test: car interface fuzzy testing + generating capnp structs (#28530)

* random car control

* format

* struct generation

* math

* staying real

* really staying real

* move

* split this

* format

* Revert "format"

This reverts commit a70a73952e.

* Revert "split this"

This reverts commit ae96be63cb.

* space
old-commit-hash: 3fc104fb6d

release/files_common

@@ -290,6 +290,7 @@ selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
+selfdrive/test/fuzzy_generation.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py

selfdrive/car/tests/test_car_interfaces.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import unittest
+from hypothesis import given, settings
 import importlib
 from parameterized import parameterized
 
@@ -8,12 +9,15 @@ from cereal import car
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
+from selfdrive.test.fuzzy_generation import get_random_msg
 
 
 class TestCarInterfaces(unittest.TestCase):
 
   @parameterized.expand([(car,) for car in all_known_cars()])
-  def test_car_interfaces(self, car_name):
+  @settings(max_examples=5)
+  @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]
     else:
@@ -57,13 +61,13 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
     # Run car interface
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC, 0)
       car_interface.apply(CC, 0)
 
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])

selfdrive/test/fuzzy_generation.py

@@ -0,0 +1,69 @@
+import hypothesis.strategies as st
+import random
+
+class FuzzyGenerator:
+  def __init__(self, real_floats):
+    self.real_floats=real_floats
+
+  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)
+
+    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_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())
+
+    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, real_floats=False):
+  return FuzzyGenerator(real_floats=real_floats).generate_struct(struct.schema)