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113 lines
4.6 KiB
113 lines
4.6 KiB
#!/usr/bin/env python3
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import math
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import unittest
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import hypothesis.strategies as st
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from hypothesis import given, settings
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import importlib
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from parameterized import parameterized
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import gen_empty_fingerprint
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from selfdrive.car.car_helpers import interfaces
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
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def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
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# Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
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fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
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st.integers(min_value=0, max_value=64)) for key in
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gen_empty_fingerprint()})
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# just the most important fields
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car_fw_strategy = st.lists(st.fixed_dictionaries({
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'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())),
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# TODO: only use reasonable addrs for the paired ecu and brand/platform
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'address': st.integers(min_value=0, max_value=0x800),
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}))
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params_strategy = st.fixed_dictionaries({
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'fingerprints': fingerprint_strategy,
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'car_fw': car_fw_strategy,
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'experimental_long': st.booleans(),
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})
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params: dict = draw(params_strategy)
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params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']]
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return params
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class TestCarInterfaces(unittest.TestCase):
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@parameterized.expand([(car,) for car in sorted(all_known_cars())])
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@settings(max_examples=5)
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@given(data=st.data())
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def test_car_interfaces(self, car_name, data):
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CarInterface, CarController, CarState = interfaces[car_name]
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args = get_fuzzy_car_interface_args(data.draw)
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car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
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experimental_long=args['experimental_long'], docs=False)
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car_interface = CarInterface(car_params, CarController, CarState)
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assert car_params
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assert car_interface
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self.assertGreater(car_params.mass, 1)
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self.assertGreater(car_params.wheelbase, 0)
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# centerToFront is center of gravity to front wheels, assert a reasonable range
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self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7)
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self.assertGreater(car_params.maxLateralAccel, 0)
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# Longitudinal sanity checks
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self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
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self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
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self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
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# Lateral sanity checks
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if car_params.steerControlType != car.CarParams.SteerControlType.angle:
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tune = car_params.lateralTuning
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if tune.which() == 'pid':
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self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0)
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self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP))
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self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP))
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elif tune.which() == 'torque':
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self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
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self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
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elif tune.which() == 'indi':
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self.assertTrue(len(tune.indi.outerLoopGainV))
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cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
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# Run car interface
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now_nanos = 0
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CC = car.CarControl.new_message(**cc_msg)
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC, now_nanos)
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car_interface.apply(CC, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10 ms
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CC = car.CarControl.new_message(**cc_msg)
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CC.enabled = True
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for _ in range(10):
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car_interface.update(CC, [])
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car_interface.apply(CC, now_nanos)
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car_interface.apply(CC, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10ms
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# Test radar interface
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RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
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radar_interface = RadarInterface(car_params)
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assert radar_interface
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# Run radar interface once
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radar_interface.update([])
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if not car_params.radarUnavailable and radar_interface.rcp is not None and \
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hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
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radar_interface._update([radar_interface.trigger_msg])
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if __name__ == "__main__":
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unittest.main()
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