You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
2.9 KiB
66 lines
2.9 KiB
import unittest
|
|
import random
|
|
|
|
from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld
|
|
from selfdrive.can.packer import CANPacker
|
|
import selfdrive.car.gm.gmcan as gmcan
|
|
from selfdrive.car.gm.interface import CanBus as GMCanBus
|
|
|
|
|
|
class TestPackerMethods(unittest.TestCase):
|
|
def setUp(self):
|
|
self.gm_cp_old = CANPackerOld("gm_global_a_powertrain")
|
|
self.gm_cp = CANPacker("gm_global_a_powertrain")
|
|
|
|
self.ct6_cp_old = CANPackerOld("cadillac_ct6_chassis")
|
|
self.ct6_cp = CANPacker("cadillac_ct6_chassis")
|
|
|
|
def test_correctness(self):
|
|
# Test all cars' commands, randomize the params.
|
|
for _ in range(1000):
|
|
bus = random.randint(0, 65536)
|
|
apply_steer = (random.randint(0, 2) % 2 == 0)
|
|
idx = random.randint(0, 65536)
|
|
lkas_active = (random.randint(0, 2) % 2 == 0)
|
|
m_old = gmcan.create_steering_control(self.gm_cp_old, bus, apply_steer, idx, lkas_active)
|
|
m = gmcan.create_steering_control(self.gm_cp, bus, apply_steer, idx, lkas_active)
|
|
self.assertEqual(m_old, m)
|
|
|
|
canbus = GMCanBus()
|
|
apply_steer = (random.randint(0, 2) % 2 == 0)
|
|
v_ego = random.randint(0, 65536)
|
|
idx = random.randint(0, 65536)
|
|
enabled = (random.randint(0, 2) % 2 == 0)
|
|
m_old = gmcan.create_steering_control_ct6(self.ct6_cp_old, canbus, apply_steer, v_ego, idx, enabled)
|
|
m = gmcan.create_steering_control_ct6(self.ct6_cp, canbus, apply_steer, v_ego, idx, enabled)
|
|
self.assertEqual(m_old, m)
|
|
|
|
bus = random.randint(0, 65536)
|
|
throttle = random.randint(0, 65536)
|
|
idx = random.randint(0, 65536)
|
|
acc_engaged = (random.randint(0, 2) % 2 == 0)
|
|
at_full_stop = (random.randint(0, 2) % 2 == 0)
|
|
m_old = gmcan.create_gas_regen_command(self.gm_cp_old, bus, throttle, idx, acc_engaged, at_full_stop)
|
|
m = gmcan.create_gas_regen_command(self.gm_cp, bus, throttle, idx, acc_engaged, at_full_stop)
|
|
self.assertEqual(m_old, m)
|
|
|
|
bus = random.randint(0, 65536)
|
|
apply_brake = (random.randint(0, 2) % 2 == 0)
|
|
idx = random.randint(0, 65536)
|
|
near_stop = (random.randint(0, 2) % 2 == 0)
|
|
at_full_stop = (random.randint(0, 2) % 2 == 0)
|
|
m_old = gmcan.create_friction_brake_command(self.ct6_cp_old, bus, apply_brake, idx, near_stop, at_full_stop)
|
|
m = gmcan.create_friction_brake_command(self.ct6_cp, bus, apply_brake, idx, near_stop, at_full_stop)
|
|
self.assertEqual(m_old, m)
|
|
|
|
bus = random.randint(0, 65536)
|
|
acc_engaged = (random.randint(0, 2) % 2 == 0)
|
|
target_speed_kph = random.randint(0, 65536)
|
|
lead_car_in_sight = (random.randint(0, 2) % 2 == 0)
|
|
m_old = gmcan.create_acc_dashboard_command(self.gm_cp_old, bus, acc_engaged, target_speed_kph, lead_car_in_sight)
|
|
m = gmcan.create_acc_dashboard_command(self.gm_cp, bus, acc_engaged, target_speed_kph, lead_car_in_sight)
|
|
self.assertEqual(m_old, m)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|