From e69c1bff7f7365fba8fa5be593dedfdc1686f032 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 18 Jul 2023 01:49:01 -0700
Subject: [PATCH] test car interface: fuzzy CarParams (#28931)

* bump

* should be bytes

* draft fuzzy car params

* stash

* bump

* bump

* this is explored!

* some clean up

* more clean up

* clean up

* can't easily

* clean up

* no import

* Apply suggestions from code review

* move into a function

* Update selfdrive/car/tests/test_car_interfaces.py

* Update selfdrive/car/tests/test_car_interfaces.py

* Update selfdrive/car/tests/test_car_interfaces.py

* come onn

* we know it will return a dict here
old-commit-hash: c9f80e89b7ab837b9a5402723e4e028155354dde
---
 selfdrive/car/tests/test_car_interfaces.py | 41 +++++++++++++++-------
 1 file changed, 29 insertions(+), 12 deletions(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 80370451f4..d9ab667c26 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -9,8 +9,32 @@ from parameterized import parameterized
 from cereal import car
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
-from selfdrive.test.fuzzy_generation import FuzzyGenerator
+from selfdrive.car.fingerprints import all_known_cars
+from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
+
+
+def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
+  # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
+  fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
+                                                                     st.integers(min_value=0, max_value=64)) for key in
+                                                gen_empty_fingerprint()})
+
+  # just the most important fields
+  car_fw_strategy = st.lists(st.fixed_dictionaries({
+    'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())),
+    # TODO: only use reasonable addrs for the paired ecu and brand/platform
+    'address': st.integers(min_value=0, max_value=0x800),
+  }))
+
+  params_strategy = st.fixed_dictionaries({
+    'fingerprints': fingerprint_strategy,
+    'car_fw': car_fw_strategy,
+    'experimental_long': st.booleans(),
+  })
+
+  params: dict = draw(params_strategy)
+  params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']]
+  return params
 
 
 class TestCarInterfaces(unittest.TestCase):
@@ -19,19 +43,12 @@ class TestCarInterfaces(unittest.TestCase):
   @settings(max_examples=5)
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    if car_name in FINGERPRINTS:
-      fingerprint = FINGERPRINTS[car_name][0]
-    else:
-      fingerprint = {}
-
     CarInterface, CarController, CarState = interfaces[car_name]
-    fingerprints = gen_empty_fingerprint()
-    fingerprints.update({k: fingerprint for k in fingerprints.keys()})
 
-    car_fw = []
-    experimental_long = data.draw(st.booleans())
+    args = get_fuzzy_car_interface_args(data.draw)
 
-    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=experimental_long, docs=False)
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+                                         experimental_long=args['experimental_long'], docs=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface