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stash, something is wrong with hyundai enable

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pull/33208/head
Shane Smiskol 9 months ago
parent 391445ede9
commit 39cf327def
2 changed files with 203 additions and 199 deletions
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  1. 10
      selfdrive/car/tests/routes.py
  2. 392
      selfdrive/car/tests/test_models.py

10
selfdrive/car/tests/routes.py
Unescape View File

@ -141,12 +141,12 @@ routes = [
CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ), 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("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("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA), # CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV), # 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("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("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("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("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),

392
selfdrive/car/tests/test_models.py
Unescape View File

@ -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.honda.values import CAR as HONDA, HondaFlags
from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.car.values import Platform
from openpilot.selfdrive.car.card import Car, convert_carControl from openpilot.selfdrive.car.card import Car, convert_carControl, convert_to_capnp
from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.pandad import can_capnp_to_list
from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.selfdrive.test.helpers import read_segment_list
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@ -163,7 +163,8 @@ class TestCarModelBase(unittest.TestCase):
if cls.platform in non_tested_cars: if cls.platform in non_tested_cars:
print(f"Skipping tests for {cls.platform}: missing route") 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 unittest.SkipTest
# raise Exception(f"missing test route for {cls.platform}")
car_fw, can_msgs, experimental_long = cls.get_testing_data() car_fw, can_msgs, experimental_long = cls.get_testing_data()
@ -197,195 +198,195 @@ class TestCarModelBase(unittest.TestCase):
self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
self.safety.init_tests() self.safety.init_tests()
def test_car_params(self): # def test_car_params(self):
if self.CP.dashcamOnly: # if self.CP.dashcamOnly:
self.skipTest("no need to check carParams for dashcamOnly") # self.skipTest("no need to check carParams for dashcamOnly")
#
# make sure car params are within a valid range # # make sure car params are within a valid range
self.assertGreater(self.CP.mass, 1) # self.assertGreater(self.CP.mass, 1)
#
if self.CP.steerControlType != structs.CarParams.SteerControlType.angle: # if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
tuning = self.CP.lateralTuning.which() # tuning = self.CP.lateralTuning.which()
if tuning == 'pid': # if tuning == 'pid':
self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) # self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
elif tuning == 'torque': # elif tuning == 'torque':
self.assertTrue(self.CP.lateralTuning.torque.kf > 0) # self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
else: # else:
raise Exception("unknown tuning") # raise Exception("unknown tuning")
#
def test_car_interface(self): # def test_car_interface(self):
# TODO: also check for checksum violations from can parser # # TODO: also check for checksum violations from can parser
can_invalid_cnt = 0 # can_invalid_cnt = 0
can_valid = False # can_valid = False
CC = structs.CarControl() # CC = structs.CarControl()
#
for i, msg in enumerate(self.can_msgs): # for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) # CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
self.CI.apply(CC, msg.logMonoTime) # self.CI.apply(CC, msg.logMonoTime)
#
if CS.canValid: # if CS.canValid:
can_valid = True # can_valid = True
#
# wait max of 2s for low frequency msgs to be seen # # wait max of 2s for low frequency msgs to be seen
if i > 200 or can_valid: # if i > 200 or can_valid:
can_invalid_cnt += not CS.canValid # can_invalid_cnt += not CS.canValid
#
self.assertEqual(can_invalid_cnt, 0) # self.assertEqual(can_invalid_cnt, 0)
#
def test_radar_interface(self): # def test_radar_interface(self):
RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface # RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
RI = RadarInterface(self.CP) # RI = RadarInterface(self.CP)
assert RI # assert RI
#
# Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, # # 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 # # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
error_cnt = 0 # error_cnt = 0
for i, msg in enumerate(self.can_msgs[self.elm_frame:]): # for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) # rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
if rr is not None and i > 50: # if rr is not None and i > 50:
error_cnt += car.RadarData.Error.canError in rr.errors # error_cnt += car.RadarData.Error.canError in rr.errors
self.assertEqual(error_cnt, 0) # self.assertEqual(error_cnt, 0)
#
def test_panda_safety_rx_checks(self): # def test_panda_safety_rx_checks(self):
