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bump panda

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pull/29442/head
Shane Smiskol 2 years ago
parent f1568b960a
commit 7591763bac
3 changed files with 136 additions and 126 deletions
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  1. 2
      panda
  2. 8
      selfdrive/car/hyundai/carstate.py
  3. 252
      selfdrive/car/tests/test_models.py

2
panda

@ -1 +1 @@
Subproject commit b25810670ecc2c66d2c612cf2d4433dce4d13329 Subproject commit c93bc5e6c09bae1c27e33d6f1f07561ebc48c385

8
selfdrive/car/hyundai/carstate.py
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@ -12,6 +12,7 @@ from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8 PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 10 * 0.03125 * CV.KPH_TO_MS
class CarState(CarStateBase): class CarState(CarStateBase):
@ -72,7 +73,9 @@ class CarState(CarStateBase):
) )
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1 # ret.standstill = ret.vEgoRaw <= 0.10416666666666667
# ret.standstill = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.rr) / 2) <= STANDSTILL_THRESHOLD
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
self.cluster_speed_counter += 1 self.cluster_speed_counter += 1
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
@ -191,7 +194,8 @@ class CarState(CarStateBase):
) )
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1 # ret.standstill = ret.vEgoRaw < 0.1
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1

252
selfdrive/car/tests/test_models.py
Unescape View File

@ -3,6 +3,7 @@
import capnp import capnp
import os import os
import importlib import importlib
import time
import unittest import unittest
from collections import defaultdict, Counter from collections import defaultdict, Counter
from typing import List, Optional, Tuple from typing import List, Optional, Tuple
@ -163,127 +164,127 @@ 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, 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):
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 = 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
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())
#
# No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time # # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
# TODO: detect when relay has flipped to properly check relay malfunction # # TODO: detect when relay has flipped to properly check relay malfunction
if self.openpilot_enabled and t > 5e6: # if self.openpilot_enabled and t > 5e6:
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}")
#
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(car_control, []) # CI.update(car_control, [])
_, 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(CC) # test_car_controller(CC)
#
# 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(CC) # test_car_controller(CC)
#
# 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(CC) # test_car_controller(CC)
def test_panda_safety_carstate(self): def test_panda_safety_carstate(self):
""" """
@ -322,9 +323,14 @@ class TestCarModelBase(unittest.TestCase):
# TODO: check rest of panda's carstate (steering, ACC main on, etc.) # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
if self.CP.carName not in ("hyundai", "body"): if self.CP.carName not in ("body",):
# TODO: fix standstill mismatches for other makes # # TODO: fix standstill mismatches for other makes
# checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
print(CS.wheelSpeeds, CS.standstill, not self.safety.get_vehicle_moving())
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
if checks['standstill']:
print('MISMATCH')
# time.sleep(0.02)
# 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

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