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add chestnut model fallback test (#39058)

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* test_onroad: chestnut usb unplug fallback

* test_onroad: fix chestnut unplug test

* test_onroad: chestnut fallback

* check that small model is running

* fix small model check

(cherry picked from commit 043759da3627803304956abbab4d10341cee8328)
This commit is contained in:
Daniel Koepping
2026-10-08 20:38:06 -07:00
committed by firestar5683
parent 4fad95ffb8
commit 89355810ee
1 changed files with 23 additions and 3 deletions
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openpilot/selfdrive/test/test_onroad.py
+23 -3
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@@ -11,7 +11,7 @@ import numpy as np
from collections import Counter, defaultdict
from pathlib import Path
from openpilot.common.test import OpenpilotTestCase
from openpilot.common.utils import tabulate
from openpilot.common.utils import sudo_write, tabulate
from openpilot.cereal import log
import openpilot.cereal.messaging as messaging
@@ -23,6 +23,7 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only, processes_context, log_collector
from openpilot.common.hardware import HARDWARE
from openpilot.common.hardware.hw import Paths
from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, read
from openpilot.common.mock import mock_messages
from opendbc.car.car_helpers import get_demo_car_params
from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled
@@ -466,8 +467,10 @@ class TestChestnutOnroad(OpenpilotTestCase):
COMMA_HARDWARE_TEST = True
@mock_messages(['deviceMotion'])
def test_camera_models(self, subtests):
def test_big_model(self, subtests):
assert chestnut_present() and chestnut_compiled()
bus = next(read(d / "busnum") for d in USB_DEVICES_PATH.glob("*") if read(d / "product") == CHESTNUT_USB_PRODUCT)
authorized = str(USB_DEVICES_PATH / f"usb{bus}" / "authorized")
Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
services = ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState', 'modelV2', 'driverStateV2']
sm = messaging.SubMaster(services)
@@ -480,9 +483,23 @@ class TestChestnutOnroad(OpenpilotTestCase):
while not all(sm.seen.values()) or not sm.valid['modelV2']:
pm.send('deviceState', device_state_bytes)
sm.update(1000)
# test big model and camera timings
with log_collector(services) as (logs, _):
time.sleep(TEST_DURATION)
# test small model fallback by deauthorizing the usb bus
try:
sudo_write("0", authorized)
with Timeout(10, "modeld didn't fall back to the small model"):
while sm['modelV2'].big:
sm.update(1000)
finally:
sudo_write("1", authorized)
# test small model keeps running
with log_collector(['modelV2']) as (small_model_logs, _):
time.sleep(3)
msgs = {s: [m for m in logs if m.which() == s] for s in services}
for service, messages in msgs.items():
with subtests.test(service=service):
@@ -495,8 +512,11 @@ class TestChestnutOnroad(OpenpilotTestCase):
camera_frames = {m.narrowRoadCameraState.frameId for m in msgs['narrowRoadCameraState']}
model_frames = {m.modelV2.frameId for m in msgs['modelV2']}
assert len(camera_frames & model_frames) >= TEST_DURATION * SERVICE_LIST['modelV2'].frequency * 0.9
assert all(m.modelV2.big for m in msgs['modelV2']), "Chestnut fell back to the small model"
assert all(m.modelV2.big for m in msgs['modelV2']), "chestnut fell back to the small model"
assert all(np.isfinite(m.modelV2.position.x).all() for m in msgs['modelV2'])
assert Params().get("ChestnutActive") is False
expected = 3 * SERVICE_LIST['modelV2'].frequency
assert np.isclose(len(small_model_logs), expected, rtol=0.05, atol=2), f"small model: expected {expected}, got {len(small_model_logs)}"
if __name__ == "__main__":