if self.CP.dashcamOnly: # if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly") # self.skipTest("no need to check panda safety for dashcamOnly")
#
start_ts = self.can_msgs[0].logMonoTime # start_ts = self.can_msgs[0].logMonoTime
#
failed_addrs = Counter() # failed_addrs = Counter()
for can in self.can_msgs: # for can in self.can_msgs:
# update panda timer # # update panda timer
t = (can.logMonoTime - start_ts) / 1e3 # t = (can.logMonoTime - start_ts) / 1e3
self.safety.set_timer(int(t)) # self.safety.set_timer(int(t))
#
# run all msgs through the safety RX hook # # run all msgs through the safety RX hook
for msg in can.can: # for msg in can.can:
if msg.src >= 64: # if msg.src >= 64:
continue # continue
#
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) # to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
if self.safety.safety_rx_hook(to_send) != 1: # if self.safety.safety_rx_hook(to_send) != 1:
failed_addrs[hex(msg.address)] += 1 # failed_addrs[hex(msg.address)] += 1
#
# ensure all msgs defined in the addr checks are valid # # ensure all msgs defined in the addr checks are valid
self.safety.safety_tick_current_safety_config() # self.safety.safety_tick_current_safety_config()
if t > 1e6: # if t > 1e6:
self.assertTrue(self.safety.safety_config_valid()) # self.assertTrue(self.safety.safety_config_valid())
#
# Don't check relay malfunction on disabled routes (relay closed), # # Don't check relay malfunction on disabled routes (relay closed),
# or before fingerprinting is done (elm327 and noOutput) # # or before fingerprinting is done (elm327 and noOutput)
if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: # if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
self.assertFalse(self.safety.get_relay_malfunction()) # self.assertFalse(self.safety.get_relay_malfunction())
else: # else:
self.safety.set_relay_malfunction(False) # self.safety.set_relay_malfunction(False)
#
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") # self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
#
# ensure RX checks go invalid after small time with no traffic # # ensure RX checks go invalid after small time with no traffic
self.safety.set_timer(int(t + (2*1e6))) # self.safety.set_timer(int(t + (2*1e6)))
self.safety.safety_tick_current_safety_config() # self.safety.safety_tick_current_safety_config()
self.assertFalse(self.safety.safety_config_valid()) # self.assertFalse(self.safety.safety_config_valid())
#
def test_panda_safety_tx_cases(self, data=None): # def test_panda_safety_tx_cases(self, data=None):
"""Asserts we can tx common messages""" # """Asserts we can tx common messages"""
if self.CP.notCar: # if self.CP.notCar:
self.skipTest("Skipping test for notCar") # self.skipTest("Skipping test for notCar")
#
def test_car_controller(car_control): # def test_car_controller(car_control):
now_nanos = 0 # now_nanos = 0
msgs_sent = 0 # msgs_sent = 0
CI = self.CarInterface(self.CP, self.CarController, self.CarState) # CI = self.CarInterface(self.CP, self.CarController, self.CarState)
for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages # for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages
CI.update([]) # CI.update([])
_, sendcan = CI.apply(car_control, now_nanos) # _, sendcan = CI.apply(car_control, now_nanos)
#
now_nanos += DT_CTRL * 1e9 # now_nanos += DT_CTRL * 1e9
msgs_sent += len(sendcan) # msgs_sent += len(sendcan)
for addr, dat, bus in sendcan: # for addr, dat, bus in sendcan:
to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) # to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) # self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
#
# Make sure we attempted to send messages # # Make sure we attempted to send messages
self.assertGreater(msgs_sent, 50) # self.assertGreater(msgs_sent, 50)
#
# Make sure we can send all messages while inactive # # Make sure we can send all messages while inactive
CC = car.CarControl.new_message() # CC = car.CarControl.new_message()
test_car_controller(convert_carControl(CC.as_reader())) # test_car_controller(convert_carControl(CC.as_reader()))
#
# Test cancel + general messages (controls_allowed=False & cruise_engaged=True) # # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
self.safety.set_cruise_engaged_prev(True) # self.safety.set_cruise_engaged_prev(True)
CC = car.CarControl.new_message(cruiseControl={'cancel': True}) # CC = car.CarControl.new_message(cruiseControl={'cancel': True})
test_car_controller(convert_carControl(CC.as_reader())) # test_car_controller(convert_carControl(CC.as_reader()))
#
# Test resume + general messages (controls_allowed=True & cruise_engaged=True) # # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
self.safety.set_controls_allowed(True) # self.safety.set_controls_allowed(True)
CC = car.CarControl.new_message(cruiseControl={'resume': True}) # CC = car.CarControl.new_message(cruiseControl={'resume': True})
test_car_controller(convert_carControl(CC.as_reader())) # test_car_controller(convert_carControl(CC.as_reader()))
#
# Skip stdout/stderr capture with pytest, causes elevated memory usage # # Skip stdout/stderr capture with pytest, causes elevated memory usage
@pytest.mark.nocapture # @pytest.mark.nocapture
