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400 lines
13 KiB
400 lines
13 KiB
1 year ago
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#!/usr/bin/env python3
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import unittest
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import random
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import cereal.messaging as messaging
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from opendbc.can.parser import CANParser
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from opendbc.can.packer import CANPacker
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from opendbc.can.tests import TEST_DBC
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MAX_BAD_COUNTER = 5
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# Python implementation so we don't have to depend on boardd
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def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
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dat = messaging.new_message(msgtype, len(can_msgs))
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if logMonoTime is not None:
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dat.logMonoTime = logMonoTime
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for i, can_msg in enumerate(can_msgs):
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if msgtype == 'sendcan':
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cc = dat.sendcan[i]
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else:
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cc = dat.can[i]
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cc.address = can_msg[0]
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cc.busTime = can_msg[1]
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cc.dat = bytes(can_msg[2])
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cc.src = can_msg[3]
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return dat.to_bytes()
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class TestCanParserPacker(unittest.TestCase):
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def test_packer(self):
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packer = CANPacker(TEST_DBC)
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for b in range(6):
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for i in range(256):
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values = {"COUNTER": i}
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addr, _, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values)
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self.assertEqual(addr, 245)
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self.assertEqual(bus, b)
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self.assertEqual(dat[0], i)
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def test_packer_counter(self):
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msgs = [("CAN_FD_MESSAGE", 0), ]
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packer = CANPacker(TEST_DBC)
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parser = CANParser(TEST_DBC, msgs, 0)
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# packer should increment the counter
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for i in range(1000):
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msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
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dat = can_list_to_can_capnp([msg, ])
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parser.update_strings([dat])
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self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], i % 256)
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# setting COUNTER should override
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for _ in range(100):
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cnt = random.randint(0, 255)
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msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
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"COUNTER": cnt,
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"SIGNED": 0
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})
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dat = can_list_to_can_capnp([msg, ])
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parser.update_strings([dat])
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self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], cnt)
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# then, should resume counting from the override value
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cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"]
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for i in range(100):
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msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
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dat = can_list_to_can_capnp([msg, ])
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parser.update_strings([dat])
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self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], (cnt + i) % 256)
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def test_parser_can_valid(self):
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msgs = [("CAN_FD_MESSAGE", 10), ]
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packer = CANPacker(TEST_DBC)
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parser = CANParser(TEST_DBC, msgs, 0)
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# shouldn't be valid initially
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self.assertFalse(parser.can_valid)
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# not valid until the message is seen
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for _ in range(100):
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dat = can_list_to_can_capnp([])
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parser.update_strings([dat])
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self.assertFalse(parser.can_valid)
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# valid once seen
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for i in range(1, 100):
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t = int(0.01 * i * 1e9)
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msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
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dat = can_list_to_can_capnp([msg, ], logMonoTime=t)
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parser.update_strings([dat])
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self.assertTrue(parser.can_valid)
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def test_parser_counter_can_valid(self):
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"""
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Tests number of allowed bad counters + ensures CAN stays invalid
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while receiving invalid messages + that we can recover
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"""
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msgs = [
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("STEERING_CONTROL", 0),
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]
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packer = CANPacker("honda_civic_touring_2016_can_generated")
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parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
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msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
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bts = can_list_to_can_capnp([msg])
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# bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
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for idx in range(0x1000):
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parser.update_strings([bts])
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self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid)
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# one to recover
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msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
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bts = can_list_to_can_capnp([msg])
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parser.update_strings([bts])
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self.assertTrue(parser.can_valid)
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def test_parser_no_partial_update(self):
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"""
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Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
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Previously, the signal update loop would only break once it got to one of these invalid signals,
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after already updating most/all of the signals.
