simple fuzzing test for all processes (#28661)

* Revert "Revert "simple fuzzing test for all processes (#28584)""

This reverts commit a5be0640a3780156fdd5c04c1e6204fa41b307a8.

* determinism

* fingerprint
old-commit-hash: 0ebec253d0

.github/workflows/selfdrive_tests.yaml

@@ -254,6 +254,7 @@ jobs:
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
+                        ./selfdrive/test/process_replay/test_fuzzy.py && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2

selfdrive/car/tests/test_car_interfaces.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import unittest
+import hypothesis.strategies as st
 from hypothesis import given, settings
 import importlib
 from parameterized import parameterized
@@ -9,15 +10,15 @@ from cereal import car
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
-from selfdrive.test.fuzzy_generation import get_random_msg
+from selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 
 class TestCarInterfaces(unittest.TestCase):
 
   @parameterized.expand([(car,) for car in all_known_cars()])
   @settings(max_examples=5)
-  @given(cc_msg=get_random_msg(car.CarControl, real_floats=True))
+  @given(data=st.data())
-  def test_car_interfaces(self, car_name, cc_msg):
+  def test_car_interfaces(self, car_name, data):
     if car_name in FINGERPRINTS:
       fingerprint = FINGERPRINTS[car_name][0]
     else:
@@ -60,6 +61,7 @@ class TestCarInterfaces(unittest.TestCase):
       elif tune.which() == 'indi':
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
+    cc_msg=FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):

selfdrive/test/fuzzy_generation.py

@@ -1,8 +1,10 @@
 import hypothesis.strategies as st
-import random
+
+from cereal import log
 
 class FuzzyGenerator:
-  def __init__(self, real_floats):
+  def __init__(self, draw, real_floats):
+    self.draw = draw
     self.real_floats=real_floats
 
   def generate_native_type(self, field):
@@ -60,10 +62,17 @@ class FuzzyGenerator:
     else:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema):
+  def generate_struct(self, schema, event=None):
     full_fill = list(schema.non_union_fields) if schema.non_union_fields else []
-    single_fill = [random.choice(schema.union_fields)] if schema.union_fields else []
+    single_fill = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
     return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill))
 
-def get_random_msg(struct, real_floats=False):
+  @classmethod
-  return FuzzyGenerator(real_floats=real_floats).generate_struct(struct.schema)
+  def get_random_msg(cls, draw, struct, real_floats=False):
+    fg = cls(draw, real_floats=real_floats)
+    return draw(fg.generate_struct(struct.schema))
+
+  @classmethod
+  def get_random_event_msg(cls, draw, events, real_floats=False):
+    fg = cls(draw, real_floats=real_floats)
+    return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)]

selfdrive/test/process_replay/test_fuzzy.py

@@ -1,174 +1,30 @@
 #!/usr/bin/env python3
-import sys
+from hypothesis import given, HealthCheck, Phase, settings
-import unittest
-
 import hypothesis.strategies as st
-import numpy as np
+from parameterized import parameterized
-from hypothesis import given, settings, note
+import unittest
 
 from cereal import log
 from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.test.fuzzy_generation import FuzzyGenerator
 import selfdrive.test.process_replay.process_replay as pr
 