@settings(max_examples=MAX_EXAMPLES, deadline=None, # @settings(max_examples=MAX_EXAMPLES, deadline=None,
phases=(Phase.reuse, Phase.generate, Phase.shrink)) # phases=(Phase.reuse, Phase.generate, Phase.shrink))
@given(data=st.data()) # @given(data=st.data())
def test_panda_safety_carstate_fuzzy(self, data): # def test_panda_safety_carstate_fuzzy(self, data):
""" # """
For each example, pick a random CAN message on the bus and fuzz its data, # For each example, pick a random CAN message on the bus and fuzz its data,
checking for panda state mismatches. # checking for panda state mismatches.
""" # """
#
if self.CP.dashcamOnly: # if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for 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()] # 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)) # address, bus, size = data.draw(st.sampled_from(valid_addrs))
#
msg_strategy = st.binary(min_size=size, max_size=size) # msg_strategy = st.binary(min_size=size, max_size=size)
msgs = data.draw(st.lists(msg_strategy, min_size=20)) # msgs = data.draw(st.lists(msg_strategy, min_size=20))
#
for dat in msgs: # for dat in msgs:
# due to panda updating state selectively, only edges are expected to match # # 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 # # 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) # # (eg. toyota's gasPressed is the inverse of a signal being set)
prev_panda_gas = self.safety.get_gas_pressed_prev() # prev_panda_gas = self.safety.get_gas_pressed_prev()
prev_panda_brake = self.safety.get_brake_pressed_prev() # prev_panda_brake = self.safety.get_brake_pressed_prev()
prev_panda_regen_braking = self.safety.get_regen_braking_prev() # prev_panda_regen_braking = self.safety.get_regen_braking_prev()
prev_panda_vehicle_moving = self.safety.get_vehicle_moving() # prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() # prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
prev_panda_acc_main_on = self.safety.get_acc_main_on() # prev_panda_acc_main_on = self.safety.get_acc_main_on()
#
to_send = libpanda_py.make_CANPacket(address, bus, dat) # to_send = libpanda_py.make_CANPacket(address, bus, dat)
self.safety.safety_rx_hook(to_send) # self.safety.safety_rx_hook(to_send)
#
can = messaging.new_message('can', 1) # can = messaging.new_message('can', 1)
can.can = [log.CanData(address=address, dat=dat, src=bus)] # can.can = [log.CanData(address=address, dat=dat, src=bus)]
#
CS = self.CI.update(can_capnp_to_list((can.to_bytes(),))) # CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
#
if self.safety.get_gas_pressed_prev() != prev_panda_gas: # if self.safety.get_gas_pressed_prev() != prev_panda_gas:
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) # self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
#
if self.safety.get_brake_pressed_prev() != prev_panda_brake: # if self.safety.get_brake_pressed_prev() != prev_panda_brake:
# TODO: remove this exception once this mismatch is resolved # # TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed # brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev(): # 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: # if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False # brake_pressed = False
#
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) # self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
#
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: # if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) # self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
#
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: # if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
self.assertEqual(not CS.standstill, self.safety.get_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 not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: # if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) # self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
#
if self.CP.carName == "honda": # if self.CP.carName == "honda":
if self.safety.get_acc_main_on() != prev_panda_acc_main_on: # if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) # self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
def test_panda_safety_carstate(self): def test_panda_safety_carstate(self):
""" """
@ -449,11 +450,14 @@ class TestCarModelBase(unittest.TestCase):
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
else: else:
# Check for enable events on rising edge of controls allowed # Check for enable events on rising edge of controls allowed
card.update_events(CS) CS_capnp = convert_to_capnp(CS)
card.CS_prev = CS card.update_events(CS_capnp)
button_enable = (any(evt.enable for evt in CS.events) and card.CS_prev = CS_capnp
button_enable = (any(evt.enable for evt in CS_capnp.events) and
not any(evt == EventName.pedalPressed for evt in card.events.names)) not any(evt == EventName.pedalPressed for evt in card.events.names))
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) 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 checks['controlsAllowed'] += mismatch
controls_allowed_prev = self.safety.get_controls_allowed() controls_allowed_prev = self.safety.get_controls_allowed()
if button_enable and not mismatch: if button_enable and not mismatch:

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