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66 lines
2.9 KiB
66 lines
2.9 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.gm.gmcan as gmcan
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from selfdrive.car.gm.interface import CanBus as GMCanBus
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class TestPackerMethods(unittest.TestCase):
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def setUp(self):
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self.gm_cp_old = CANPackerOld("gm_global_a_powertrain")
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self.gm_cp = CANPacker("gm_global_a_powertrain")
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self.ct6_cp_old = CANPackerOld("cadillac_ct6_chassis")
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self.ct6_cp = CANPacker("cadillac_ct6_chassis")
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def test_correctness(self):
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# Test all cars' commands, randomize the params.
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for _ in xrange(1000):
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bus = random.randint(0, 65536)
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apply_steer = (random.randint(0, 2) % 2 == 0)
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idx = random.randint(0, 65536)
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lkas_active = (random.randint(0, 2) % 2 == 0)
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m_old = gmcan.create_steering_control(self.gm_cp_old, bus, apply_steer, idx, lkas_active)
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m = gmcan.create_steering_control(self.gm_cp, bus, apply_steer, idx, lkas_active)
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self.assertEqual(m_old, m)
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canbus = GMCanBus()
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apply_steer = (random.randint(0, 2) % 2 == 0)
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v_ego = random.randint(0, 65536)
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idx = random.randint(0, 65536)
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enabled = (random.randint(0, 2) % 2 == 0)
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m_old = gmcan.create_steering_control_ct6(self.ct6_cp_old, canbus, apply_steer, v_ego, idx, enabled)
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m = gmcan.create_steering_control_ct6(self.ct6_cp, canbus, apply_steer, v_ego, idx, enabled)
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self.assertEqual(m_old, m)
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bus = random.randint(0, 65536)
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throttle = random.randint(0, 65536)
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idx = random.randint(0, 65536)
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acc_engaged = (random.randint(0, 2) % 2 == 0)
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at_full_stop = (random.randint(0, 2) % 2 == 0)
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m_old = gmcan.create_gas_regen_command(self.gm_cp_old, bus, throttle, idx, acc_engaged, at_full_stop)
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m = gmcan.create_gas_regen_command(self.gm_cp, bus, throttle, idx, acc_engaged, at_full_stop)
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self.assertEqual(m_old, m)
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bus = random.randint(0, 65536)
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apply_brake = (random.randint(0, 2) % 2 == 0)
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idx = random.randint(0, 65536)
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near_stop = (random.randint(0, 2) % 2 == 0)
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at_full_stop = (random.randint(0, 2) % 2 == 0)
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m_old = gmcan.create_friction_brake_command(self.ct6_cp_old, bus, apply_brake, idx, near_stop, at_full_stop)
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m = gmcan.create_friction_brake_command(self.ct6_cp, bus, apply_brake, idx, near_stop, at_full_stop)
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self.assertEqual(m_old, m)
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bus = random.randint(0, 65536)
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acc_engaged = (random.randint(0, 2) % 2 == 0)
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target_speed_kph = random.randint(0, 65536)
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lead_car_in_sight = (random.randint(0, 2) % 2 == 0)
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m_old = gmcan.create_acc_dashboard_command(self.gm_cp_old, bus, acc_engaged, target_speed_kph, lead_car_in_sight)
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m = gmcan.create_acc_dashboard_command(self.gm_cp, bus, acc_engaged, target_speed_kph, lead_car_in_sight)
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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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