From cfdeeff3fdef028e2254a29f3fabeed99246eb07 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Nov 2021 15:07:16 -0800 Subject: [PATCH] test car models: verify panda and carState's ACC main on match (#22979) --- panda | 2 +- selfdrive/test/test_models.py | 49 ++++++++++++++++++----------------- 2 files changed, 26 insertions(+), 25 deletions(-) diff --git a/panda b/panda index ddb3698f9b..13f8cd17a6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ddb3698f9bf03dc6096a754c01529cddd580a976 +Subproject commit 13f8cd17a68b0c0de1c2cf0a4ca07c605ba8e827 diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py index 148f77a15c..a55ad35a12 100755 --- a/selfdrive/test/test_models.py +++ b/selfdrive/test/test_models.py @@ -10,8 +10,7 @@ from cereal import log, car from common.params import Params from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces -from selfdrive.car.honda.values import HONDA_BOSCH -from selfdrive.car.honda.values import CAR as HONDA +from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA from selfdrive.car.chrysler.values import CAR as CHRYSLER from selfdrive.car.hyundai.values import CAR as HYUNDAI from selfdrive.test.test_routes import routes, non_tested_cars @@ -78,13 +77,20 @@ class TestCarModel(unittest.TestCase): cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) - CarInterface, CarController, CarState = interfaces[cls.car_model] + cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = CarInterface.get_params(cls.car_model, fingerprint, []) + cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, []) assert cls.CP - cls.CI = CarInterface(cls.CP, CarController, CarState) - assert cls.CI + def setUp(self): + self.CI = self.CarInterface(self.CP, self.CarController, self.CarState) + assert self.CI + + # TODO: check safetyModel is in release panda build + self.safety = libpandasafety_py.libpandasafety + set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam) + self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}") + self.safety.init_tests() def test_car_params(self): if self.CP.dashcamOnly: @@ -103,11 +109,6 @@ class TestCarModel(unittest.TestCase): elif tuning == 'indi': self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) - # TODO: check safetyModel is in release panda build - safety = libpandasafety_py.libpandasafety - set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam) - self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}") - def test_car_interface(self): # TODO: also check for checkusm and counter violations from can parser can_invalid_cnt = 0 @@ -140,30 +141,25 @@ class TestCarModel(unittest.TestCase): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") - safety = libpandasafety_py.libpandasafety - set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam) - self.assertEqual(0, set_status) - failed_addrs = Counter() for can in self.can_msgs: for msg in can.can: if msg.src >= 128: continue to_send = package_can_msg([msg.address, 0, msg.dat, msg.src]) - if not safety.safety_rx_hook(to_send): + if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") 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") if self.car_model in ignore_carstate_check: self.skipTest("see comments in test_models.py") - safety = libpandasafety_py.libpandasafety - set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam) - self.assertEqual(0, set_status) - checks = defaultdict(lambda: 0) CC = car.CarControl.new_message() for can in self.can_msgs: @@ -171,15 +167,20 @@ class TestCarModel(unittest.TestCase): if msg.src >= 128: continue to_send = package_can_msg([msg.address, 0, msg.dat, msg.src]) - 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}") CS = self.CI.update(CC, (can.as_builder().to_bytes(),)) # TODO: check steering state # check that openpilot and panda safety agree on the car's state - checks['gasPressed'] += CS.gasPressed != safety.get_gas_pressed_prev() - checks['brakePressed'] += CS.brakePressed != safety.get_brake_pressed_prev() + checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() + checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev() if self.CP.pcmCruise: - checks['controlsAllowed'] += not CS.cruiseState.enabled and safety.get_controls_allowed() + checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed() + + # TODO: extend this to all cars + if self.CP.carName == "honda": + checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() # TODO: reduce tolerance to 0 failed_checks = {k: v for k, v in checks.items() if v > 25}