some hypothesis junk

selfdrive/car/tests/test_models.py

@@ -8,6 +8,8 @@ import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
 from parameterized import parameterized_class
+import hypothesis.strategies as st
+from hypothesis import HealthCheck, Phase, assume, given, settings
 
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
@@ -166,6 +168,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
+    # print('SETUP HEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHEREHERE')
     self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
@@ -301,9 +304,95 @@ class TestCarModelBase(unittest.TestCase):
   #   CC = car.CarControl.new_message(cruiseControl={'resume': True})
   #   test_car_controller(CC)
 
-  def test_panda_safety_carstate_fuzzy(self):
-    bus = 0#random.randint(0, 3)
-    address = 466  # random.randint(0x200, 0x300)
+  @settings(max_examples=1000, deadline=None,
+            # phases=(Phase.reuse, Phase.generate, Phase.shrink),
+            suppress_health_check=[HealthCheck.filter_too_much, HealthCheck.too_slow],
+            )
+  @given(data=st.data())
+  def test_panda_safety_carstate_fuzzy(self, data):
+    state_has_changed = lambda prev_state, new_state: prev_state != new_state
+    # 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()
+
+    # bus = 0  # random.randint(0, 3)
+    # address = 0xaa  # random.randint(0x200, 0x300)
+
+    address = data.draw(st.integers(0x1ff, 0x250))
+    bus = 0
+
+    # ORIG:
+    # msg_strategy = st.tuples(st.integers(min_value=0, max_value=0), st.integers(min_value=0x100, max_value=0x400), st.binary(min_size=8, max_size=8))
+
+    msg_strategy = st.binary(min_size=8, max_size=8)
+    msgs = data.draw(st.lists(msg_strategy, min_size=100))#, min_size=100, max_size=1000))
+    print(len(msgs))
+
+    start_gas = self.safety.get_gas_pressed_prev()
+    start_gas_int_detected = self.safety.get_gas_interceptor_detected()
+
+    # for bus, address, dat in msgs:
+    for dat in msgs:
+      to_send = libpanda_py.make_CANPacket(address, bus, dat)
+      did_rx = self.safety.safety_rx_hook(to_send)
+
+      can = messaging.new_message('can', 1)
+      can.can = [log.CanData(address=address, dat=dat, src=bus)]
+
+      CC = car.CarControl.new_message()
+      CS = self.CI.update(CC, (can.to_bytes(),))
+
+      if self.safety.get_gas_interceptor_detected() and state_has_changed(start_gas, self.safety.get_gas_pressed_prev()):
+        print('get_gas_interceptor_detected!')
+        # self.assertEqual(CS.gasPressed, self.safety.get_gas_interceptor_prev())
+        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
+        # self.assertFalse(True)
+
+
+      # if self.safety.get_gas_pressed_prev() and self.safety.get_cruise_engaged_prev():
+      #   self.assertFalse(True)
+      # self.assertFalse(self.safety.get_cruise_engaged_prev())
+
+      # print('gas_pressed', CS.gasPressed, self.safety.get_gas_pressed_prev())
+      # print('wheel_speeds', CS.wheelSpeeds)
+      # print('standstill', CS.standstill, not self.safety.get_vehicle_moving())
+
+      # print('did_rx', did_rx)
+      # if did_rx:
+      #   self.assertFalse(True, 'finally did rx: {}, {}'.format(i, dat))
+      # self.assertTrue(CS.standstill, (not CS.standstill, self.safety.get_vehicle_moving(), CS.vEgoRaw, CS.wheelSpeeds))
+
+
+      # self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
+      # self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
+      # self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
+      # self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
+      #
+      # if self.CP.pcmCruise:
+      #   self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
+      #
+      # if self.CP.carName == "honda":
+      #   self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
+
+
+    # if self.safety.get_gas_interceptor_detected():
+    #   print('get_gas_interceptor_detected!')
+    #   # self.assertEqual(CS.gasPressed, self.safety.get_gas_interceptor_prev())
+    #   self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
+    #   # self.assertFalse(True)
+
+    print(self.safety.get_gas_pressed_prev(), self.safety.get_brake_pressed_prev(), self.safety.get_vehicle_moving(), self.safety.get_cruise_engaged_prev())
+    # assume(state_has_changed(False, self.safety.get_gas_pressed_prev()))
+    assume(state_has_changed(start_gas, self.safety.get_gas_pressed_prev()))
+    # assume(state_has_changed(start_gas_int_detected, self.safety.get_gas_interceptor_detected()))
+    # assume(state_has_changed(False, self.safety.get_brake_pressed_prev()))
+    # assume(state_has_changed(False, self.safety.get_vehicle_moving()))
+    # assume(state_has_changed(False, self.safety.get_cruise_engaged_prev()))
+
+    # print(msgs)
+    # print('\nresults', self.safety.get_gas_pressed_prev(), self.safety.get_vehicle_moving(), self.safety.get_brake_pressed_prev(), self.safety.get_regen_braking_prev(), self.safety.get_cruise_engaged_prev(), self.safety.get_acc_main_on())
+    return
 
     for i in range(1000):
       # self.setUp()
@@ -323,7 +412,8 @@ class TestCarModelBase(unittest.TestCase):
 
       print('did_rx', did_rx)
       # if did_rx:
-      #   self.assertFalse(True, 'finally did rx: {}'.format(i))
+      #   self.assertFalse(True, 'finally did rx: {}, {}'.format(i, dat))
+      self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
     print('\nresults', self.safety.get_gas_pressed_prev(), self.safety.get_vehicle_moving(), self.safety.get_brake_pressed_prev(), self.safety.get_regen_braking_prev(), self.safety.get_cruise_engaged_prev(), self.safety.get_acc_main_on())
 

selfdrive/car/toyota/carstate.py

@@ -60,7 +60,7 @@ class CarState(CarStateBase):
     else:
       # TODO: find a common gas pedal percentage signal
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
-      print(cp.vl["PCM_CRUISE"]["GAS_RELEASED"])
+      # print(cp.vl["PCM_CRUISE"]["GAS_RELEASED"])
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],