+# These processes currently fail because of unrealistic data breaking assumptions
+# that openpilot makes causing error with NaN, inf, int size, array indexing ...
+# TODO: Make each one testable
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+TEST_CASES = [(cfg.proc_name, cfg) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
-def get_process_config(process):
+class TestFuzzProcesses(unittest.TestCase):
-  return [cfg for cfg in pr.CONFIGS if cfg.proc_name == process][0]
-
-
-def get_event_union_strategy(r, name):
-  return st.fixed_dictionaries({
-    'valid': st.just(True),
-    'logMonoTime': st.integers(min_value=0, max_value=2**64-1),
-    name: r[name[0].upper() + name[1:]],
-  })
-
-
-def get_strategy_for_events(event_types, finite=False):
-  # TODO: generate automatically based on capnp definitions
-  def floats(**kwargs):
-    allow_nan = False if finite else None
-    allow_infinity = False if finite else None
-    return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
-
-  r = {}
-  r['liveLocationKalman.Measurement'] = st.fixed_dictionaries({
-    'value': st.lists(floats(), min_size=3, max_size=3),
-    'std': st.lists(floats(), min_size=3, max_size=3),
-    'valid': st.just(True),
-  })
-  r['LiveLocationKalman'] = st.fixed_dictionaries({
-    'angularVelocityCalibrated': r['liveLocationKalman.Measurement'],
-    'inputsOK': st.booleans(),
-    'posenetOK': st.booleans(),
-  })
-  r['CarState'] = st.fixed_dictionaries({
-    'vEgo': floats(width=32),
-    'vEgoRaw': floats(width=32),
-    'steeringPressed': st.booleans(),
-    'steeringAngleDeg': floats(width=32),
-  })
-  r['CameraOdometry'] = st.fixed_dictionaries({
-    'frameId': st.integers(min_value=0, max_value=2**32 - 1),
-    'timestampEof': st.integers(min_value=0, max_value=2**64 - 1),
-    'trans': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rot': st.lists(floats(width=32), min_size=3, max_size=3),
-    'transStd': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rotStd': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-  r['SensorEventData.SensorVec'] = st.fixed_dictionaries({
-    'v': st.lists(floats(width=32), min_size=3, max_size=3),
-    'status': st.just(1),
-  })
-  r['SensorEventData_gyro'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(5),
-    'type': st.just(16),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'gyroUncalibrated': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEventData_accel'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(1),
-    'type': st.just(1),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'acceleration': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1)
-  r['GpsLocationExternal'] = st.fixed_dictionaries({
-    'flags': st.just(1),
-    'latitude': floats(),
-    'longitude': floats(),
-    'altitude': floats(),
-    'speed': floats(width=32),
-    'bearingDeg': floats(width=32),
-    'accuracy': floats(width=32),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(6),  # Ublox
-    'vNED': st.lists(floats(width=32), min_size=3, max_size=3),
-    'verticalAccuracy': floats(width=32),
-    'bearingAccuracyDeg': floats(width=32),
-    'speedAccuracy': floats(width=32),
-  })
-  r['LiveCalibration'] = st.fixed_dictionaries({
-    'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-
-  return st.lists(st.one_of(*[get_event_union_strategy(r, n) for n in event_types]))
-
-
-def get_strategy_for_process(process, finite=False):
-  return get_strategy_for_events(get_process_config(process).pubs, finite)
-
-
-def convert_to_lr(msgs):
-  return [log.Event.new_message(**m).as_reader() for m in msgs]
-
-
-def is_finite(d, exclude=[], prefix=""):  # pylint: disable=dangerous-default-value
-  ret = True
-  for k, v in d.items():
-    name = prefix + f"{k}"
-    if name in exclude:
-      continue
-
-    if isinstance(v, dict):
-      if not is_finite(v, exclude, name + "."):
-        ret = False
-    else:
-      try:
-        if not np.isfinite(v).all():
-          note((name, v))
-          ret = False
-      except TypeError:
-        pass
-
-  return ret
-
-
-def test_process(dat, name):
-  cfg = get_process_config(name)
-  lr = convert_to_lr(dat)
-  pr.TIMEOUT = 0.1
-  return pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2)
-
-
-class TestFuzzy(unittest.TestCase):
-  @given(get_strategy_for_process('paramsd'))
-  @settings(deadline=1000)
-  def test_paramsd(self, dat):
-    for r in test_process(dat, 'paramsd'):
-      d = r.liveParameters.to_dict()
-      assert is_finite(d)
-
-  @given(get_strategy_for_process('locationd', finite=True))
-  @settings(deadline=1000)
-  def test_locationd(self, dat):
-    exclude = [
-      'positionGeodetic.std',
-      'velocityNED.std',
-      'orientationNED.std',
-      'calibratedOrientationECEF.std',
-    ]
-    for r in test_process(dat, 'locationd'):
-      d = r.liveLocationKalman.to_dict()
-      assert is_finite(d, exclude)
 
+  @parameterized.expand(TEST_CASES)
+  @given(st.data())
+  @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  def test_fuzz_process(self, proc_name, cfg, data):
+    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
+    cfg.timeout = 5
+    pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA_TSS2, disable_progress=True)
 
 if __name__ == "__main__":
-  procs = {
+  unittest.main()
-    'locationd': TestFuzzy().test_locationd,
-    'paramsd': TestFuzzy().test_paramsd,
-  }
-
-  if len(sys.argv) != 2:
-    print("Usage: ./test_fuzzy.py <process name>")
-    sys.exit(0)
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    procs[proc]()