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67 lines
2.6 KiB
67 lines
2.6 KiB
#!/usr/bin/env python3
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from parameterized import parameterized
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import unittest
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from cereal import log, messaging
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from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
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from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
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class TestCanFingerprint(unittest.TestCase):
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@parameterized.expand(list(FINGERPRINTS.items()))
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def test_can_fingerprint(self, car_model, fingerprints):
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"""Tests online fingerprinting function on offline fingerprints"""
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for fingerprint in fingerprints: # can have multiple fingerprints for each platform
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can = messaging.new_message('can', 1)
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can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
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for address, length in fingerprint.items() for src in (0, 1)]
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fingerprint_iter = iter([can])
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empty_can = messaging.new_message('can', 0)
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car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can)) # noqa: B023
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self.assertEqual(car_fingerprint, car_model)
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self.assertEqual(finger[0], fingerprint)
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self.assertEqual(finger[1], fingerprint)
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self.assertEqual(finger[2], {})
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def test_timing(self):
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# just pick any CAN fingerprinting car
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car_model = 'CHEVROLET BOLT EUV 2022'
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fingerprint = FINGERPRINTS[car_model][0]
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cases = []
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# case 1 - one match, make sure we keep going for 100 frames
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can = messaging.new_message('can', 1)
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can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
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for address, length in fingerprint.items() for src in (0, 1)]
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cases.append((FRAME_FINGERPRINT, car_model, can))
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# case 2 - no matches, make sure we keep going for 100 frames
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can = messaging.new_message('can', 1)
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can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)] # uncommon address
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cases.append((FRAME_FINGERPRINT, None, can))
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# case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
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can = messaging.new_message('can', 1)
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can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)] # common address
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cases.append((FRAME_FINGERPRINT * 2, None, can))
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for expected_frames, car_model, can in cases:
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with self.subTest(expected_frames=expected_frames, car_model=car_model):
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frames = 0
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def test():
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nonlocal frames
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frames += 1
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return can # noqa: B023
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car_fingerprint, _ = can_fingerprint(test)
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self.assertEqual(car_fingerprint, car_model)
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self.assertEqual(frames, expected_frames + 2) # TODO: fix extra frames
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if __name__ == "__main__":
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unittest.main()
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