From af384e0187961d416f9c58840382bed71226b2d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Dec 2023 21:40:58 -0800 Subject: [PATCH] Revert "thought interleaving addrs might help, but we can fine tune later" This reverts commit 153301384b48c9f33f9e2af3c224241eaeec41c1. --- selfdrive/car/tests/test_models.py | 31 +++++++++--------------------- 1 file changed, 9 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 3ef1bde523..7ac49c1c24 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -157,13 +157,13 @@ class TestCarModelBase(unittest.TestCase): assert cls.CP assert cls.CP.carFingerprint == cls.car_model - # cls.car_state_dict = {'panda': {'gas_pressed': False}, 'CS': {'gasPressed': False}} - # cls.init_gas_pressed = False + cls.car_state_dict = {'panda': {'gas_pressed': False}, 'CS': {'gasPressed': False}} + cls.init_gas_pressed = False @classmethod def tearDownClass(cls): del cls.can_msgs - # gc.collect() + gc.collect() def setUp(self): self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) @@ -328,28 +328,15 @@ class TestCarModelBase(unittest.TestCase): 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()] - - # addrs = [data.draw(st.sampled_from(valid_addrs)) for _ in range(10)] - # addrs = data.draw(st.sets(st.sampled_from(valid_addrs), min_size=10, max_size=10)) - addrs = st.lists(st.sampled_from(valid_addrs), min_size=10, max_size=10, unique=True) - # print(addrs) - # return - - - # address, bus = data.draw(st.sampled_from(valid_addrs)) + valid_addrs = [(addr, bus) for bus, addrs in self.fingerprint.items() for addr in addrs] + address, bus = data.draw(st.sampled_from(valid_addrs)) # address = 0x201 # bus = 0 # print('addr, bus:', address, bus) - # size = self.fingerprint[bus][address] + size = self.fingerprint[bus][address] - # msg_strategy = st.binary(min_size=size, max_size=size) - msgs = [(addr, bus, data.draw(st.binary(min_size=size, max_size=size))) for addr, bus, size in data.draw(addrs) for _ in range(20)] - random.shuffle(msgs) - print(msgs) - return - # msgs = data.draw(st.lists(msg_strategy, min_size=20)) - # print(msgs) + msg_strategy = st.binary(min_size=size, max_size=size) + msgs = data.draw(st.lists(msg_strategy, min_size=20)) prev_panda_gas = self.safety.get_gas_pressed_prev() prev_panda_brake = self.safety.get_brake_pressed_prev() @@ -358,7 +345,7 @@ class TestCarModelBase(unittest.TestCase): prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() prev_panda_acc_main_on = self.safety.get_acc_main_on() - for address, bus, dat in msgs: + for dat in msgs: to_send = libpanda_py.make_CANPacket(address, bus, dat) self.safety.safety_rx_hook(to_send)