You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
99 lines
4.5 KiB
99 lines
4.5 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
import pytest
|
|
import sys
|
|
|
|
from parameterized import parameterized_class
|
|
from typing import List, Optional
|
|
|
|
from openpilot.selfdrive.car.car_helpers import interface_names
|
|
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
|
|
from openpilot.selfdrive.test.process_replay.helpers import TestProcessReplayDiffBase
|
|
|
|
|
|
source_segments = [
|
|
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
|
|
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
|
|
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS)
|
|
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS
|
|
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4
|
|
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
|
|
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
|
|
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
|
|
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID
|
|
("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500
|
|
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK
|
|
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
|
|
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV
|
|
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
|
|
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF
|
|
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021
|
|
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
|
|
|
|
# Enable when port is tested and dashcamOnly is no longer set
|
|
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS
|
|
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS
|
|
]
|
|
|
|
segments = [
|
|
("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
|
|
("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
|
|
("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
|
|
("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
|
|
("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
|
|
("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
|
|
("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
|
|
("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
|
|
("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
|
|
("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
|
|
("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
|
|
("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
|
|
("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
|
|
("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
|
|
("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
|
|
("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
|
|
("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
|
|
]
|
|
|
|
# dashcamOnly makes don't need to be tested until a full port is done
|
|
excluded_interfaces = ["mock", "tesla"]
|
|
|
|
ALL_CARS = sorted({car for car, _ in segments})
|
|
|
|
|
|
@pytest.mark.slow
|
|
@parameterized_class(('case_name', 'segment'), segments)
|
|
@pytest.mark.xdist_group_class_property('case_name')
|
|
class TestCarProcessReplay(TestProcessReplayDiffBase):
|
|
"""
|
|
Runs a replay diff on a segment for each car.
|
|
"""
|
|
|
|
case_name: Optional[str] = None
|
|
tested_cars: List[str] = ALL_CARS
|
|
|
|
@classmethod
|
|
def setUpClass(cls):
|
|
if cls.case_name not in cls.tested_cars:
|
|
raise unittest.SkipTest(f"{cls.case_name} was not requested to be tested")
|
|
super().setUpClass()
|
|
|
|
def test_all_makes_are_tested(self):
|
|
if set(self.tested_cars) != set(ALL_CARS):
|
|
raise unittest.SkipTest("skipping check because some cars were skipped via command line")
|
|
|
|
# check to make sure all car brands are tested
|
|
untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in self.tested_cars}
|
|
self.assertEqual(len(untested), 0, f"Cars missing routes: {str(untested)}")
|
|
|
|
def test_controlsd_engaged(self):
|
|
if "controlsd" not in self.tested_procs:
|
|
raise unittest.SkipTest("controlsd was not requested to be tested")
|
|
|
|
# check to make sure openpilot is engaged in the route
|
|
log_msgs = self.log_msgs["controlsd"]
|
|
self.assertTrue(check_openpilot_enabled(log_msgs), f"Route did not enable at all or for long enough: {self.segment}")
|
|
|
|
|
|
if __name__ == '__main__':
|
|
pytest.main([*sys.argv[1:], __file__]) |