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37 lines
1.5 KiB
37 lines
1.5 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.subaru.subarucan as subarucan
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from selfdrive.car.subaru.values import CAR as subaru_car
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class TestPackerMethods(unittest.TestCase):
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def setUp(self):
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self.subaru_cp_old = CANPackerOld("subaru_global_2017")
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self.subaru_cp = CANPacker("subaru_global_2017")
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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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apply_steer = (random.randint(0, 2) % 2 == 0)
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frame = random.randint(1, 65536)
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steer_step = random.randint(1, 65536)
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m_old = subarucan.create_steering_control(self.subaru_cp_old, subaru_car.IMPREZA, apply_steer, frame, steer_step)
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m = subarucan.create_steering_control(self.subaru_cp, subaru_car.IMPREZA, apply_steer, frame, steer_step)
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self.assertEqual(m_old, m)
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m_old = subarucan.create_steering_status(self.subaru_cp_old, subaru_car.IMPREZA, apply_steer, frame, steer_step)
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m = subarucan.create_steering_status(self.subaru_cp, subaru_car.IMPREZA, apply_steer, frame, steer_step)
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self.assertEqual(m_old, m)
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es_distance_msg = {}
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pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
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m_old = subarucan.create_es_distance(self.subaru_cp_old, es_distance_msg, pcm_cancel_cmd)
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m = subarucan.create_es_distance(self.subaru_cp, es_distance_msg, pcm_cancel_cmd)
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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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