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79 lines
2.6 KiB
79 lines
2.6 KiB
#!/usr/bin/env python3
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import time
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import unittest
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from parameterized import parameterized
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from cereal import log, car
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import cereal.messaging as messaging
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from common.params import Params
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
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from selfdrive.car.fingerprints import _FINGERPRINTS
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.mazda.values import CAR as MAZDA
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from selfdrive.controls.lib.events import EVENT_NAME
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from selfdrive.test.helpers import with_processes
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EventName = car.CarEvent.EventName
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class TestStartup(unittest.TestCase):
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@parameterized.expand([
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# TODO: test EventName.startup for release branches
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# officially supported car
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(EventName.startupMaster, HYUNDAI.SONATA, False),
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(EventName.startupMaster, HYUNDAI.SONATA, True),
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# community supported car
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(EventName.startupMaster, HYUNDAI.KIA_STINGER, True),
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(EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, True),
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(EventName.startupNoControl, MAZDA.CX5, False),
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# unrecognized car
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(EventName.startupNoCar, None, True),
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(EventName.startupNoCar, None, False),
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])
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@with_processes(['controlsd'])
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def test_startup_alert(self, expected_event, car, toggle_enabled):
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# TODO: this should be done without any real sockets
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controls_sock = messaging.sub_sock("controlsState")
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pm = messaging.PubMaster(['can', 'health'])
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params = Params()
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params.clear_all()
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params.put("Passive", b"0")
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params.put("OpenpilotEnabledToggle", b"1")
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params.put("CommunityFeaturesToggle", b"1" if toggle_enabled else b"0")
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time.sleep(2) # wait for controlsd to be ready
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health = messaging.new_message('health')
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health.health.hwType = log.HealthData.HwType.uno
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pm.send('health', health)
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# fingerprint
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if car is None:
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car][0]
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for _ in range(500):
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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pm.send('can', can_list_to_can_capnp(msgs))
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time.sleep(0.01)
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msgs = messaging.drain_sock(controls_sock)
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if len(msgs):
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event_name = msgs[0].controlsState.alertType.split("/")[0]
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self.assertEqual(EVENT_NAME[expected_event], event_name,
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f"expected {EVENT_NAME[expected_event]} for '{car}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car}")
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if __name__ == "__main__":
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unittest.main()
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