import time import os import pytest import random import unittest # noqa: TID251 from collections import defaultdict, Counter from functools import partial import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized_class from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces from opendbc.car.fingerprints import MIGRATION from opendbc.car.honda.values import CAR as HONDA, HondaFlags from opendbc.car.structs import car from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute from opendbc.car.values import Platform, PLATFORMS from opendbc.safety.tests.libsafety import libsafety_py from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \ internal_source_zst, comma_api_source, auto_source from openpilot.tools.lib.route import SegmentName SafetyModel = car.CarParams.SafetyModel SteerControlType = structs.CarParams.SteerControlType NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300")) CI = os.environ.get("CI", None) is not None def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: # build list of test cases test_cases = [] if not len(INTERNAL_SEG_LIST): routes_by_car = defaultdict(set) for r in routes: routes_by_car[str(r.car_model)].add(r) for i, c in enumerate(sorted(PLATFORMS)): if i % NUM_JOBS == JOB_ID: test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) else: segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) for platform, segment in segment_list: platform = MIGRATION.get(platform, platform) segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) return test_cases @pytest.mark.slow @pytest.mark.shared_download_cache class TestCarModelBase(unittest.TestCase): platform: Platform | None = None test_route: CarTestRoute | None = None can_msgs: list[tuple[int, list[CanData]]] fingerprint: dict[int, dict[int, int]] elm_frame: int | None car_safety_mode_frame: int | None @classmethod def get_testing_data_from_logreader(cls, lr): car_fw = [] can_msgs = [] cls.elm_frame = None cls.car_safety_mode_frame = None cls.fingerprint = gen_empty_fingerprint() experimental_long = False for msg in lr: if msg.which() == "can": can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0] can_msgs.append((can[0], [CanData(*can) for can in can[1]])) if len(can_msgs) <= FRAME_FINGERPRINT: for m in msg.can: if m.src < 64: cls.fingerprint[m.src][m.address] = len(m.dat) elif msg.which() == "carParams": car_fw = msg.carParams.carFw if msg.carParams.openpilotLongitudinalControl: experimental_long = True if cls.platform is None: live_fingerprint = msg.carParams.carFingerprint cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) # Log which can frame the panda safety mode left ELM327, for CAN validity checks elif msg.which() == 'pandaStates': for ps in msg.pandaStates: if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: cls.elm_frame = len(can_msgs) if cls.car_safety_mode_frame is None and ps.safetyModel not in \ (SafetyModel.elm327, SafetyModel.noOutput): cls.car_safety_mode_frame = len(can_msgs) elif msg.which() == 'pandaStateDEPRECATED': if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: cls.elm_frame = len(can_msgs) if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ (SafetyModel.elm327, SafetyModel.noOutput): cls.car_safety_mode_frame = len(can_msgs) assert len(can_msgs) > int(50 / DT_CTRL), "no can data found" return car_fw, can_msgs, experimental_long @classmethod def get_testing_data(cls): test_segs = (2, 1, 0) if cls.test_route.segment is not None: test_segs = (cls.test_route.segment,) for seg in test_segs: segment_range = f"{cls.test_route.route}/{seg}" try: source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \ [openpilotci_source_zst, openpilotci_source, comma_api_source]) lr = LogReader(segment_range, source=source, sort_by_time=True) return cls.get_testing_data_from_logreader(lr) except (LogsUnavailable, AssertionError): pass raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") @classmethod def setUpClass(cls): if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): raise unittest.SkipTest if cls.test_route is None: if cls.platform in non_tested_cars: print(f"Skipping tests for {cls.platform}: missing route") raise unittest.SkipTest raise Exception(f"missing test route for {cls.platform}") car_fw, cls.can_msgs, experimental_long = cls.get_testing_data() # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.CarInterface = interfaces[cls.platform] cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.platform os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT @classmethod def tearDownClass(cls): del cls.can_msgs def setUp(self): self.CI = self.CarInterface(self.CP.copy()) assert self.CI # TODO: check safetyModel is in release panda build self.safety = libsafety_py.libsafety cfg = self.CP.safetyConfigs[-1] set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.safety.init_tests() def test_car_params(self): if self.CP.dashcamOnly: self.skipTest("no need to check carParams for dashcamOnly") # make sure car params are within a valid range self.assertGreater(self.CP.mass, 1) if self.CP.steerControlType != SteerControlType.angle: tuning = self.CP.lateralTuning.which() if tuning == 'pid': self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) elif tuning == 'torque': self.assertTrue(self.CP.lateralTuning.torque.kf > 0) else: raise Exception("unknown tuning") def test_car_interface(self): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False CC = structs.CarControl().as_reader() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(msg) self.CI.apply(CC, msg[0]) if CS.canValid: can_valid = True # wait max of 2s for low frequency msgs to be seen if i > 200 or can_valid: can_invalid_cnt += not CS.canValid self.assertEqual(can_invalid_cnt, 0) def test_radar_interface(self): RI = self.CarInterface.RadarInterface(self.CP) assert RI # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 for i, msg in enumerate(self.can_msgs[self.elm_frame:]): rr: structs.RadarData | None = RI.update(msg) if rr is not None and i > 50: error_cnt += rr.errors.canError self.assertEqual(error_cnt, 0) def test_panda_safety_rx_checks(self): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") start_ts = self.can_msgs[0][0] failed_addrs = Counter() for can in self.can_msgs: # update panda timer t = (can[0] - start_ts) / 1e3 