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pull/26226/head
Shane Smiskol 2 years ago
parent aeaafabc21
commit 3b7f740dd4
3 changed files with 193 additions and 177 deletions
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  1. 7
      selfdrive/car/car_helpers.py
  2. 358
      selfdrive/car/tests/test_models.py
  3. 5
      tools/lib/logreader.py

7
selfdrive/car/car_helpers.py
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@ -13,6 +13,8 @@ from system.swaglog import cloudlog
import cereal.messaging as messaging
from selfdrive.car import gen_empty_fingerprint
FRAME_FINGERPRINT = 100 # 1s
EventName = car.CarEvent.EventName
@ -126,7 +128,6 @@ def fingerprint(logcan, sendcan, num_pandas):
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 100 # 1s
car_fingerprint = None
done = False
@ -152,12 +153,12 @@ def fingerprint(logcan, sendcan, num_pandas):
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded

358
selfdrive/car/tests/test_models.py
Unescape View File

@ -2,6 +2,7 @@
# pylint: disable=E1101
import os
import importlib
import time
import unittest
from collections import defaultdict, Counter
from typing import List, Optional, Tuple
@ -11,7 +12,7 @@ from cereal import log, car
from common.basedir import BASEDIR
from common.realtime import DT_CTRL
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from selfdrive.car.hyundai.values import CAR as HYUNDAI
@ -19,6 +20,7 @@ from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
from tools.lib.route import Route, SegmentName, RouteName
from selfdrive.car import gen_empty_fingerprint
from panda.tests.libpanda import libpanda_py
@ -101,15 +103,22 @@ class TestCarModelBase(unittest.TestCase):
except Exception:
continue
t = time.perf_counter()
car_fw = []
can_msgs = []
fingerprint = defaultdict(dict)
for msg in lr:
start_time = None
# fingerprint = gen_empty_fingerprint()
for idx, msg in enumerate(lr):
if msg.which() == "can":
# gather fingerprint for 2s
can_msgs.append(msg)
if idx > FRAME_FINGERPRINT * 2:
continue
for m in msg.can:
if m.src < 64:
fingerprint[m.src][m.address] = len(m.dat)
can_msgs.append(msg)
elif msg.which() == "carParams":
car_fw = msg.carParams.carFw
if msg.carParams.openpilotLongitudinalControl:
@ -118,6 +127,7 @@ class TestCarModelBase(unittest.TestCase):
cls.car_model = msg.carParams.carFingerprint
if len(can_msgs) > int(50 / DT_CTRL):
print('can_msgs', time.perf_counter() - t)
break
else:
raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
@ -163,177 +173,177 @@ class TestCarModelBase(unittest.TestCase):
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 = car.CarControl.new_message()
for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(CC, (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):
os.environ['NO_RADAR_SLEEP'] = "1"
RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
RI = RadarInterface(self.CP)
assert RI
error_cnt = 0
for i, msg in enumerate(self.can_msgs):
rr = RI.update((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_valid(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
if self.car_model not in ignore_addr_checks_valid:
self.safety.safety_tick_current_rx_checks()
if t > 1e6:
self.assertTrue(self.safety.addr_checks_valid())
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
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(car_control, [])
_, 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(CC)
# 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(CC)
# 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(CC)
def test_panda_safety_carstate(self):
"""
Assert that panda safety matches openpilot's carState
"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
CC = car.CarControl.new_message()
# warm up pass, as initial states may be different
for can in self.can_msgs[:300]:
self.CI.update(CC, (can.as_builder().to_bytes(), ))
for msg in filter(lambda m: m.src in range(64), can.can):
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
self.safety.safety_rx_hook(to_send)
controls_allowed_prev = False
CS_prev = car.CarState.new_message()
checks = defaultdict(lambda: 0)
for idx, can in enumerate(self.can_msgs):
CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
for msg in filter(lambda m: m.src in range(64), can.can):
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
ret = self.safety.safety_rx_hook(to_send)
self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
# Skip first frame so CS_prev is properly initialized
if idx == 0:
CS_prev = CS
# Button may be left pressed in warm up period
if not self.CP.pcmCruise:
self.safety.set_controls_allowed(0)
continue
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
if self.CP.carName not in ("hyundai", "body"):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
# 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.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
if self.CP.pcmCruise:
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
# openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
# only the rising edges are expected to match
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
checks['controlsAllowed'] += not self.safety.get_controls_allowed()
else:
checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
