From 19d77b6e2f9d9769e42512289371627b79e1fa81 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Aug 2024 18:12:32 -0700 Subject: [PATCH] Revert "stash, something is wrong with hyundai enable" This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03. --- selfdrive/car/tests/routes.py | 10 +- selfdrive/car/tests/test_models.py | 392 ++++++++++++++--------------- 2 files changed, 199 insertions(+), 203 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 205b84e962..0fc800a47d 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -141,12 +141,12 @@ routes = [ CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ), CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ), # openpilot longitudinal enabled CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022), - # CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA), - # CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV), + CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA), + CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV), CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled - # CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11), - # CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13), - # CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV), + CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11), + CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13), + CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 87368b875f..d1f600ddb8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,7 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform -from openpilot.selfdrive.car.card import Car, convert_carControl, convert_to_capnp +from openpilot.selfdrive.car.card import Car, convert_carControl from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -163,8 +163,7 @@ class TestCarModelBase(unittest.TestCase): if cls.platform in non_tested_cars: print(f"Skipping tests for {cls.platform}: missing route") raise unittest.SkipTest - raise unittest.SkipTest - # raise Exception(f"missing test route for {cls.platform}") + raise Exception(f"missing test route for {cls.platform}") car_fw, can_msgs, experimental_long = cls.get_testing_data() @@ -198,195 +197,195 @@ class TestCarModelBase(unittest.TestCase): 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 != structs.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) - # 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 = structs.CarControl() - # - # for i, msg in enumerate(self.can_msgs): - # CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) - # self.CI.apply(CC, msg.logMonoTime) - # - # 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): - # RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface - # RI = RadarInterface(self.CP) - # assert RI - # - # # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, - # # start parsing CAN messages after we've left ELM mode and can expect CAN traffic - # error_cnt = 0 - # for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - # rr = RI.update(can_capnp_to_list((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_checks(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 = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - # 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 - # self.safety.safety_tick_current_safety_config() - # if t > 1e6: - # self.assertTrue(self.safety.safety_config_valid()) - # - # # Don't check relay malfunction on disabled routes (relay closed), - # # or before fingerprinting is done (elm327 and noOutput) - # if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: - # self.assertFalse(self.safety.get_relay_malfunction()) - # else: - # self.safety.set_relay_malfunction(False) - # - # self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") - # - # # ensure RX checks go invalid after small time with no traffic - # self.safety.set_timer(int(t + (2*1e6))) - # self.safety.safety_tick_current_safety_config() - # self.assertFalse(self.safety.safety_config_valid()) - # - # def test_panda_safety_tx_cases(self, data=None): - # """Asserts we can tx common messages""" - # if self.CP.notCar: - # self.skipTest("Skipping test for notCar") - # - # def test_car_controller(car_control): - # now_nanos = 0 - # msgs_sent = 0 - # CI = self.CarInterface(self.CP, self.CarController, self.CarState) - # for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages - # CI.update([]) - # _, sendcan = CI.apply(car_control, now_nanos) - # - # now_nanos += DT_CTRL * 1e9 - # msgs_sent += len(sendcan) - # for addr, dat, bus in sendcan: - # to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) - # self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) - # - # # Make sure we attempted to send messages - # self.assertGreater(msgs_sent, 50) - # - # # Make sure we can send all messages while inactive - # CC = car.CarControl.new_message() - # test_car_controller(convert_carControl(CC.as_reader())) - # - # # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) - # self.safety.set_cruise_engaged_prev(True) - # CC = car.CarControl.new_message(cruiseControl={'cancel': True}) - # test_car_controller(convert_carControl(CC.as_reader())) - # - # # Test resume + general messages (controls_allowed=True & cruise_engaged=True) - # self.safety.set_controls_allowed(True) - # CC = car.CarControl.new_message(cruiseControl={'resume': True}) - # test_car_controller(convert_carControl(CC.as_reader())) - # - # # Skip stdout/stderr capture with pytest, causes elevated memory usage - # @pytest.mark.nocapture - # @settings(max_examples=MAX_EXAMPLES, deadline=None, - # phases=(Phase.reuse, Phase.generate, Phase.shrink)) - # @given(data=st.data()) - # def test_panda_safety_carstate_fuzzy(self, data): - # """ - # For each example, pick a random CAN message on the bus and fuzz its data, - # checking for panda state mismatches. - # """ - # - # if self.CP.dashcamOnly: - # self.skipTest("no need to check panda safety for dashcamOnly") - # - # valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] - # address, bus, size = data.draw(st.sampled_from(valid_addrs)) - # - # msg_strategy = st.binary(min_size=size, max_size=size) - # msgs = data.draw(st.lists(msg_strategy, min_size=20)) - # - # for dat in msgs: - # # due to panda updating state selectively, only edges are expected to match - # # TODO: warm up CarState with real CAN messages to check edge of both sources - # # (eg. toyota's gasPressed is the inverse of a signal being set) - # prev_panda_gas = self.safety.get_gas_pressed_prev() - # prev_panda_brake = self.safety.get_brake_pressed_prev() - # prev_panda_regen_braking = self.safety.get_regen_braking_prev() - # prev_panda_vehicle_moving = self.safety.get_vehicle_moving() - # prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() - # prev_panda_acc_main_on = self.safety.get_acc_main_on() - # - # to_send = libpanda_py.make_CANPacket(address, bus, dat) - # self.safety.safety_rx_hook(to_send) - # - # can = messaging.new_message('can', 1) - # can.can = [log.CanData(address=address, dat=dat, src=bus)] - # - # CS = self.CI.update(can_capnp_to_list((can.to_bytes(),))) - # - # if self.safety.get_gas_pressed_prev() != prev_panda_gas: - # self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) - # - # if self.safety.get_brake_pressed_prev() != prev_panda_brake: - # # 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.