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100 lines
4.3 KiB
100 lines
4.3 KiB
import os
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import math
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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
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from cereal import car
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from opendbc.car import DT_CTRL
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.structs import CarParams
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from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
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from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
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from opendbc.car.mock.values import CAR as MOCK
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from opendbc.car.values import PLATFORMS
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
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ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
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ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
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ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
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MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
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class TestCarInterfaces:
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# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
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# many generated examples to overrun when max_examples > ~20, don't use it
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@parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK])
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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_car_interfaces(self, car_name, data):
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CarInterface = 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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alpha_long=args['alpha_long'], is_release=False, docs=False)
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car_params = car_params.as_reader()
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car_interface = CarInterface(car_params)
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assert car_params
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assert car_interface
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assert car_params.mass > 1
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assert car_params.wheelbase > 0
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# centerToFront is center of gravity to front wheels, assert a reasonable range
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assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
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assert car_params.maxLateralAccel > 0
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# Longitudinal sanity checks
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assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
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assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
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# Lateral sanity checks
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if car_params.steerControlType != CarParams.SteerControlType.angle:
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tune = car_params.lateralTuning
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if tune.which() == 'pid':
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if car_name != MOCK.MOCK:
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assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
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assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
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assert 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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assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
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assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
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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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CC = CC.as_reader()
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for _ in range(10):
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car_interface.update([])
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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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CC.latActive = True
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CC.longActive = True
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CC = CC.as_reader()
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for _ in range(10):
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car_interface.update([])
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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 controller initialization
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# TODO: wait until card refactor is merged to run controller a few times,
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# hypothesis also slows down significantly with just one more message draw
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LongControl(car_params)
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if car_params.steerControlType == CarParams.SteerControlType.angle:
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LatControlAngle(car_params, car_interface)
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elif car_params.lateralTuning.which() == 'pid':
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LatControlPID(car_params, car_interface)
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elif car_params.lateralTuning.which() == 'torque':
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LatControlTorque(car_params, car_interface)
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