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