From a1e7987a0903e518bb77373ae6dd9f7610453e79 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 13 Jul 2023 22:50:35 -0700
Subject: [PATCH] draft fuzzy car params

---
 selfdrive/car/hyundai/carcontroller.py     |  1 +
 selfdrive/car/hyundai/hyundaicanfd.py      |  1 +
 selfdrive/car/tests/test_car_interfaces.py | 44 ++++++++++++++++++++--
 3 files changed, 42 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 11ff2fb6e4..2be38b745c 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -140,6 +140,7 @@ class CarController:
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
           # cruise cancel
           if CC.cruiseControl.cancel:
+            print(self.CP.flags)
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
               can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
               self.last_button_frame = self.frame
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 2c1cba5966..d01c8f8de0 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -71,6 +71,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
     "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
+    "CRUISE_BUTTONS2999999999": btn,
   }
 
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index a14e80c7f2..3712790861 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -12,13 +12,21 @@ from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
 from selfdrive.test.fuzzy_generation import FuzzyGenerator
 
+Ecu = car.CarParams.Ecu
+
 
 class TestCarInterfaces(unittest.TestCase):
 
-  @parameterized.expand([(car,) for car in all_known_cars()])
-  @settings(max_examples=5)
+  # @parameterized.expand([(car,) for car in sorted(all_known_cars())])
+  @parameterized.expand([(car,) for car in ["KIA EV6 2022"]])
+  @settings(max_examples=100)
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
+    if 'HYUNDAI' not in car_name and "GENESIS" not in car_name and "KIA" not in car_name:
+      return
+    if car_name != 'KIA EV6 2022':
+      return
+
     if car_name in FINGERPRINTS:
       fingerprint = FINGERPRINTS[car_name][0]
     else:
@@ -26,10 +34,36 @@ class TestCarInterfaces(unittest.TestCase):
 
     CarInterface, CarController, CarState = interfaces[car_name]
     fingerprints = gen_empty_fingerprint()
-    fingerprints.update({k: fingerprint for k in fingerprints.keys()})
+    # fingerprints.update({k: fingerprint for k in fingerprints.keys()})
 
     car_fw = []
 
+    fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
+                                                                       st.integers(min_value=0, max_value=64)) for key in gen_empty_fingerprint()})
+
+    # fingerprint_strategy = st.dictionaries(st.integers(max_value=max(fingerprints)), st.dictionaries(st.integers(), st.integers()))
+    # car_fw_strategy = st.lists(FuzzyGenerator.get_random_msg(data.draw, car.CarParams.CarFw))  # If CarFw is a strategy, or create your own
+
+    # just the most important stuff
+    car_fw_strategy = st.lists(st.fixed_dictionaries({
+      'ecu': st.sampled_from(list(Ecu.schema.enumerants.keys())),  # use fuzzygenerator
+      'address': st.integers(min_value=0, max_value=0x800),  # todo: only use reasonable addrs for this ecu and brand/platform
+    }))
+
+    params_strategy = st.fixed_dictionaries({
+      'fingerprint': fingerprint_strategy,
+      'car_fw': car_fw_strategy,
+      'experimental_long': st.booleans(),
+      'docs': st.booleans(),
+    })
+
+    params = data.draw(params_strategy)
+    print('params', params['car_fw'])
+
+    # CP = FuzzyGenerator.get_random_msg(data.draw, car.CarParams, real_floats=True)
+    # print('CP', CP)
+
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
     car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
@@ -62,6 +96,8 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
     cc_msg=FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
+    # print('msg1')
+    # print(cc_msg)
     # Run car interface
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
@@ -84,7 +120,7 @@ class TestCarInterfaces(unittest.TestCase):
     # Run radar interface once
     radar_interface.update([])
     if not car_params.radarUnavailable and radar_interface.rcp is not None and \
-       hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
+      hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
       radar_interface._update([radar_interface.trigger_msg])
 
 if __name__ == "__main__":