diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml index 55fc9e6e47..d9892b2663 100644 --- a/.github/workflows/test.yaml +++ b/.github/workflows/test.yaml @@ -197,10 +197,10 @@ jobs: run: eval "$BUILD" - name: Test car models run: | - $PERSIST "mkdir -p /data/params && \ - cd /tmp/openpilot && \ + $PERSIST "cd /tmp/openpilot && \ scons -j$(nproc) && \ - coverage run --parallel-mode --concurrency=multiprocessing --rcfile=./.coveragerc-app selfdrive/test/test_car_models.py && \ + coverage run --parallel-mode --concurrency=multiprocessing \ + --rcfile=./.coveragerc-app selfdrive/test/test_models.py && \ coverage combine" - name: Upload coverage to Codecov run: | diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index f2f8c3cec9..05991ce49c 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 from __future__ import print_function import math -import time from cereal import car from opendbc.can.parser import CANParser from selfdrive.car.gm.values import DBC, CAR, CanBus @@ -53,8 +52,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - time.sleep(self.radar_ts) # nothing to do - return car.RadarData.new_message() + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index a921534c5a..e910e753f7 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import os -import time from cereal import car from opendbc.can.parser import CANParser from selfdrive.car.interfaces import RadarInterfaceBase @@ -38,9 +37,7 @@ class RadarInterface(RadarInterfaceBase): # in Bosch radar and we are only steering for now, so sleep 0.05s to keep # radard at 20Hz and return no points if self.radar_off_can: - if 'NO_RADAR_SLEEP' not in os.environ: - time.sleep(self.radar_ts) - return car.RadarData.new_message() + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 0245cf87b8..b68eeddbcc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -145,7 +145,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # these cars require a special panda safety mode due to missing counters and checksums in the messages - if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO]: + if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019, CAR.KIA_OPTIMA]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.centerToFront = ret.wheelbase * 0.4 diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index b5bdcd8363..fdbe837af6 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -1,6 +1,4 @@ #!/usr/bin/env python3 -import os -import time from cereal import car from opendbc.can.parser import CANParser from selfdrive.car.interfaces import RadarInterfaceBase @@ -33,10 +31,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.radar_off_can: - if 'NO_RADAR_SLEEP' not in os.environ: - time.sleep(0.05) # radard runs on RI updates - - return car.RadarData.new_message() + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 287dc979bf..85cc6d4d32 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -137,13 +137,12 @@ class RadarInterfaceBase(): self.pts = {} self.delay = 0 self.radar_ts = CP.radarTimeStep + self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ def update(self, can_strings): ret = car.RadarData.new_message() - - if 'NO_RADAR_SLEEP' not in os.environ: + if not self.no_radar_sleep: time.sleep(self.radar_ts) # radard runs on RI updates - return ret class CarStateBase: diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 3a66beed0e..8407e71fcd 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import os -import time from opendbc.can.parser import CANParser from cereal import car from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR @@ -53,8 +52,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.no_radar: - time.sleep(self.radar_ts) - return car.RadarData.new_message() + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py new file mode 100755 index 0000000000..b44f8e60b8 --- /dev/null +++ b/selfdrive/test/test_models.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +# pylint: disable=E1101 +import os +import importlib +import unittest +from collections import Counter +from parameterized import parameterized_class + +from cereal import log, car +import cereal.messaging as messaging +from selfdrive.car.fingerprints import all_known_cars +from selfdrive.car.car_helpers import interfaces +from selfdrive.test.test_car_models import routes +from selfdrive.test.openpilotci import get_url +from tools.lib.logreader import LogReader + +from panda.tests.safety import libpandasafety_py +from panda.tests.safety.common import package_can_msg + +HwType = log.HealthData.HwType + +ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']} + +@parameterized_class(('car_model'), [(car,) for car in all_known_cars()]) +class TestCarModel(unittest.TestCase): + + @classmethod + def setUpClass(cls): + if cls.car_model not in ROUTES: + print(f"Skipping tests for {cls.car_model}: missing route") + raise unittest.SkipTest + + try: + lr = LogReader(get_url(ROUTES[cls.car_model], 1)) + except Exception: + lr = LogReader(get_url(ROUTES[cls.car_model], 0)) + + has_relay = False + can_msgs = [] + fingerprint = {i: dict() for i in range(3)} + for msg in lr: + if msg.which() == "can": + for m in msg.can: + if m.src < 128: + fingerprint[m.src][m.address] = len(m.dat) + can_msgs.append(msg) + elif msg.which() == "health": + has_relay = msg.health.hwType in [HwType.blackPanda, HwType.uno, HwType.dos] + cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) + + CarInterface, CarController, CarState = interfaces[cls.car_model] + + # TODO: test with relay and without + cls.car_params = CarInterface.get_params(cls.car_model, fingerprint, has_relay, []) + assert cls.car_params + + cls.CI = CarInterface(cls.car_params, CarController, CarState) + assert cls.CI + + def test_car_params(self): + if self.car_params.dashcamOnly: + self.skipTest("no need to check carParams for dashcamOnly") + + # make sure car params are within a valid range + self.assertGreater(self.car_params.mass, 1) + self.assertGreater(self.car_params.steerRateCost, 1e-3) + + tuning = self.car_params.lateralTuning.which() + if tuning == 'pid': + self.assertTrue(len(self.car_params.lateralTuning.pid.kpV)) + elif tuning == 'lqr': + self.assertTrue(len(self.car_params.lateralTuning.lqr.a)) + elif tuning == 'indi': + self.assertGreater(self.car_params.lateralTuning.indi.outerLoopGain, 1e-3) + + self.assertTrue(self.car_params.enableCamera) + + # TODO: check safetyModel is in release panda build + safety = libpandasafety_py.libpandasafety + set_status = safety.set_safety_hooks(self.car_params.safetyModel.raw, self.car_params.safetyParam) + self.assertEqual(0, set_status, f"failed to set safetyModel {self.car_params.safetyModel}") + + def test_car_interface(self): + # TODO: also check for checkusm and counter violations from can parser + can_invalid_cnt = 0 + CC = car.CarControl.new_message() + for msg in self.can_msgs: + # filter out openpilot msgs + can = [m for m in msg.can if m.src < 128] + can_pkt = messaging.new_message('can', len(can)) + can_pkt.can = can + + CS = self.CI.update(CC, (can_pkt.to_bytes(),)) + self.CI.apply(CC) + can_invalid_cnt += CS.canValid + # TODO: add this back + #self.assertLess(can_invalid_cnt, 20) + + def test_radar_interface(self): + os.environ['NO_RADAR_SLEEP'] = "1" + RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % self.car_params.carName).RadarInterface + RI = RadarInterface(self.car_params) + assert RI + + error_cnt = 0 + for msg in self.can_msgs: + radar_data = RI.update((msg.as_builder().to_bytes(),)) + if radar_data is not None: + error_cnt += car.RadarData.Error.canError in radar_data.errors + self.assertLess(error_cnt, 20) + + def test_panda_safety_rx(self): + if self.car_params.dashcamOnly: + self.skipTest("no need to check panda safety for dashcamOnly") + + safety = libpandasafety_py.libpandasafety + set_status = safety.set_safety_hooks(self.car_params.safetyModel.raw, self.car_params.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): + failed_addrs[hex(msg.address)] += 1 + self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + + +if __name__ == "__main__": + unittest.main()