openpilot_comma/selfdrive/car/tests/test_models.py

#!/usr/bin/env python3
# pylint: disable=E1101
import os
import importlib
import unittest
from collections import defaultdict, Counter
from typing import List, Optional, Tuple
from parameterized import parameterized_class
from common.conversions import Conversions as CV
import random

from cereal import log, car
from common.realtime import DT_CTRL
from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
from tools.lib.route import Route
import matplotlib.pyplot as plt
plt.rcParams['figure.figsize'] = [20, 15]

from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import package_can_msg

PandaType = log.PandaState.PandaType

NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
JOB_ID = int(os.environ.get("JOB_ID", "0"))

ignore_addr_checks_valid = [
  GM.BUICK_REGAL,
  HYUNDAI.GENESIS_G70_2020,
]

# build list of test cases
routes_by_car = defaultdict(set)
for r in routes:
  routes_by_car[r.car_model].add(r)

test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
for i, c in enumerate(sorted(all_known_cars())):
  if i % NUM_JOBS == JOB_ID:
    test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))

SKIP_ENV_VAR = "SKIP_LONG_TESTS"


class TestCarModelBase(unittest.TestCase):
  car_model = None
  test_route = None
  ci = True

  @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
  @classmethod
  def setUpClass(cls):
    if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
      raise unittest.SkipTest

    if 'FILTER' in os.environ:
      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
        raise unittest.SkipTest

    if cls.test_route is None:
      if cls.car_model in non_tested_cars:
        print(f"Skipping tests for {cls.car_model}: missing route")
        raise unittest.SkipTest
      raise Exception(f"missing test route for {cls.car_model}")

    experimental_long = False
    test_segs = (2, 1, 0)
    if cls.test_route.segment is not None:
      test_segs = (cls.test_route.segment,)

    for seg in test_segs:
      try:
        if cls.ci:
          lr = LogReader(get_url(cls.test_route.route, seg))
        else:
          lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
      except Exception:
        continue

      car_fw = []
      can_msgs = []
      fingerprint = defaultdict(dict)
      for msg in lr:
        if msg.which() == "can":
          for m in msg.can:
            if m.src < 64:
              fingerprint[m.src][m.address] = len(m.dat)
          can_msgs.append(msg)
        elif msg.which() == "carParams":
          car_fw = msg.carParams.carFw
          if msg.carParams.openpilotLongitudinalControl:
            experimental_long = True
          if cls.car_model is None and not cls.ci:
            cls.car_model = msg.carParams.carFingerprint

      if len(can_msgs) > int(50 / DT_CTRL):
        break
    else:
      raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")

    cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)

    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long)
    assert cls.CP
    assert cls.CP.carFingerprint == cls.car_model

  def setUp(self):
    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
    assert self.CI

    # TODO: check safetyModel is in release panda build
    self.safety = libpandasafety_py.libpandasafety

    cfg = self.CP.safetyConfigs[-1]
    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
    self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
    self.safety.init_tests()

  # def test_car_params(self):
  #   if self.CP.dashcamOnly:
  #     self.skipTest("no need to check carParams for dashcamOnly")
  #
  #   # make sure car params are within a valid range
  #   self.assertGreater(self.CP.mass, 1)
  #
  #   if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
  #     tuning = self.CP.lateralTuning.which()
  #     if tuning == 'pid':
  #       self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
  #     elif tuning == 'torque':
  #       self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
  #     elif tuning == 'indi':
  #       self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
  #     else:
  #       raise Exception("unknown tuning")
  #
  # def test_car_interface(self):
  #   # TODO: also check for checksum violations from can parser
  #   can_invalid_cnt = 0
  #   can_valid = False
  #   CC = car.CarControl.new_message()
  #
  #   for i, msg in enumerate(self.can_msgs):
  #     CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
  #     self.CI.apply(CC)
  #
  #     if CS.canValid:
  #       can_valid = True
  #
  #     # wait max of 2s for low frequency msgs to be seen
  #     if i > 200 or can_valid:
  #       can_invalid_cnt += not CS.canValid
  #
  #   self.assertEqual(can_invalid_cnt, 0)
  #
  # def test_radar_interface(self):
  #   os.environ['NO_RADAR_SLEEP'] = "1"
  #   RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
  #   RI = RadarInterface(self.CP)
  #   assert RI
  #
  #   error_cnt = 0
  #   for i, msg in enumerate(self.can_msgs):
  #     rr = RI.update((msg.as_builder().to_bytes(),))
  #     if rr is not None and i > 50:
  #       error_cnt += car.RadarData.Error.canError in rr.errors
  #   self.assertEqual(error_cnt, 0)
  #
  # def test_panda_safety_rx_valid(self):
  #   if self.CP.dashcamOnly:
  #     self.skipTest("no need to check panda safety for dashcamOnly")
  #
  #   start_ts = self.can_msgs[0].logMonoTime
  #
  #   failed_addrs = Counter()
  #   for can in self.can_msgs:
  #     # update panda timer
  #     t = (can.logMonoTime - start_ts) / 1e3
  #     self.safety.set_timer(int(t))
  #
  #     # run all msgs through the safety RX hook
  #     for msg in can.can:
  #       if msg.src >= 64:
  #         continue
  #
  #       to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
  #       if self.safety.safety_rx_hook(to_send) != 1:
  #         failed_addrs[hex(msg.address)] += 1
  #
  #     # ensure all msgs defined in the addr checks are valid
  #     if self.car_model not in ignore_addr_checks_valid:
  #       self.safety.safety_tick_current_rx_checks()
  #       if t > 1e6:
  #         self.assertTrue(self.safety.addr_checks_valid())
  #   self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")

  def test_panda_safety_carstate(self):
    """
      Assert that panda safety matches openpilot's carState
    """
    if self.CP.dashcamOnly:
      self.skipTest("no need to check panda safety for dashcamOnly")

