sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

revert test_moedls

Browse Source 
revert test_moedls
pull/25235/head
Shane Smiskol 3 years ago
parent 3f8ad6b7ca
commit 72fb992887
2 changed files with 78 additions and 78 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      selfdrive/car/hyundai/carstate.py
  2. 154
      selfdrive/car/tests/test_models.py

2
selfdrive/car/hyundai/carstate.py
Unescape View File

@ -33,7 +33,7 @@ class CarState(CarStateBase):
self.buttons_counter = 0 self.buttons_counter = 0
# When available we use CLU15->CF_Clu_VehicleSpeed2 to populate vEgoCluster which is the actual dash speed # When available we use CLU15->CF_Clu_VehicleSpeed2 to populate vEgoCluster which is the actual dash speed
# However, on some cars this is not always present, so we use the less accurate CLU15->CF_Clu_VehicleSpeed signal # However, on some cars this is not always present, so we use the less accurate CF_Clu_VehicleSpeed signal
self.accurate_dash_speed_seen = False self.accurate_dash_speed_seen = False
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)

154
selfdrive/car/tests/test_models.py
Unescape View File

@ -121,83 +121,83 @@ 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 != car.CarParams.SteerControlType.angle: if self.CP.steerControlType != car.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)
# elif tuning == 'indi': elif tuning == 'indi':
# self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
# 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 = car.CarControl.new_message() CC = car.CarControl.new_message()
#
# for i, msg in enumerate(self.can_msgs): for i, msg in enumerate(self.can_msgs):
# CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
# self.CI.apply(CC) self.CI.apply(CC)
#
# 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):
# os.environ['NO_RADAR_SLEEP'] = "1" os.environ['NO_RADAR_SLEEP'] = "1"
# 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
#
# error_cnt = 0 error_cnt = 0
# for i, msg in enumerate(self.can_msgs): for i, msg in enumerate(self.can_msgs):
# rr = RI.update((msg.as_builder().to_bytes(),)) rr = RI.update((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_valid(self): def test_panda_safety_rx_valid(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 = package_can_msg([msg.address, 0, msg.dat, msg.src % 4]) to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
# 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
# if self.car_model not in ignore_addr_checks_valid: if self.car_model not in ignore_addr_checks_valid:
# self.safety.safety_tick_current_rx_checks() self.safety.safety_tick_current_rx_checks()
# if t > 1e6: if t > 1e6:
# self.assertTrue(self.safety.addr_checks_valid()) self.assertTrue(self.safety.addr_checks_valid())
# 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}")
def test_panda_safety_carstate(self): def test_panda_safety_carstate(self):
""" """

Write Preview
Loading…
Cancel
Save