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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
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 10 * 0.03125 * CV.KPH_TO_MS
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.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
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.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.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 os
import importlib
import time
import unittest
from collections import defaultdict, Counter
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.safety.init_tests()
def test_car_params(self):
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)
elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
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())
# 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
if self.openpilot_enabled and t > 5e6:
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):
"""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_car_params(self):
# 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)
# elif tuning == 'indi':
# self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
# 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())
#
# # 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
# if self.openpilot_enabled and t > 5e6:
# 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):
# """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):
"""
@ -322,9 +323,14 @@ class TestCarModelBase(unittest.TestCase):
# 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
if self.CP.carName not in ("body",):
# # 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()
if checks['standstill']:
print('MISMATCH')
# time.sleep(0.02)
# TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed

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