diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 042b1a1119..4e5954635a 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -180,8 +180,134 @@ class TestCarModelBase(unittest.TestCase): self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.safety.init_tests() + def test_car_params(self): + raise unittest.SkipTest + if self.CP.dashcamOnly: + self.skipTest("no need to check carParams for dashcamOnly") + + # make sure car params are within a valid range + self.assertGreater(self.CP.mass, 1) + + if self.CP.steerControlType != car.CarParams.SteerControlType.angle: + tuning = self.CP.lateralTuning.which() + if tuning == 'pid': + self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) + elif tuning == 'torque': + self.assertTrue(self.CP.lateralTuning.torque.kf > 0) + else: + raise Exception("unknown tuning") + + def test_car_interface(self): + raise unittest.SkipTest + # 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): + raise unittest.SkipTest + 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 + + # 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 + error_cnt = 0 + for i, msg in enumerate(self.can_msgs[self.elm_frame:]): + 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): + raise unittest.SkipTest + 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 + self.safety.safety_tick_current_safety_config() + if t > 1e6: + self.assertTrue(self.safety.safety_config_valid()) + + # Don't check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (elm327 and noOutput) + if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) + + self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + + def test_panda_safety_tx_cases(self, data=None): + raise unittest.SkipTest + """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) + @settings(max_examples=100, deadline=None, - phases=(Phase.reuse, Phase.generate, ), + phases=(Phase.reuse, Phase.generate,), suppress_health_check=[HealthCheck.filter_too_much, HealthCheck.too_slow, HealthCheck.large_base_example], ) @given(data=st.data()) @@ -287,88 +413,89 @@ class TestCarModelBase(unittest.TestCase): del msgs - # 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) - # controlsd = Controls(CI=self.CI) - # controlsd.initialized = True - # 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() - # 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() - # - # # TODO: fix notCar mismatch - # if not self.CP.notCar: - # checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() - # else: - # # Check for enable events on rising edge of controls allowed - # controlsd.update_events(CS) - # controlsd.CS_prev = CS - # button_enable = (any(evt.enable for evt in CS.events) and - # not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) - # 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_panda_safety_carstate(self): + raise unittest.SkipTest + """ + 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) + controlsd = Controls(CI=self.CI) + controlsd.initialized = True + 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() + 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() + + # TODO: fix notCar mismatch + if not self.CP.notCar: + checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() + else: + # Check for enable events on rising edge of controls allowed + controlsd.update_events(CS) + controlsd.CS_prev = CS + button_enable = (any(evt.enable for evt in CS.events) and + not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) + 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'), get_test_cases())