    CC = car.CarControl.new_message()

    # warm up pass, as initial states may be different
    for can in self.can_msgs[:300]:
      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
        to_send = package_can_msg(msg)
        self.safety.safety_rx_hook(to_send)
        self.CI.update(CC, (can_list_to_can_capnp([msg, ]), ))
        self.CI.CS.dat = []
        self.CI.CS.frame = 0
        self.CI.CS.updates = 0

    if not self.CP.pcmCruise:
      self.safety.set_controls_allowed(0)

    controls_allowed_prev = False
    CS_prev = car.CarState.new_message()
    checks = defaultdict(lambda: 0)
    for can in self.can_msgs:
      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
        msg = list(msg)
        msg[3] %= 4
        to_send = package_can_msg(msg)
        ret = self.safety.safety_rx_hook(to_send)
        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")

    # self.dat.append([ret.vEgo, ret.vEgoRaw, ret.vEgoCluster, cp.vl["CLU15"]["CF_Clu_VehicleSpeed"], self.dash_speed_seen])
    plt.clf()
    CS = self.CI.CS
    speed2_not_set = not any([d[4] for d in CS.dat])
    if not CS.is_metric:
      plt.ylabel('mph')
      if speed2_not_set:
        plt.plot([d[0] * CV.MS_TO_MPH for d in CS.dat], label='CS.vEgo')
        plt.plot([round(d[3] * CV.KPH_TO_MPH) for d in CS.dat], label='CF_Clu_VehicleSpeed (mph from kph)')
        plt.plot([round(d[5] * CV.KPH_TO_MPH) for d in CS.dat], label='CF_Clu_VehicleSpeed low frq')
      else:
        plt.plot([d[0] * CV.MS_TO_MPH for d in CS.dat], label='CS.vEgo')
        plt.plot([d[2] * CV.MS_TO_MPH for d in CS.dat], label='CF_Clu_VehicleSpeed2 (native mph)')
    else:
      plt.ylabel('kph')
      if speed2_not_set:
        plt.plot([d[0] * CV.MS_TO_KPH for d in CS.dat], label='CS.vEgo')
        plt.plot([d[3] for d in CS.dat], label='CF_Clu_VehicleSpeed (native kph)')
        plt.plot([round(d[5]) for d in CS.dat], label='CF_Clu_VehicleSpeed low frq')
      else:
        plt.plot([d[0] * CV.MS_TO_KPH for d in CS.dat], label='CS.vEgo')
        plt.plot([d[2] * CV.MS_TO_KPH for d in CS.dat], label='CF_Clu_VehicleSpeed2 (native kph)')

    plt.title(self.CP.carFingerprint)
    plt.legend()
    plt.xlabel(f'{CS.is_metric=}')
    plt.savefig('/home/batman/notebook_data/hyundai_cluster_speeds/{}_{}.png'.format(self.CP.carFingerprint, random.randint(0, 100)))

    #   # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
    #
    #   checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
    #   checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
    #   if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"):
    #     # TODO: fix standstill mismatches for other makes
    #     checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
    #
    #   # TODO: remove this exception once this mismatch is resolved
    #   brake_pressed = CS.brakePressed
    #   if CS.brakePressed and not self.safety.get_brake_pressed_prev():
    #     if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
    #       brake_pressed = False
    #   safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev()
    #   checks['brakePressed'] += brake_pressed != safety_brake_pressed
    #
    #   if self.CP.pcmCruise:
    #     # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
    #     # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
    #     # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
    #     if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
    #       # only the rising edges are expected to match
    #       if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
    #         checks['controlsAllowed'] += not self.safety.get_controls_allowed()
    #     else:
    #       checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
    #   else:
    #     # Check for enable events on rising edge of controls allowed
    #     button_enable = any(evt.enable for evt in CS.events)
    #     mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
    #     checks['controlsAllowed'] += mismatch
    #     controls_allowed_prev = self.safety.get_controls_allowed()
    #     if button_enable and not mismatch:
    #       self.safety.set_controls_allowed(False)
    #
    #   if self.CP.carName == "honda":
    #     checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
    #
    #   CS_prev = CS
    #
    # failed_checks = {k: v for k, v in checks.items() if v > 0}
    # self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")


@parameterized_class(('car_model', 'test_route'), test_cases)
class TestCarModel(TestCarModelBase):
  pass


if __name__ == "__main__":
  unittest.main()