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106 lines
2.9 KiB
106 lines
2.9 KiB
#!/usr/bin/env python3
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import os
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import unittest
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import requests
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import selfdrive.messaging as messaging
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from selfdrive.can.parser import CANParser as CANParserNew
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from selfdrive.can.tests.parser_old import CANParser as CANParserOld
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from selfdrive.car.honda.carstate import get_can_signals
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from selfdrive.car.honda.interface import CarInterface
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from selfdrive.car.honda.values import CAR, DBC
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from selfdrive.services import service_list
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from tools.lib.logreader import LogReader
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BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
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DT = int(0.01 * 1e9) # ns
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def dict_keys_differ(dict1, dict2):
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keys1 = set(dict1.keys())
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keys2 = set(dict2.keys())
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if keys1 != keys2:
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return True
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for k in keys1:
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keys1 = set(dict1[k].keys())
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keys2 = set(dict2[k].keys())
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if keys1 != keys2:
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return True
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return False
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def dicts_vals_differ(dict1, dict2):
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for k_outer in dict1.keys():
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for k_inner in dict1[k_outer].keys():
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if dict1[k_outer][k_inner] != dict2[k_outer][k_inner]:
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return True
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return False
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def run_route(route):
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can = messaging.pub_sock(service_list['can'].port)
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CP = CarInterface.get_params(CAR.CIVIC)
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signals, checks = get_can_signals(CP)
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parser_old = CANParserOld(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=-1, tcp_addr="127.0.0.1")
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parser_new = CANParserNew(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=-1, tcp_addr="127.0.0.1")
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parser_string = CANParserNew(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=-1)
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if dict_keys_differ(parser_old.vl, parser_new.vl):
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return False
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lr = LogReader(route + ".bz2")
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route_ok = True
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for msg in lr:
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if msg.which() == 'can':
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t = msg.logMonoTime
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msg_bytes = msg.as_builder().to_bytes()
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can.send(msg_bytes)
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_, updated_old = parser_old.update(t, True)
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_, updated_new = parser_new.update(t, True)
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updated_string = parser_string.update_string(msg_bytes)
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if updated_old != updated_new:
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route_ok = False
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print(t, "Diff in seen")
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if updated_new != updated_string:
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route_ok = False
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print(t, "Diff in seen string")
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if dicts_vals_differ(parser_old.vl, parser_new.vl):
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print(t, "Diff in dict")
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route_ok = False
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if dicts_vals_differ(parser_new.vl, parser_string.vl):
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print(t, "Diff in dict string")
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route_ok = False
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return route_ok
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class TestCanParser(unittest.TestCase):
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def setUp(self):
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self.routes = {
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CAR.CIVIC: "b0c9d2329ad1606b|2019-05-30--20-23-57"
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}
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for route in self.routes.values():
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route_filename = route + ".bz2"
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if not os.path.isfile(route_filename):
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with open(route + ".bz2", "wb") as f:
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f.write(requests.get(BASE_URL + route_filename).content)
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def test_parser_civic(self):
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self.assertTrue(run_route(self.routes[CAR.CIVIC]))
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if __name__ == "__main__":
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unittest.main()
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