diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 350f6214a3..afd74c90b3 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -15,7 +15,7 @@ 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)) + @given(cc_msg=get_random_msg(car.CarControl, real_floats=True)) def test_car_interfaces(self, car_name, cc_msg): if car_name in FINGERPRINTS: fingerprint = FINGERPRINTS[car_name][0] diff --git a/selfdrive/test/process_replay/fuzzy_generation.py b/selfdrive/test/process_replay/fuzzy_generation.py index 0ae329aba5..3dc43e7347 100644 --- a/selfdrive/test/process_replay/fuzzy_generation.py +++ b/selfdrive/test/process_replay/fuzzy_generation.py @@ -1,63 +1,69 @@ import hypothesis.strategies as st import random -def generate_native_type(field): - def floats(**kwargs): - return st.floats(**kwargs, allow_nan=False, allow_infinity=False) +class FuzzyGenerator: + def __init__(self, real_floats): + self.real_floats=real_floats - if field == 'bool': - return st.booleans() - elif field == 'int8': - return st.integers(min_value=-2**7, max_value=2**7-1) - elif field == 'int16': - return st.integers(min_value=-2**15, max_value=2**15-1) - elif field == 'int32': - return st.integers(min_value=-2**31, max_value=2**31-1) - elif field == 'int64': - return st.integers(min_value=-2**63, max_value=2**63-1) - elif field == 'uint8': - return st.integers(min_value=0, max_value=2**8-1) - elif field == 'uint16': - return st.integers(min_value=0, max_value=2**16-1) - elif field == 'uint32': - return st.integers(min_value=0, max_value=2**32-1) - elif field == 'uint64': - return st.integers(min_value=0, max_value=2**64-1) - elif field == 'float32': - return floats(width=32) - elif field == 'float64': - return floats(width=64) - elif field == 'text': - return st.text(max_size=1000) - elif field == 'data': - return st.text(max_size=1000) - elif field == 'anyPointer': - return st.text() - else: - raise NotImplementedError(f'Invalid type : {field}') + def generate_native_type(self, field): + def floats(**kwargs): + allow_nan = not self.real_floats + allow_infinity = not self.real_floats + return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) -def generate_field(field): - def rec(field_type): - if field_type.which() == 'struct': - return generate_struct(field.schema.elementType if base_type == 'list' else field.schema) - elif field_type.which() == 'list': - return st.lists(rec(field_type.list.elementType)) - elif field_type.which() == 'enum': - schema = field.schema.elementType if base_type == 'list' else field.schema - return st.sampled_from(list(schema.enumerants.keys())) + if field == 'bool': + return st.booleans() + elif field == 'int8': + return st.integers(min_value=-2**7, max_value=2**7-1) + elif field == 'int16': + return st.integers(min_value=-2**15, max_value=2**15-1) + elif field == 'int32': + return st.integers(min_value=-2**31, max_value=2**31-1) + elif field == 'int64': + return st.integers(min_value=-2**63, max_value=2**63-1) + elif field == 'uint8': + return st.integers(min_value=0, max_value=2**8-1) + elif field == 'uint16': + return st.integers(min_value=0, max_value=2**16-1) + elif field == 'uint32': + return st.integers(min_value=0, max_value=2**32-1) + elif field == 'uint64': + return st.integers(min_value=0, max_value=2**64-1) + elif field == 'float32': + return floats(width=32) + elif field == 'float64': + return floats(width=64) + elif field == 'text': + return st.text(max_size=1000) + elif field == 'data': + return st.text(max_size=1000) + elif field == 'anyPointer': + return st.text() else: - return generate_native_type(field_type.which()) + raise NotImplementedError(f'Invalid type : {field}') - if 'slot' in field.proto.to_dict(): - base_type = field.proto.slot.type.which() - return rec(field.proto.slot.type) - else: - return generate_struct(field.schema) + def generate_field(self, field): + def rec(field_type): + if field_type.which() == 'struct': + return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) + elif field_type.which() == 'list': + return st.lists(rec(field_type.list.elementType)) + elif field_type.which() == 'enum': + schema = field.schema.elementType if base_type == 'list' else field.schema + return st.sampled_from(list(schema.enumerants.keys())) + else: + return self.generate_native_type(field_type.which()) -def generate_struct(schema): - 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 [] - return st.fixed_dictionaries(dict((field, generate_field(schema.fields[field])) for field in full_fill + single_fill)) + if 'slot' in field.proto.to_dict(): + base_type = field.proto.slot.type.which() + return rec(field.proto.slot.type) + else: + return self.generate_struct(field.schema) + + def generate_struct(self, schema): + 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 [] + return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill)) -def get_random_msg(struct): - return generate_struct(struct.schema) +def get_random_msg(struct, real_floats=False): + return FuzzyGenerator(real_floats=real_floats).generate_struct(struct.schema)