else:
# Check for enable events on rising edge of controls allowed
button_enable = any(evt.enable for evt in CS.events)
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
checks['controlsAllowed'] += mismatch
controls_allowed_prev = self.safety.get_controls_allowed()
if button_enable and not mismatch:
self.safety.set_controls_allowed(False)
if self.CP.carName == "honda":
checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
CS_prev = CS
failed_checks = {k: v for k, v in checks.items() if v > 0}
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
# def test_car_interface(self):
# # TODO: also check for checksum violations from can parser
# can_invalid_cnt = 0
# can_valid = False
# CC = car.CarControl.new_message()
#
# for i, msg in enumerate(self.can_msgs):
# CS = self.CI.update(CC, (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):
# os.environ['NO_RADAR_SLEEP'] = "1"
# RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
# RI = RadarInterface(self.CP)
# assert RI
#
# error_cnt = 0
# for i, msg in enumerate(self.can_msgs):
# rr = RI.update((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_valid(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
# if self.car_model not in ignore_addr_checks_valid:
# self.safety.safety_tick_current_rx_checks()
# if t > 1e6:
# self.assertTrue(self.safety.addr_checks_valid())
# self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
# 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(car_control, [])
# _, 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(CC)
#
# # 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(CC)
#
# # 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(CC)
# def test_panda_safety_carstate(self):
# """
# Assert that panda safety matches openpilot's carState
# """
# if self.CP.dashcamOnly:
# self.skipTest("no need to check panda safety for dashcamOnly")
#
# CC = car.CarControl.new_message()
#
# # warm up pass, as initial states may be different
# for can in self.can_msgs[:300]:
# self.CI.update(CC, (can.as_builder().to_bytes(), ))
# for msg in filter(lambda m: m.src in range(64), can.can):
# to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
# self.safety.safety_rx_hook(to_send)
#
# controls_allowed_prev = False
# CS_prev = car.CarState.new_message()
# checks = defaultdict(lambda: 0)
# for idx, can in enumerate(self.can_msgs):
# CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
# for msg in filter(lambda m: m.src in range(64), can.can):
# to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
# ret = self.safety.safety_rx_hook(to_send)
# self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
#
# # Skip first frame so CS_prev is properly initialized
# if idx == 0:
# CS_prev = CS
# # Button may be left pressed in warm up period
# if not self.CP.pcmCruise:
# self.safety.set_controls_allowed(0)
# continue
#
# # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
#
# checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
# if self.CP.carName not in ("hyundai", "body"):
# # TODO: fix standstill mismatches for other makes
# checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
#
# # 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.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
# brake_pressed = False
# checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
# checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
#
# if self.CP.pcmCruise:
# # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
# # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
# # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
# if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
# # only the rising edges are expected to match
# if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
# checks['controlsAllowed'] += not self.safety.get_controls_allowed()
# else:
# checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
# else:
# # Check for enable events on rising edge of controls allowed
# button_enable = any(evt.enable for evt in CS.events)
# mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
# checks['controlsAllowed'] += mismatch
# controls_allowed_prev = self.safety.get_controls_allowed()
# if button_enable and not mismatch:
# self.safety.set_controls_allowed(False)
#
# if self.CP.carName == "honda":
# checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
#
# CS_prev = CS
#
# failed_checks = {k: v for k, v in checks.items() if v > 0}
# self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
@parameterized_class(('car_model', 'test_route'), test_cases)

5
tools/lib/logreader.py
Unescape View File

@ -2,6 +2,7 @@
import os
import sys
import bz2
import time
import urllib.parse
import capnp
import warnings
@ -85,11 +86,15 @@ class LogReader:
# old rlogs weren't bz2 compressed
raise Exception(f"unknown extension {ext}")
t = time.perf_counter()
with FileReader(fn) as f:
dat = f.read()
print('download time', time.perf_counter() - t)
t = time.perf_counter()
if ext == ".bz2" or dat.startswith(b'BZh9'):
dat = bz2.decompress(dat)
print('decomp time', time.perf_counter() - t)
ents = capnp_log.Event.read_multiple_bytes(dat)

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