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132 lines
4.6 KiB
132 lines
4.6 KiB
#!/usr/bin/env python3
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# pylint: disable=E1101
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import os
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import importlib
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import unittest
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from collections import Counter
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from parameterized import parameterized_class
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from cereal import log, car
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import cereal.messaging as messaging
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.test.test_car_models import routes
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from selfdrive.test.openpilotci import get_url
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from tools.lib.logreader import LogReader
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import package_can_msg
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HwType = log.HealthData.HwType
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ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']}
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@parameterized_class(('car_model'), [(car,) for car in all_known_cars()])
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class TestCarModel(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if cls.car_model not in ROUTES:
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print(f"Skipping tests for {cls.car_model}: missing route")
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raise unittest.SkipTest
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try:
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lr = LogReader(get_url(ROUTES[cls.car_model], 1))
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except Exception:
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lr = LogReader(get_url(ROUTES[cls.car_model], 0))
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has_relay = False
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can_msgs = []
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fingerprint = {i: dict() for i in range(3)}
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for msg in lr:
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if msg.which() == "can":
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for m in msg.can:
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if m.src < 128:
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fingerprint[m.src][m.address] = len(m.dat)
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can_msgs.append(msg)
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elif msg.which() == "health":
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has_relay = msg.health.hwType in [HwType.blackPanda, HwType.uno, HwType.dos]
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cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
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CarInterface, CarController, CarState = interfaces[cls.car_model]
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# TODO: test with relay and without
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cls.car_params = CarInterface.get_params(cls.car_model, fingerprint, has_relay, [])
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assert cls.car_params
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cls.CI = CarInterface(cls.car_params, CarController, CarState)
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assert cls.CI
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def test_car_params(self):
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if self.car_params.dashcamOnly:
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self.skipTest("no need to check carParams for dashcamOnly")
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# make sure car params are within a valid range
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self.assertGreater(self.car_params.mass, 1)
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self.assertGreater(self.car_params.steerRateCost, 1e-3)
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tuning = self.car_params.lateralTuning.which()
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if tuning == 'pid':
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self.assertTrue(len(self.car_params.lateralTuning.pid.kpV))
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elif tuning == 'lqr':
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self.assertTrue(len(self.car_params.lateralTuning.lqr.a))
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elif tuning == 'indi':
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self.assertGreater(self.car_params.lateralTuning.indi.outerLoopGain, 1e-3)
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self.assertTrue(self.car_params.enableCamera)
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# TODO: check safetyModel is in release panda build
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safety = libpandasafety_py.libpandasafety
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set_status = safety.set_safety_hooks(self.car_params.safetyModel.raw, self.car_params.safetyParam)
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self.assertEqual(0, set_status, f"failed to set safetyModel {self.car_params.safetyModel}")
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def test_car_interface(self):
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# TODO: also check for checkusm and counter violations from can parser
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can_invalid_cnt = 0
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CC = car.CarControl.new_message()
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for msg in self.can_msgs:
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# filter out openpilot msgs
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can = [m for m in msg.can if m.src < 128]
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can_pkt = messaging.new_message('can', len(can))
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can_pkt.can = can
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CS = self.CI.update(CC, (can_pkt.to_bytes(),))
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self.CI.apply(CC)
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can_invalid_cnt += CS.canValid
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# TODO: add this back
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#self.assertLess(can_invalid_cnt, 20)
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def test_radar_interface(self):
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os.environ['NO_RADAR_SLEEP'] = "1"
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RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % self.car_params.carName).RadarInterface
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RI = RadarInterface(self.car_params)
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assert RI
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error_cnt = 0
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for msg in self.can_msgs:
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radar_data = RI.update((msg.as_builder().to_bytes(),))
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if radar_data is not None:
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error_cnt += car.RadarData.Error.canError in radar_data.errors
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self.assertLess(error_cnt, 20)
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def test_panda_safety_rx(self):
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if self.car_params.dashcamOnly:
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self.skipTest("no need to check panda safety for dashcamOnly")
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safety = libpandasafety_py.libpandasafety
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set_status = safety.set_safety_hooks(self.car_params.safetyModel.raw, self.car_params.safetyParam)
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self.assertEqual(0, set_status)
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failed_addrs = Counter()
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for can in self.can_msgs:
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for msg in can.can:
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if msg.src >= 128:
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continue
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to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
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if not safety.safety_rx_hook(to_send):
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failed_addrs[hex(msg.address)] += 1
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self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
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if __name__ == "__main__":
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unittest.main()
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