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add all this mess because it always takes a while

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pull/25235/head
Shane Smiskol 3 years ago
parent 6321d472ff
commit b54fb5b788
2 changed files with 169 additions and 118 deletions
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  1. 16
      selfdrive/car/hyundai/carstate.py
  2. 271
      selfdrive/car/tests/test_models.py

16
selfdrive/car/hyundai/carstate.py
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@ -15,6 +15,8 @@ class CarState(CarStateBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.dat = []
self.frame = 0
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
@ -34,13 +36,17 @@ class CarState(CarStateBase):
# When available we use CLU15->CF_Clu_VehicleSpeed2 to populate vEgoCluster # When available we use CLU15->CF_Clu_VehicleSpeed2 to populate vEgoCluster
self.dash_speed_seen = False self.dash_speed_seen = False
self.dash_speed_alt = 0
self.updates = 0
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)
def update(self, cp, cp_cam): def update(self, cp, cp_cam):
if self.CP.carFingerprint in CANFD_CAR: if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam) return self.update_canfd(cp, cp_cam)
self.frame += 1
self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 1 else CV.KPH_TO_MS speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 1 else CV.KPH_TO_MS
ret = car.CarState.new_message() ret = car.CarState.new_message()
@ -67,6 +73,15 @@ class CarState(CarStateBase):
if self.dash_speed_seen: if self.dash_speed_seen:
ret.vEgoCluster = dash_speed * speed_conv ret.vEgoCluster = dash_speed * speed_conv
if len(cp.vl_all["CLU15"]["CF_Clu_VehicleSpeed"]):
self.updates += 1
print(self.updates, self.frame)
if self.frame > 50:
self.frame = 0
self.dash_speed_alt = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
self.dat.append([ret.vEgo, ret.vEgoRaw, ret.vEgoCluster, cp.vl["CLU15"]["CF_Clu_VehicleSpeed"], self.dash_speed_seen, self.dash_speed_alt])
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
@ -235,6 +250,7 @@ class CarState(CarStateBase):
("CF_Clu_AmpInfo", "CLU11"), ("CF_Clu_AmpInfo", "CLU11"),
("CF_Clu_AliveCnt1", "CLU11"), ("CF_Clu_AliveCnt1", "CLU11"),
("CF_Clu_VehicleSpeed", "CLU15"),
("CF_Clu_VehicleSpeed2", "CLU15"), ("CF_Clu_VehicleSpeed2", "CLU15"),
("ACCEnable", "TCS13"), ("ACCEnable", "TCS13"),

271
selfdrive/car/tests/test_models.py
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@ -6,6 +6,8 @@ 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 common.conversions import Conversions as CV
import random
from cereal import log, car from cereal import log, car
from common.realtime import DT_CTRL from common.realtime import DT_CTRL
@ -19,6 +21,8 @@ from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from selfdrive.test.openpilotci import get_url from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
from tools.lib.route import Route from tools.lib.route import Route
import matplotlib.pyplot as plt
plt.rcParams['figure.figsize'] = [20, 15]
from panda.tests.safety import libpandasafety_py from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import package_can_msg from panda.tests.safety.common import package_can_msg
@ -121,83 +125,83 @@ 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)
elif tuning == 'indi': # elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) # self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
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) # self.CI.apply(CC)
#
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
#
error_cnt = 0 # error_cnt = 0
for i, msg in enumerate(self.can_msgs): # for i, msg in enumerate(self.can_msgs):
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 = package_can_msg([msg.address, 0, msg.dat, msg.src % 4]) # to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
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())
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_carstate(self): def test_panda_safety_carstate(self):
""" """
@ -214,6 +218,9 @@ class TestCarModelBase(unittest.TestCase):
to_send = package_can_msg(msg) to_send = package_can_msg(msg)
self.safety.safety_rx_hook(to_send) self.safety.safety_rx_hook(to_send)
self.CI.update(CC, (can_list_to_can_capnp([msg, ]), )) self.CI.update(CC, (can_list_to_can_capnp([msg, ]), ))
self.CI.CS.dat = []
self.CI.CS.frame = 0
self.CI.CS.updates = 0
if not self.CP.pcmCruise: if not self.CP.pcmCruise:
self.safety.set_controls_allowed(0) self.safety.set_controls_allowed(0)
@ -230,48 +237,76 @@ class TestCarModelBase(unittest.TestCase):
ret = self.safety.safety_rx_hook(to_send) ret = self.safety.safety_rx_hook(to_send)
self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}") self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
# TODO: check rest of panda's carstate (steering, ACC main on, etc.) # self.dat.append([ret.vEgo, ret.vEgoRaw, ret.vEgoCluster, cp.vl["CLU15"]["CF_Clu_VehicleSpeed"], self.dash_speed_seen])
plt.clf()
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() CS = self.CI.CS
checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available speed2_not_set = not any([d[4] for d in CS.dat])
if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): if not CS.is_metric:
# TODO: fix standstill mismatches for other makes plt.ylabel('mph')
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() if speed2_not_set:
plt.plot([d[0] * CV.MS_TO_MPH for d in CS.dat], label='CS.vEgo')
# TODO: remove this exception once this mismatch is resolved plt.plot([round(d[3] * CV.KPH_TO_MPH) for d in CS.dat], label='CF_Clu_VehicleSpeed (mph from kph)')
brake_pressed = CS.brakePressed plt.plot([round(d[5] * CV.KPH_TO_MPH) for d in CS.dat], label='CF_Clu_VehicleSpeed low frq')
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev()
checks['brakePressed'] += brake_pressed != safety_brake_pressed
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()
else: else:
# Check for enable events on rising edge of controls allowed plt.plot([d[0] * CV.MS_TO_MPH for d in CS.dat], label='CS.vEgo')
button_enable = any(evt.enable for evt in CS.events) plt.plot([d[2] * CV.MS_TO_MPH for d in CS.dat], label='CF_Clu_VehicleSpeed2 (native mph)')
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) else:
checks['controlsAllowed'] += mismatch plt.ylabel('kph')
controls_allowed_prev = self.safety.get_controls_allowed() if speed2_not_set:
if button_enable and not mismatch: plt.plot([d[0] * CV.MS_TO_KPH for d in CS.dat], label='CS.vEgo')
self.safety.set_controls_allowed(False) plt.plot([d[3] for d in CS.dat], label='CF_Clu_VehicleSpeed (native kph)')
plt.plot([round(d[5]) for d in CS.dat], label='CF_Clu_VehicleSpeed low frq')
if self.CP.carName == "honda": else:
checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() plt.plot([d[0] * CV.MS_TO_KPH for d in CS.dat], label='CS.vEgo')
plt.plot([d[2] * CV.MS_TO_KPH for d in CS.dat], label='CF_Clu_VehicleSpeed2 (native kph)')
CS_prev = CS
plt.title(self.CP.carFingerprint)
failed_checks = {k: v for k, v in checks.items() if v > 0} plt.legend()
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") plt.xlabel(f'{CS.is_metric=}')
plt.savefig('/home/batman/notebook_data/hyundai_cluster_speeds/{}_{}.png'.format(self.CP.carFingerprint, random.randint(0, 100)))
# # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
#
# checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
# checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
# if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"):
# # TODO: fix standstill mismatches for other makes
# 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.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
# brake_pressed = False
# safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev()
# checks['brakePressed'] += brake_pressed != safety_brake_pressed
#
# 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()
# else:
# # Check for enable events on rising edge of controls allowed
# button_enable = any(evt.enable for evt in CS.events)
# 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'), test_cases) @parameterized_class(('car_model', 'test_route'), test_cases)

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