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experiment

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pull/25235/head
Shane Smiskol 3 years ago
parent b137cde5d5
commit 076f17866c
2 changed files with 92 additions and 81 deletions
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  1. 19
      selfdrive/car/hyundai/carstate.py
  2. 154
      selfdrive/car/tests/test_models.py

19
selfdrive/car/hyundai/carstate.py
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@ -63,9 +63,20 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1 ret.standstill = ret.vEgoRaw < 0.1
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] > 1e-3 FIRST_METHOD = True
if self.dash_speed_seen:
ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"] * speed_conv # Hopefully vehicle speed matches a bit better
if FIRST_METHOD:
ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS
else:
ret.vEgoCluster = ret.vEgo
self.cluster_speed_hyst_gap = CV.KPH_TO_MS
self.cluster_min_speed = CV.KPH_TO_MS
# # i've seen vEgoRaw get to 1-2 before cluster updates, so pick 6 mph to be safe
# if ret.vEgoRaw > 3 and len(cp.vl_all["CLU15"]["CF_Clu_VehicleSpeed"]):
# assert cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] > 0, (ret.vEgoRaw, cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"], cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * speed_conv)
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
@ -235,7 +246,7 @@ class CarState(CarStateBase):
("CF_Clu_AmpInfo", "CLU11"), ("CF_Clu_AmpInfo", "CLU11"),
("CF_Clu_AliveCnt1", "CLU11"), ("CF_Clu_AliveCnt1", "CLU11"),
# ("CF_Clu_VehicleSpeed", "CLU15"), ("CF_Clu_VehicleSpeed", "CLU15"),
("CF_Clu_VehicleSpeed2", "CLU15"), ("CF_Clu_VehicleSpeed2", "CLU15"),
("ACCEnable", "TCS13"), ("ACCEnable", "TCS13"),

154
selfdrive/car/tests/test_models.py
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@ -121,83 +121,83 @@ class TestCarModelBase(unittest.TestCase):
self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
self.safety.init_tests() self.safety.init_tests()
def test_car_params(self): # def test_car_params(self):
if self.CP.dashcamOnly: # if self.CP.dashcamOnly:
self.skipTest("no need to check carParams for dashcamOnly") # self.skipTest("no need to check carParams for dashcamOnly")
#
# make sure car params are within a valid range # # make sure car params are within a valid range
self.assertGreater(self.CP.mass, 1) # self.assertGreater(self.CP.mass, 1)
#
if self.CP.steerControlType != car.CarParams.SteerControlType.angle: # if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
tuning = self.CP.lateralTuning.which() # tuning = self.CP.lateralTuning.which()
if tuning == 'pid': # if tuning == 'pid':
self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) # self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
elif tuning == 'torque': # elif tuning == 'torque':
self.assertTrue(self.CP.lateralTuning.torque.kf > 0) # self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
elif tuning == 'indi': # elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) # self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
else: # else:
raise Exception("unknown tuning") # raise Exception("unknown tuning")
#
def test_car_interface(self): # def test_car_interface(self):
# TODO: also check for checksum violations from can parser # # TODO: also check for checksum violations from can parser
can_invalid_cnt = 0 # can_invalid_cnt = 0
can_valid = False # can_valid = False
CC = car.CarControl.new_message() # CC = car.CarControl.new_message()
#
for i, msg in enumerate(self.can_msgs): # for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) # CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
self.CI.apply(CC) # self.CI.apply(CC)
#
if CS.canValid: # if CS.canValid:
can_valid = True # can_valid = True
#
# wait max of 2s for low frequency msgs to be seen # # wait max of 2s for low frequency msgs to be seen
if i > 200 or can_valid: # if i > 200 or can_valid:
can_invalid_cnt += not CS.canValid # can_invalid_cnt += not CS.canValid
#
self.assertEqual(can_invalid_cnt, 0) # self.assertEqual(can_invalid_cnt, 0)
#
def test_radar_interface(self): # def test_radar_interface(self):
os.environ['NO_RADAR_SLEEP'] = "1" # os.environ['NO_RADAR_SLEEP'] = "1"
RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface # RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
RI = RadarInterface(self.CP) # RI = RadarInterface(self.CP)
assert RI # assert RI
#
error_cnt = 0 # error_cnt = 0
for i, msg in enumerate(self.can_msgs): # for i, msg in enumerate(self.can_msgs):
rr = RI.update((msg.as_builder().to_bytes(),)) # rr = RI.update((msg.as_builder().to_bytes(),))
if rr is not None and i > 50: # if rr is not None and i > 50:
error_cnt += car.RadarData.Error.canError in rr.errors # error_cnt += car.RadarData.Error.canError in rr.errors
self.assertEqual(error_cnt, 0) # self.assertEqual(error_cnt, 0)
#
def test_panda_safety_rx_valid(self): # def test_panda_safety_rx_valid(self):
if self.CP.dashcamOnly: # if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly") # self.skipTest("no need to check panda safety for dashcamOnly")
#
start_ts = self.can_msgs[0].logMonoTime # start_ts = self.can_msgs[0].logMonoTime
#
failed_addrs = Counter() # failed_addrs = Counter()
for can in self.can_msgs: # for can in self.can_msgs:
# update panda timer # # update panda timer
t = (can.logMonoTime - start_ts) / 1e3 # t = (can.logMonoTime - start_ts) / 1e3
self.safety.set_timer(int(t)) # self.safety.set_timer(int(t))
#
# run all msgs through the safety RX hook # # run all msgs through the safety RX hook
for msg in can.can: # for msg in can.can:
if msg.src >= 64: # if msg.src >= 64:
continue # continue
#
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4]) # to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
if self.safety.safety_rx_hook(to_send) != 1: # if self.safety.safety_rx_hook(to_send) != 1:
failed_addrs[hex(msg.address)] += 1 # failed_addrs[hex(msg.address)] += 1
#
# ensure all msgs defined in the addr checks are valid # # ensure all msgs defined in the addr checks are valid
if self.car_model not in ignore_addr_checks_valid: # if self.car_model not in ignore_addr_checks_valid:
self.safety.safety_tick_current_rx_checks() # self.safety.safety_tick_current_rx_checks()
if t > 1e6: # if t > 1e6:
self.assertTrue(self.safety.addr_checks_valid()) # self.assertTrue(self.safety.addr_checks_valid())
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") # self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
def test_panda_safety_carstate(self): def test_panda_safety_carstate(self):
""" """

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