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"""
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msgs = [
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("STEERING_CONTROL", 0),
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]
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packer = CANPacker("honda_civic_touring_2016_can_generated")
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parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
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def rx_steering_msg(values, bad_checksum=False):
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msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
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if bad_checksum:
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# add 1 to checksum
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msg[2] = bytearray(msg[2])
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msg[2][4] = (msg[2][4] & 0xF0) | ((msg[2][4] & 0x0F) + 1)
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bts = can_list_to_can_capnp([msg])
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parser.update_strings([bts])
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rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
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self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
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self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [100])
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for _ in range(5):
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rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
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self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
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self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [])
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# Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
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rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
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self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 300)
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self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [300])
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def test_packer_parser(self):
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msgs = [
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("Brake_Status", 0),
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("CAN_FD_MESSAGE", 0),
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("STEERING_CONTROL", 0),
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]
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packer = CANPacker(TEST_DBC)
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parser = CANParser(TEST_DBC, msgs, 0)
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for steer in range(-256, 255):
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for active in (1, 0):
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values = {
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"STEERING_CONTROL": {
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"STEER_TORQUE": steer,
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"STEER_TORQUE_REQUEST": active,
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},
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"Brake_Status": {
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"Signal1": 61042322657536.0,
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},
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"CAN_FD_MESSAGE": {
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"SIGNED": steer,
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"64_BIT_LE": random.randint(0, 100),
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"64_BIT_BE": random.randint(0, 100),
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},
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}
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msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
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bts = can_list_to_can_capnp(msgs)
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parser.update_strings([bts])
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for k, v in values.items():
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for key, val in v.items():
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self.assertAlmostEqual(parser.vl[k][key], val)
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# also check address
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for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
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self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig])
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def test_scale_offset(self):
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"""Test that both scale and offset are correctly preserved"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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msgs = [("VSA_STATUS", 50)]
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parser = CANParser(dbc_file, msgs, 0)
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packer = CANPacker(dbc_file)
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for brake in range(100):
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values = {"USER_BRAKE": brake}
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msgs = packer.make_can_msg("VSA_STATUS", 0, values)
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bts = can_list_to_can_capnp([msgs])
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parser.update_strings([bts])
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self.assertAlmostEqual(parser.vl["VSA_STATUS"]["USER_BRAKE"], brake)
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def test_subaru(self):
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# Subaru is little endian
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dbc_file = "subaru_global_2017_generated"
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msgs = [("ES_LKAS", 50)]
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parser = CANParser(dbc_file, msgs, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for steer in range(-256, 255):
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for active in [1, 0]:
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values = {
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"LKAS_Output": steer,
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"LKAS_Request": active,
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"SET_1": 1
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}
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msgs = packer.make_can_msg("ES_LKAS", 0, values)
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bts = can_list_to_can_capnp([msgs])
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parser.update_strings([bts])
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["COUNTER"], idx % 16)
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idx += 1
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def test_bus_timeout(self):
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"""Test CAN bus timeout detection"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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freq = 100
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msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
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parser = CANParser(dbc_file, msgs, 0)
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packer = CANPacker(dbc_file)
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i = 0
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def send_msg(blank=False):
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nonlocal i
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i += 1
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t = i*((1 / freq) * 1e9)
