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.
71 lines
3.0 KiB
71 lines
3.0 KiB
7 years ago
|
import unittest
|
||
|
|
import random
|
||
|
|
|
||
|
|
from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld
|
||
|
|
from selfdrive.can.packer import CANPacker
|
||
|
|
import selfdrive.car.hyundai.hyundaican as hyundaican
|
||
|
|
from selfdrive.car.hyundai.values import CHECKSUM as hyundai_checksum
|
||
|
|
|
||
|
|
|
||
|
|
class TestPackerMethods(unittest.TestCase):
|
||
|
|
def setUp(self):
|
||
|
|
self.hyundai_cp_old = CANPackerOld("hyundai_kia_generic")
|
||
|
|
self.hyundai_cp = CANPacker("hyundai_kia_generic")
|
||
|
|
|
||
|
|
def test_correctness(self):
|
||
|
|
# Test all commands, randomize the params.
|
||
|
|
for _ in xrange(1000):
|
||
|
|
# Hyundai
|
||
|
|
car_fingerprint = hyundai_checksum["crc8"][0]
|
||
|
|
apply_steer = (random.randint(0, 2) % 2 == 0)
|
||
|
|
steer_req = (random.randint(0, 2) % 2 == 0)
|
||
|
|
cnt = random.randint(0, 65536)
|
||
|
|
enabled = (random.randint(0, 2) % 2 == 0)
|
||
|
|
lkas11 = {
|
||
|
|
"CF_Lkas_LdwsSysState": random.randint(0,65536),
|
||
|
|
"CF_Lkas_SysWarning": random.randint(0,65536),
|
||
|
|
"CF_Lkas_LdwsLHWarning": random.randint(0,65536),
|
||
|
|
"CF_Lkas_LdwsRHWarning": random.randint(0,65536),
|
||
|
|
"CF_Lkas_HbaLamp": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FcwBasReq": random.randint(0,65536),
|
||
|
|
"CF_Lkas_ToiFlt": random.randint(0,65536),
|
||
|
|
"CF_Lkas_HbaSysState": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FcwOpt": random.randint(0,65536),
|
||
|
|
"CF_Lkas_HbaOpt": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FcwSysState": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FcwCollisionWarning": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FusionState": random.randint(0,65536),
|
||
|
|
"CF_Lkas_FcwOpt_USM": random.randint(0,65536),
|
||
|
|
"CF_Lkas_LdwsOpt_USM": random.randint(0,65536)
|
||
|
|
}
|
||
|
|
hud_alert = random.randint(0, 65536)
|
||
|
|
keep_stock = (random.randint(0, 2) % 2 == 0)
|
||
|
|
m_old = hyundaican.create_lkas11(self.hyundai_cp_old, car_fingerprint, apply_steer, steer_req, cnt, enabled,
|
||
|
|
lkas11, hud_alert, keep_stock)
|
||
|
|
m = hyundaican.create_lkas11(self.hyundai_cp, car_fingerprint, apply_steer, steer_req, cnt, enabled,
|
||
|
|
lkas11, hud_alert, keep_stock)
|
||
|
|
self.assertEqual(m_old, m)
|
||
|
|
|
||
|
|
clu11 = {
|
||
|
|
"CF_Clu_CruiseSwState": random.randint(0,65536),
|
||
|
|
"CF_Clu_CruiseSwMain": random.randint(0,65536),
|
||
|
|
"CF_Clu_SldMainSW": random.randint(0,65536),
|
||
|
|
"CF_Clu_ParityBit1": random.randint(0,65536),
|
||
|
|
"CF_Clu_VanzDecimal": random.randint(0,65536),
|
||
|
|
"CF_Clu_Vanz": random.randint(0,65536),
|
||
|
|
"CF_Clu_SPEED_UNIT": random.randint(0,65536),
|
||
|
|
"CF_Clu_DetentOut": random.randint(0,65536),
|
||
|
|
"CF_Clu_RheostatLevel": random.randint(0,65536),
|
||
|
|
"CF_Clu_CluInfo": random.randint(0,65536),
|
||
|
|
"CF_Clu_AmpInfo": random.randint(0,65536),
|
||
|
|
"CF_Clu_AliveCnt1": random.randint(0,65536),
|
||
|
|
}
|
||
|
|
button = random.randint(0, 65536)
|
||
|
|
m_old = hyundaican.create_clu11(self.hyundai_cp_old, clu11, button)
|
||
|
|
m = hyundaican.create_clu11(self.hyundai_cp, clu11, button)
|
||
|
|
self.assertEqual(m_old, m)
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
unittest.main()
|