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pre-hypothesis

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pull/30443/head
Shane Smiskol 2 years ago
parent f5279284f5
commit ab87a86540
3 changed files with 246 additions and 206 deletions
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  1. 2
      selfdrive/car/tests/routes.py
  2. 449
      selfdrive/car/tests/test_models.py
  3. 1
      selfdrive/car/toyota/carstate.py

2
selfdrive/car/tests/routes.py
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@ -177,7 +177,7 @@ routes = [
CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter
CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY), # hybrid CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY), # hybrid
CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2), # hybrid # CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2), # hybrid
CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA), CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid

449
selfdrive/car/tests/test_models.py
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@ -3,12 +3,13 @@ import capnp
import os import os
import importlib import importlib
import pytest import pytest
import random
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
from parameterized import parameterized_class from parameterized import parameterized_class
from cereal import log, car from cereal import messaging, log, car
from openpilot.common.basedir import BASEDIR from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL from openpilot.common.realtime import DT_CTRL
@ -178,210 +179,248 @@ 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)
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
#
# Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, # # 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 # # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
error_cnt = 0 # error_cnt = 0
for i, msg in enumerate(self.can_msgs[self.elm_frame:]): # for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
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), # # No need to check relay malfunction on disabled routes (relay closed),
# or before fingerprinting is done (1s of tolerance to exit silent mode) # # or before fingerprinting is done (1s of tolerance to exit silent mode)
if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): # if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100):
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_fuzzy(self):
""" bus = 0#random.randint(0, 3)
Assert that panda safety matches openpilot's carState address = 466 # random.randint(0x200, 0x300)
"""
if self.CP.dashcamOnly: for i in range(1000):
self.skipTest("no need to check panda safety for dashcamOnly") # self.setUp()
dat = os.urandom(8)
CC = car.CarControl.new_message() to_send = libpanda_py.make_CANPacket(address, bus, dat)
did_rx = self.safety.safety_rx_hook(to_send)
# warm up pass, as initial states may be different
for can in self.can_msgs[:300]: can = messaging.new_message('can', 1)
self.CI.update(CC, (can.as_builder().to_bytes(), )) can.can = [log.CanData(address=address, dat=dat, src=bus)]
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) CC = car.CarControl.new_message()
self.safety.safety_rx_hook(to_send) CS = self.CI.update(CC, (can.to_bytes(), ))
controls_allowed_prev = False print('gas_pressed', CS.gasPressed, self.safety.get_gas_pressed_prev())
CS_prev = car.CarState.new_message() print('wheel_speeds', CS.wheelSpeeds)
checks = defaultdict(lambda: 0) print('standstill', CS.standstill, not self.safety.get_vehicle_moving())
controlsd = Controls(CI=self.CI)
controlsd.initialized = True print('did_rx', did_rx)
for idx, can in enumerate(self.can_msgs): # if did_rx:
CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) # self.assertFalse(True, 'finally did rx: {}'.format(i))
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) print('\nresults', self.safety.get_gas_pressed_prev(), self.safety.get_vehicle_moving(), self.safety.get_brake_pressed_prev(), self.safety.get_regen_braking_prev(), self.safety.get_cruise_engaged_prev(), self.safety.get_acc_main_on())
ret = self.safety.safety_rx_hook(to_send)
self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}") # self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
# self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
# Skip first frame so CS_prev is properly initialized # self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
if idx == 0: # self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
CS_prev = CS #
# Button may be left pressed in warm up period # if self.CP.pcmCruise:
if not self.CP.pcmCruise: # self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
self.safety.set_controls_allowed(0) #
continue # if self.CP.carName == "honda":
# self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() # def test_panda_safety_carstate(self):
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() # """
# Assert that panda safety matches openpilot's carState
# TODO: remove this exception once this mismatch is resolved # """
brake_pressed = CS.brakePressed # if self.CP.dashcamOnly:
if CS.brakePressed and not self.safety.get_brake_pressed_prev(): # self.skipTest("no need to check panda safety for dashcamOnly")
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: #
brake_pressed = False # CC = car.CarControl.new_message()
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() #
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() # # warm up pass, as initial states may be different
# for can in self.can_msgs[:300]:
if self.CP.pcmCruise: # self.CI.update(CC, (can.as_builder().to_bytes(), ))
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. # for msg in filter(lambda m: m.src in range(64), can.can):
# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but # to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
# openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages). # self.safety.safety_rx_hook(to_send)
if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH: #
# only the rising edges are expected to match # controls_allowed_prev = False
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: # CS_prev = car.CarState.new_message()
checks['controlsAllowed'] += not self.safety.get_controls_allowed() # checks = defaultdict(lambda: 0)
else: # controlsd = Controls(CI=self.CI)
checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed() # controlsd.initialized = True
# for idx, can in enumerate(self.can_msgs):
# TODO: fix notCar mismatch # CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
if not self.CP.notCar: # for msg in filter(lambda m: m.src in range(64), can.can):
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() # to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
else: # ret = self.safety.safety_rx_hook(to_send)
# Check for enable events on rising edge of controls allowed # self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
controlsd.update_events(CS) #
controlsd.CS_prev = CS # # Skip first frame so CS_prev is properly initialized
button_enable = (any(evt.enable for evt in CS.events) and # if idx == 0:
not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) # CS_prev = CS
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) # # Button may be left pressed in warm up period
checks['controlsAllowed'] += mismatch # if not self.CP.pcmCruise:
controls_allowed_prev = self.safety.get_controls_allowed() # self.safety.set_controls_allowed(0)
if button_enable and not mismatch: # continue
self.safety.set_controls_allowed(False) #
# # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
if self.CP.carName == "honda": #
checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() # checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
# checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
CS_prev = CS #
# # TODO: remove this exception once this mismatch is resolved
failed_checks = {k: v for k, v in checks.items() if v > 0} # brake_pressed = CS.brakePressed
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") # 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}")
@parameterized_class(('car_model', 'test_route'), get_test_cases()) @parameterized_class(('car_model', 'test_route'), get_test_cases())

1
selfdrive/car/toyota/carstate.py
Unescape View File

@ -60,6 +60,7 @@ class CarState(CarStateBase):
else: else:
# TODO: find a common gas pedal percentage signal # TODO: find a common gas pedal percentage signal
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
print(cp.vl["PCM_CRUISE"]["GAS_RELEASED"])
ret.wheelSpeeds = self.get_wheel_speeds( ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],

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