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: - # brake_pressed = False - # - # self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) - # - # if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: - # self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) - # - # if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: - # self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) - # - # if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): - # if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: - # self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) - # - # if self.CP.carName == "honda": - # if self.safety.get_acc_main_on() != prev_panda_acc_main_on: - # self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) + 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 != structs.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) + 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 = structs.CarControl() + + for i, msg in enumerate(self.can_msgs): + CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) + self.CI.apply(CC, msg.logMonoTime) + + 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): + RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface + RI = RadarInterface(self.CP) + assert RI + + # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, + # start parsing CAN messages after we've left ELM mode and can expect CAN traffic + error_cnt = 0 + for i, msg in enumerate(self.can_msgs[self.elm_frame:]): + rr = RI.update(can_capnp_to_list((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_checks(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 = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) + 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 + self.safety.safety_tick_current_safety_config() + if t > 1e6: + self.assertTrue(self.safety.safety_config_valid()) + + # Don't check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (elm327 and noOutput) + if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) + + self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + + # ensure RX checks go invalid after small time with no traffic + self.safety.set_timer(int(t + (2*1e6))) + self.safety.safety_tick_current_safety_config() + self.assertFalse(self.safety.safety_config_valid()) + + def test_panda_safety_tx_cases(self, data=None): + """Asserts we can tx common messages""" + if self.CP.notCar: + self.skipTest("Skipping test for notCar") + + def test_car_controller(car_control): + now_nanos = 0 + msgs_sent = 0 + CI = self.CarInterface(self.CP, self.CarController, self.CarState) + for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages + CI.update([]) + _, sendcan = CI.apply(car_control, now_nanos) + + now_nanos += DT_CTRL * 1e9 + msgs_sent += len(sendcan) + for addr, dat, bus in sendcan: + to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) + self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) + + # Make sure we attempted to send messages + self.assertGreater(msgs_sent, 50) + + # Make sure we can send all messages while inactive + CC = car.CarControl.new_message() + test_car_controller(convert_carControl(CC.as_reader())) + + # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) + self.safety.set_cruise_engaged_prev(True) + CC = car.CarControl.new_message(cruiseControl={'cancel': True}) + test_car_controller(convert_carControl(CC.as_reader())) + + # Test resume + general messages (controls_allowed=True & cruise_engaged=True) + self.safety.set_controls_allowed(True) + CC = car.CarControl.new_message(cruiseControl={'resume': True}) + test_car_controller(convert_carControl(CC.as_reader())) + + # Skip stdout/stderr capture with pytest, causes elevated memory usage + @pytest.mark.nocapture + @settings(max_examples=MAX_EXAMPLES, deadline=None, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) + @given(data=st.data()) + def test_panda_safety_carstate_fuzzy(self, data): + """ + For each example, pick a random CAN message on the bus and fuzz its data, + checking for panda state mismatches. + """ + + if self.CP.dashcamOnly: + self.skipTest("no need to check panda safety for dashcamOnly") + + valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] + address, bus, size = data.draw(st.sampled_from(valid_addrs)) + + msg_strategy = st.binary(min_size=size, max_size=size) + msgs = data.draw(st.lists(msg_strategy, min_size=20)) + + for dat in msgs: + # due to panda updating state selectively, only edges are expected to match + # TODO: warm up CarState with real CAN messages to check edge of both sources + # (eg. toyota's gasPressed is the inverse of a signal being set) + prev_panda_gas = self.safety.get_gas_pressed_prev() + prev_panda_brake = self.safety.get_brake_pressed_prev() + prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_vehicle_moving = self.safety.get_vehicle_moving() + prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() + prev_panda_acc_main_on = self.safety.get_acc_main_on() + + to_send = libpanda_py.make_CANPacket(address, bus, dat) + self.safety.safety_rx_hook(to_send) + + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=dat, src=bus)] + + CS = self.CI.update(can_capnp_to_list((can.to_bytes(),))) + + if self.safety.get_gas_pressed_prev() != prev_panda_gas: + self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) + + if self.safety.get_brake_pressed_prev() != prev_panda_brake: + # 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.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: + brake_pressed = False + + self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) + + if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: + self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: + self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) + + if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): + if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: + self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) + + if self.CP.carName == "honda": + if self.safety.get_acc_main_on() != prev_panda_acc_main_on: + self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) def test_panda_safety_carstate(self): """ @@ -450,14 +449,11 @@ class TestCarModelBase(unittest.TestCase): checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed - CS_capnp = convert_to_capnp(CS) - card.update_events(CS_capnp) - card.CS_prev = CS_capnp - button_enable = (any(evt.enable for evt in CS_capnp.events) and + card.update_events(CS) + card.CS_prev = CS + button_enable = (any(evt.enable for evt in CS.events) and not any(evt == EventName.pedalPressed for evt in card.events.names)) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) - if mismatch: - print(button_enable, (self.safety.get_controls_allowed() and not controls_allowed_prev), CS_capnp.events) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() if button_enable and not mismatch: