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move some car interface tests into opendbc (#33352)

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* bump

* this is in opendbc

* so is radar interface

* clean up

* bump

* can import from opendbc

* bump
old-commit-hash: 7af3c6dfee305c991e03bc6cd6ae7449538a4201
This commit is contained in:
Shane Smiskol
2024-08-21 00:30:06 -07:00
committed by GitHub
parent d69c1f600b
commit 093fac6f5a
2 changed files with 5 additions and 71 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 3229aa2e9c...06c51c1db4
selfdrive/car/tests/test_car_interfaces.py
+4 -70
View File
@@ -2,24 +2,22 @@ import os
import math
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
import importlib
from parameterized import parameterized
from cereal import car, messaging
from opendbc.car import DT_CTRL, gen_empty_fingerprint
from cereal import car
from opendbc.car import DT_CTRL
from opendbc.car.car_helpers import interfaces
from opendbc.car.structs import CarParams
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
from opendbc.car.fingerprints import all_known_cars
from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
from opendbc.car.interfaces import get_interface_attr
from opendbc.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.pandad import can_capnp_to_list
from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
@@ -29,28 +27,6 @@ ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r i
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
# Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
st.integers(min_value=0, max_value=64)) for key in
gen_empty_fingerprint()})
# only pick from possible ecus to reduce search space
car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS)))
params_strategy = st.fixed_dictionaries({
'fingerprints': fingerprint_strategy,
'car_fw': car_fw_strategy,
'experimental_long': st.booleans(),
})
params: dict = draw(params_strategy)
params['car_fw'] = [CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0,
request=draw(st.sampled_from(sorted(ALL_REQUESTS))))
for fw in params['car_fw']]
return params
class TestCarInterfaces:
# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
# many generated examples to overrun when max_examples > ~20, don't use it
@@ -121,45 +97,3 @@ class TestCarInterfaces:
LatControlPID(car_params_capnp, car_interface)
elif car_params.lateralTuning.which() == 'torque':
LatControlTorque(car_params_capnp, car_interface)
# Test radar interface
RadarInterface = importlib.import_module(f'opendbc.car.{car_params.carName}.radar_interface').RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if not car_params.radarUnavailable and radar_interface.rcp is not None and \
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
# Test radar fault
if not car_params.radarUnavailable and radar_interface.rcp is not None:
cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)])
rr = radar_interface.update(cans)
assert rr is None or len(rr.errors) > 0
def test_interface_attrs(self):
"""Asserts basic behavior of interface attribute getter"""
num_brands = len(get_interface_attr('CAR'))
assert num_brands >= 12
# Should return value for all brands when not combining, even if attribute doesn't exist
ret = get_interface_attr('FAKE_ATTR')
assert len(ret) == num_brands
# Make sure we can combine dicts
ret = get_interface_attr('DBC', combine_brands=True)
assert len(ret) >= 160
# We don't support combining non-dicts
ret = get_interface_attr('CAR', combine_brands=True)
assert len(ret) == 0
# If brand has None value, it shouldn't return when ignore_none=True is specified
none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
assert len(none_brands) >= 1
ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
none_brands_in_ret = none_brands.intersection(ret)
assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}'