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122 lines
4.4 KiB
122 lines
4.4 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.toyota.values import CAR as TOYOTA
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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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Ecu = car.CarParams.Ecu
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COROLLA_FW_VERSIONS = [
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(Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.esp, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
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(Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
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(Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
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]
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COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
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COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
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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, None),
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(EventName.startupMaster, HYUNDAI.SONATA, True, None),
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# offically supported car, FW query
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(EventName.startupMaster, TOYOTA.COROLLA, False, COROLLA_FW_VERSIONS),
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# DSU unplugged
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(EventName.startupMaster, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS_NO_DSU),
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(EventName.communityFeatureDisallowed, TOYOTA.COROLLA, False, COROLLA_FW_VERSIONS_NO_DSU),
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# community supported car
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(EventName.startupMaster, HYUNDAI.KIA_STINGER, True, None),
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(EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False, None),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, True, None),
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(EventName.startupNoControl, MAZDA.CX5, False, None),
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# unrecognized car
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(EventName.startupNoCar, None, True, None),
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(EventName.startupNoCar, None, False, None),
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# fuzzy match
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(EventName.startupFuzzyFingerprint, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS_FUZZY),
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(EventName.communityFeatureDisallowed, TOYOTA.COROLLA, False, COROLLA_FW_VERSIONS_FUZZY),
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])
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@with_processes(['controlsd'])
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def test_startup_alert(self, expected_event, car_model, toggle_enabled, fw_versions):
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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', 'pandaState'])
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params = Params()
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params.clear_all()
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params.put_bool("Passive", False)
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", toggle_enabled)
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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if subaddress is not None:
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f.subAddress = subaddress
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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time.sleep(2) # wait for controlsd to be ready
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msg = messaging.new_message('pandaState')
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msg.pandaState.pandaType = log.PandaState.PandaType.uno
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pm.send('pandaState', msg)
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# fingerprint
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if (car_model is None) or (fw_versions is not 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_model][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_model}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car_model}")
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if __name__ == "__main__":
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unittest.main()
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