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firestar5683
72ef8a0dc7
Centralize vehicle lookup, firmware identification and dashboard limits while retaining the stock vehicle registry. Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
73 lines
3.4 KiB
Python
73 lines
3.4 KiB
Python
"""CAN subscription migration contracts using the actual upstream Python parser.
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These synthetic messages test required/optional freshness semantics only. They
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do not qualify a vehicle, checksum algorithm, native safety mode or CAN hardware.
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"""
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import math
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import unittest
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from opendbc.can import CANPacker, CANParser
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class TestCanSubscriptionContract(unittest.TestCase):
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REQUIRED = "ESP_B"
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OPTIONAL = "DI_torque1"
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START_NS = 1_000_000_000
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PERIOD_NS = 20_000_000
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def parser(self, optional_frequency):
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return CANParser("tesla_can", [(self.REQUIRED, 50), (self.OPTIONAL, optional_frequency)], 0)
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def schedule(self, parser, first_frame, count, names):
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packer = CANPacker("tesla_can")
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validity = []
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for frame in range(first_frame, first_frame + count):
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now_ns = self.START_NS + frame * self.PERIOD_NS
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parser.update([(now_ns, [packer.make_can_msg(name, 0, {}) for name in names])])
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# The parser currently debounces on property reads, so read once per frame.
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validity.append(parser.can_valid)
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return validity
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def timestamps(self, parser, name):
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self.assertTrue(parser.ts_nanos[name], "fixture message must have actual signals")
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return set(parser.ts_nanos[name].values())
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def test_missing_optional_message_does_not_invalidate_required_traffic(self):
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parser = self.parser(math.nan)
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self.assertTrue(all(self.schedule(parser, 0, 60, [self.REQUIRED])))
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self.assertEqual(self.timestamps(parser, self.REQUIRED), {self.START_NS + 59 * self.PERIOD_NS})
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# Aggregate CAN validity must never be interpreted as optional signal freshness.
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {0})
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def test_optional_signal_retains_old_timestamp_after_it_stops(self):
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parser = self.parser(math.nan)
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self.assertTrue(all(self.schedule(parser, 0, 60, [self.REQUIRED, self.OPTIONAL])))
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optional_last_seen = self.START_NS + 59 * self.PERIOD_NS
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {optional_last_seen})
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self.assertTrue(all(self.schedule(parser, 60, 60, [self.REQUIRED])))
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {optional_last_seen})
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self.assertEqual(self.timestamps(parser, self.REQUIRED), {self.START_NS + 119 * self.PERIOD_NS})
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def test_optional_traffic_does_not_hide_loss_of_required_message(self):
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parser = self.parser(math.nan)
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self.assertTrue(all(self.schedule(parser, 0, 60, [self.REQUIRED, self.OPTIONAL])))
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after_loss = self.schedule(parser, 60, 60, [self.OPTIONAL])
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self.assertFalse(any(after_loss[-10:]))
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self.assertEqual(self.timestamps(parser, self.REQUIRED), {self.START_NS + 59 * self.PERIOD_NS})
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {self.START_NS + 119 * self.PERIOD_NS})
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def test_zero_frequency_is_required_and_learns_received_frequency(self):
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parser = self.parser(0)
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self.assertFalse(any(self.schedule(parser, 0, 60, [self.REQUIRED])))
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {0})
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# Real packets restore validity; zero is not an optional-message declaration.
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self.assertTrue(all(self.schedule(parser, 60, 60, [self.REQUIRED, self.OPTIONAL])))
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after_loss = self.schedule(parser, 120, 60, [self.REQUIRED])
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self.assertFalse(any(after_loss[-10:]))
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self.assertEqual(self.timestamps(parser, self.OPTIONAL), {self.START_NS + 119 * self.PERIOD_NS})
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if __name__ == "__main__":
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unittest.main()
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