self.safety.set_timer(int(t)) # run all msgs through the safety RX hook for msg in can[1]: if msg.src >= 64: continue to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 # ensure all msgs defined in the addr checks are valid self.safety.safety_tick_current_safety_config() if t > 1e6: self.assertTrue(self.safety.safety_config_valid()) # Don't check relay malfunction on disabled routes (relay closed), # or before fingerprinting is done (elm327 and noOutput) if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: self.assertFalse(self.safety.get_relay_malfunction()) else: self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") # ensure RX checks go invalid after small time with no traffic self.safety.set_timer(int(t + (2*1e6))) self.safety.safety_tick_current_safety_config() self.assertFalse(self.safety.safety_config_valid()) def test_panda_safety_tx_cases(self, data=None): """Asserts we can tx common messages""" if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") if self.CP.notCar: self.skipTest("Skipping test for notCar") def test_car_controller(car_control): now_nanos = 0 msgs_sent = 0 CI = self.CarInterface(self.CP) for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages CI.update([]) _, sendcan = CI.apply(car_control, now_nanos) now_nanos += DT_CTRL * 1e9 msgs_sent += len(sendcan) for addr, dat, bus in sendcan: to_send = libsafety_py.make_CANPacket(addr, bus % 4, dat) self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) # Make sure we attempted to send messages self.assertGreater(msgs_sent, 50) # Make sure we can send all messages while inactive CC = structs.CarControl() test_car_controller(CC.as_reader()) # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) self.safety.set_cruise_engaged_prev(True) CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True)) test_car_controller(CC.as_reader()) # Test resume + general messages (controls_allowed=True & cruise_engaged=True) self.safety.set_controls_allowed(True) CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True)) test_car_controller(CC.as_reader()) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @settings(max_examples=MAX_EXAMPLES, deadline=None, phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_panda_safety_carstate_fuzzy(self, data): """ For each example, pick a random CAN message on the bus and fuzz its data, checking for panda state mismatches. """ 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()] address, bus, size = data.draw(st.sampled_from(valid_addrs)) msg_strategy = st.binary(min_size=size, max_size=size) msgs = data.draw(st.lists(msg_strategy, min_size=20)) vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar for dat in msgs: # due to panda updating state selectively, only edges are expected to match # TODO: warm up CarState with real CAN messages to check edge of both sources # (eg. toyota's gasPressed is the inverse of a signal being set) prev_panda_gas = self.safety.get_gas_pressed_prev() prev_panda_brake = self.safety.get_brake_pressed_prev() prev_panda_regen_braking = self.safety.get_regen_braking_prev() prev_panda_vehicle_moving = self.safety.get_vehicle_moving() prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() prev_panda_acc_main_on = self.safety.get_acc_main_on() to_send = libsafety_py.make_CANPacket(address, bus, dat) self.safety.safety_rx_hook(to_send) can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] CS = self.CI.update(can) if self.safety.get_gas_pressed_prev() != prev_panda_gas: self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) if self.safety.get_brake_pressed_prev() != prev_panda_brake: # 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.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: brake_pressed = False self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) # check vehicle speed if angle control car or available if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: vehicle_speed_seen = True if vehicle_speed_seen and (self.safety.get_vehicle_speed_min() != prev_panda_vehicle_speed_min or self.safety.get_vehicle_speed_max() != prev_panda_vehicle_speed_max): v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor self.assertFalse(v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) if self.CP.brand == "honda": if self.safety.get_acc_main_on() != prev_panda_acc_main_on: self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) 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") # warm up pass, as initial states may be different for can in self.can_msgs[:300]: self.CI.update(can) for msg in filter(lambda m: m.src < 64, can[1]): to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) self.safety.safety_rx_hook(to_send) controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar for idx, can in enumerate(self.can_msgs): CS = self.CI.update(can).as_reader() for msg in filter(lambda m: m.src < 64, can[1]): to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}") # Skip first frame so CS_prev is properly initialized if idx == 0: CS_prev = CS # Button may be left pressed in warm up period if not self.CP.pcmCruise: self.safety.set_controls_allowed(0) continue # TODO: check rest of panda's carstate (steering, ACC main on, etc.) checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() # check vehicle speed if angle control car or available if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: vehicle_speed_seen = True if vehicle_speed_seen: v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) # 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.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() 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.brand == "honda" and not (self.CP.flags & HondaFlags.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() # TODO: fix notCar mismatch if not self.CP.notCar: checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for user button enable on rising edge of controls allowed button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill) 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.brand == "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(('platform', 'test_route'), get_test_cases()) @pytest.mark.xdist_group_class_property('test_route') class TestCarModel(TestCarModelBase): pass if __name__ == "__main__": unittest.main()