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if blank:
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msgs = []
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else:
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msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
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can = can_list_to_can_capnp(msgs, logMonoTime=t)
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parser.update_strings([can, ])
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# all good, no timeout
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for _ in range(1000):
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send_msg()
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self.assertFalse(parser.bus_timeout, str(_))
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# timeout after 10 blank msgs
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for n in range(200):
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send_msg(blank=True)
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self.assertEqual(n >= 10, parser.bus_timeout)
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# no timeout immediately after seen again
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send_msg()
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self.assertFalse(parser.bus_timeout)
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def test_updated(self):
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"""Test updated value dict"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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msgs = [("VSA_STATUS", 50)]
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parser = CANParser(dbc_file, msgs, 0)
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packer = CANPacker(dbc_file)
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# Make sure nothing is updated
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self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0)
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idx = 0
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for _ in range(10):
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# Ensure CANParser holds the values of any duplicate messages over multiple frames
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user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
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half_idx = len(user_brake_vals) // 2
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can_msgs = [[], []]
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for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
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for user_brake in brake_vals:
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values = {"USER_BRAKE": user_brake}
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can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values))
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idx += 1
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can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs]
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parser.update_strings(can_strings)
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vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
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self.assertEqual(vl_all, user_brake_vals)
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if len(user_brake_vals):
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self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])
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def test_timestamp_nanos(self):
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"""Test message timestamp dict"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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msgs = [
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("VSA_STATUS", 50),
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("POWERTRAIN_DATA", 100),
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]
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parser = CANParser(dbc_file, msgs, 0)
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packer = CANPacker(dbc_file)
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# Check the default timestamp is zero
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for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
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ts_nanos = parser.ts_nanos[msg].values()
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self.assertEqual(set(ts_nanos), {0})
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# Check:
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# - timestamp is only updated for correct messages
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# - timestamp is correct for multiple runs
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# - timestamp is from the latest message if updating multiple strings
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for _ in range(10):
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can_strings = []
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log_mono_time = 0
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for i in range(10):
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log_mono_time = int(0.01 * i * 1e+9)
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can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
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can_strings.append(can_list_to_can_capnp([can_msg], logMonoTime=log_mono_time))
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parser.update_strings(can_strings)
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ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
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self.assertEqual(set(ts_nanos), {log_mono_time})
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ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
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self.assertEqual(set(ts_nanos), {0})
|
||
|
|
|
||
|
|
def test_nonexistent_messages(self):
|
||
|
|
# Ensure we don't allow messages not in the DBC
|
||
|
|
existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245)
|
||
|
|
|
||
|
|
for msg in existing_messages:
|
||
|
|
CANParser(TEST_DBC, [(msg, 0)])
|
||
|
|
with self.assertRaises(RuntimeError):
|
||
|
|
new_msg = msg + "1" if isinstance(msg, str) else msg + 1
|
||
|
|
CANParser(TEST_DBC, [(new_msg, 0)])
|
||
|
|
|
||
|
|
def test_track_all_signals(self):
|
||
|
|
parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)])
|
||
|
|
self.assertEqual(parser.vl["ACC_CONTROL"], {
|
||
|
|
"ACCEL_CMD": 0,
|
||
|
|
"ALLOW_LONG_PRESS": 0,
|
||
|
|
"ACC_MALFUNCTION": 0,
|
||
|
|
"RADAR_DIRTY": 0,
|
||
|
|
"DISTANCE": 0,
|
||
|
|
"MINI_CAR": 0,
|
||
|
|
"ACC_TYPE": 0,
|
||
|
|
"CANCEL_REQ": 0,
|
||
|
|
"ACC_CUT_IN": 0,
|
||
|
|
"LEAD_VEHICLE_STOPPED": 0,
|
||
|
|
"PERMIT_BRAKING": 0,
|
||
|
|
"RELEASE_STANDSTILL": 0,
|
||
|
|
"ITS_CONNECT_LEAD": 0,
|
||
|
|
"ACCEL_CMD_ALT": 0,
|
||
|
|
"CHECKSUM": 0,
|
||
|
|
})
|
||
|
|
|
||
|
|
def test_disallow_duplicate_messages(self):
|
||
|
|
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)])
|
||
|
|
|
||
|
|
with self.assertRaises(RuntimeError):
|
||
|
|
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)])
|
||
|
|
|
||
|
|
with self.assertRaises(RuntimeError):
|
||
|
|
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)])
|
||
|
|
|
||
|
|
def test_allow_undefined_msgs(self):
|
||
|
|
# TODO: we should throw an exception for these, but we need good
|
||
|
|
# discovery tests in openpilot first
|
||
|
|
packer = CANPacker("toyota_nodsu_pt_generated")
|
||
|
|
|
||
|
|
self.assertEqual(packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}),
|
||
|
|
[835, 0, b'\x00\x00\x00\x00\x00\x00\x00N', 0])
|
||
|
|
self.assertEqual(packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}),
|
||
|
|
[0, 0, b'', 0])
|
||
|
|
self.assertEqual(packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}),
|
||
|
|
[0, 0, b'', 0])
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
unittest.main()
|