really staying real

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]

selfdrive/test/process_replay/fuzzy_generation.py

@@ -1,9 +1,15 @@
 import hypothesis.strategies as st
 import random
 
-def generate_native_type(field):
+class FuzzyGenerator:
+  def __init__(self, real_floats):
+    self.real_floats=real_floats
+
+  def generate_native_type(self, field):
     def floats(**kwargs):
-    return st.floats(**kwargs, allow_nan=False, allow_infinity=False)
+      allow_nan = not self.real_floats
+      allow_infinity = not self.real_floats
+      return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
 
     if field == 'bool':
       return st.booleans()
@@ -36,28 +42,28 @@ def generate_native_type(field):
     else:
       raise NotImplementedError(f'Invalid type : {field}')
 
-def generate_field(field):
+  def generate_field(self, field):
     def rec(field_type):
       if field_type.which() == 'struct':
-      return generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
+        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 generate_native_type(field_type.which())
+        return self.generate_native_type(field_type.which())
 
     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)
+      return self.generate_struct(field.schema)
 
-def generate_struct(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, generate_field(schema.fields[field])) for field in full_fill + single_fill))
+    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)