subaddress
|
|
|
|
car_fw.append(f)
|
|
cp.carVin = "1" * 17
|
|
cp.carFw = car_fw
|
|
params.put("CarParamsCache", cp.to_bytes())
|
|
|
|
time.sleep(2) # wait for controlsd to be ready
|
|
|
|
pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
|
|
time.sleep(0.1)
|
|
|
|
msg = messaging.new_message('pandaStates', 1)
|
|
msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
|
|
pm.send('pandaStates', msg)
|
|
|
|
# fingerprint
|
|
if (car_model is None) or (fw_versions is not None):
|
|
finger = {addr: 1 for addr in range(1, 100)}
|
|
else:
|
|
finger = _FINGERPRINTS[car_model][0]
|
|
|
|
for _ in range(1000):
|
|
# controlsd waits for boardd to echo back that it has changed the multiplexing mode
|
|
if not params.get_bool("ObdMultiplexingChanged"):
|
|
params.put_bool("ObdMultiplexingChanged", True)
|
|
|
|
msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
|
|
pm.send('can', can_list_to_can_capnp(msgs))
|
|
|
|
time.sleep(0.01)
|
|
msgs = messaging.drain_sock(controls_sock)
|
|
if len(msgs):
|
|
event_name = msgs[0].controlsState.alertType.split("/")[0]
|
|
self.assertEqual(EVENT_NAME[expected_event], event_name,
|
|
f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
|
|
break
|
|
else:
|
|
self.fail(f"failed to fingerprint {car_model}")
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|