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pull/31500/head
Shane Smiskol 1 year ago
parent 8e24362a8b
commit 98e039f4fc
1 changed files with 264 additions and 263 deletions
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  1. 527
      selfdrive/car/tests/test_models.py

527
selfdrive/car/tests/test_models.py
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@ -199,6 +199,7 @@ class TestCarModelBase(unittest.TestCase):
self.safety.init_tests()
def test_car_params(self):
return
if self.CP.dashcamOnly:
self.skipTest("no need to check carParams for dashcamOnly")
@ -214,269 +215,269 @@ class TestCarModelBase(unittest.TestCase):
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):
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_checks(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
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}")
# ensure RX checks go invalid after small time with no traffic
self.safety.set_timer(int(t + (2*1e6)))
self.safety.safety_tick_current_safety_config()
self.assertFalse(self.safety.safety_config_valid())
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)
# Skip stdout/stderr capture with pytest, causes elevated memory usage
@pytest.mark.nocapture
@settings(max_examples=MAX_EXAMPLES, deadline=None,
phases=(Phase.reuse, Phase.generate, Phase.shrink))
@given(data=st.data())
def test_panda_safety_carstate_fuzzy(self, data):
"""
For each example, pick a random CAN message on the bus and fuzz its data,
checking for panda state mismatches.
"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
address, bus, size = data.draw(st.sampled_from(valid_addrs))
msg_strategy = st.binary(min_size=size, max_size=size)
msgs = data.draw(st.lists(msg_strategy, min_size=20))
CC = car.CarControl.new_message()
for dat in msgs:
# due to panda updating state selectively, only edges are expected to match
# TODO: warm up CarState with real CAN messages to check edge of both sources
# (eg. toyota's gasPressed is the inverse of a signal being set)
prev_panda_gas = self.safety.get_gas_pressed_prev()
prev_panda_brake = self.safety.get_brake_pressed_prev()
prev_panda_regen_braking = self.safety.get_regen_braking_prev()
prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
prev_panda_acc_main_on = self.safety.get_acc_main_on()
to_send = libpanda_py.make_CANPacket(address, bus, dat)
self.safety.safety_rx_hook(to_send)
can = messaging.new_message('can', 1)
can.can = [log.CanData(address=address, dat=dat, src=bus)]
CS = self.CI.update(CC, (can.to_bytes(),))
if self.safety.get_gas_pressed_prev() != prev_panda_gas:
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
# 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
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
if self.CP.carName == "honda":
if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
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}")
@unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
def test_route_on_ci_bucket(self):
self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
"This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
# 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):
# 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_checks(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
# 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}")
#
# # ensure RX checks go invalid after small time with no traffic
# self.safety.set_timer(int(t + (2*1e6)))
# self.safety.safety_tick_current_safety_config()
# self.assertFalse(self.safety.safety_config_valid())
#
# 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)
#
# # Skip stdout/stderr capture with pytest, causes elevated memory usage
# @pytest.mark.nocapture
# @settings(max_examples=MAX_EXAMPLES, deadline=None,
# phases=(Phase.reuse, Phase.generate, Phase.shrink))
# @given(data=st.data())
# def test_panda_safety_carstate_fuzzy(self, data):
# """
# For each example, pick a random CAN message on the bus and fuzz its data,
# checking for panda state mismatches.
# """
#
# if self.CP.dashcamOnly:
# self.skipTest("no need to check panda safety for dashcamOnly")
#
# valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
# address, bus, size = data.draw(st.sampled_from(valid_addrs))
#
# msg_strategy = st.binary(min_size=size, max_size=size)
# msgs = data.draw(st.lists(msg_strategy, min_size=20))
#
# CC = car.CarControl.new_message()
#
# for dat in msgs:
# # due to panda updating state selectively, only edges are expected to match
# # TODO: warm up CarState with real CAN messages to check edge of both sources
# # (eg. toyota's gasPressed is the inverse of a signal being set)
# prev_panda_gas = self.safety.get_gas_pressed_prev()
# prev_panda_brake = self.safety.get_brake_pressed_prev()
# prev_panda_regen_braking = self.safety.get_regen_braking_prev()
# prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
# prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
# prev_panda_acc_main_on = self.safety.get_acc_main_on()
#
# to_send = libpanda_py.make_CANPacket(address, bus, dat)
# self.safety.safety_rx_hook(to_send)
#
# can = messaging.new_message('can', 1)
# can.can = [log.CanData(address=address, dat=dat, src=bus)]
#
# CS = self.CI.update(CC, (can.to_bytes(),))
#
# if self.safety.get_gas_pressed_prev() != prev_panda_gas:
# self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
#
# if self.safety.get_brake_pressed_prev() != prev_panda_brake:
# # 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
#
# self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
#
# if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
# self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
#
# if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
# self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
#
# if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
# if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
# self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
#
# if self.CP.carName == "honda":
# if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
# self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
#
# 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}")
#
# @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
# def test_route_on_ci_bucket(self):
# self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
# "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
@parameterized_class(('car_model', 'test_route'), get_test_cases())

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