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StarPilot/selfdrive/test/test_car_models.py
T
Adeeb Shihadeh 05eb44115e cereal cleanup part 2 (#20092) 
* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
old-commit-hash: 312b681a46b8153314a8420611b6479dd6f70dfc
2021-02-16 21:39:32 -08:00

640 lines
18 KiB
Python
Executable File
Raw Blame History

#!/usr/bin/env python3
import os
import signal
import subprocess
import sys
import time
from typing import List, cast
import requests
import cereal.messaging as messaging
import selfdrive.manager as manager
from cereal import car
from common.basedir import BASEDIR
from common.params import Params
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.ford.values import CAR as FORD
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.nissan.values import CAR as NISSAN
from selfdrive.car.mazda.values import CAR as MAZDA
from selfdrive.car.subaru.values import CAR as SUBARU
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
os.environ['NOCRASH'] = '1'
def wait_for_sockets(socks, timeout=10.0):
sm = messaging.SubMaster(socks)
t = time.time()
recvd = []
while time.time() - t < timeout and len(recvd) < len(socks):
sm.update()
for s in socks:
if s not in recvd and sm.updated[s]:
recvd.append(s)
return recvd
def get_route_log(route_name):
log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
if not os.path.isfile(log_path):
log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), "rlog.bz2")
# if request fails, try again once and let it throw exception if fails again
try:
r = requests.get(log_url, timeout=15)
except Exception:
r = requests.get(log_url, timeout=15)
if r.status_code == 200:
with open(log_path, "wb") as f:
f.write(r.content)
else:
print("failed to download test log %s" % route_name)
sys.exit(-1)
routes = {
"420a8e183f1aed48|2020-03-05--07-15-29": {
'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
'enableCamera': True,
},
"8190c7275a24557b|2020-01-29--08-33-58": { # 2020 model year
'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
'enableCamera': True,
},
# This pacifica was removed because the fingerprint seemed from a Volt
"f1b4c567731f4a1b|2018-04-18--11-29-37": {
'carFingerprint': FORD.FUSION,
'enableCamera': False,
},
"f1b4c567731f4a1b|2018-04-30--10-15-35": {
'carFingerprint': FORD.FUSION,
'enableCamera': True,
},
"c950e28c26b5b168|2018-05-30--22-03-41": {
'carFingerprint': GM.VOLT,
'enableCamera': True,
},
# TODO: use another route that has radar data at start
"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
'carFingerprint': GM.ACADIA,
'enableCamera': True,
},
"aa20e335f61ba898|2019-02-05--16-59-04": {
'carFingerprint': GM.BUICK_REGAL,
'enableCamera': True,
},
"0e7a2ba168465df5|2020-10-18--14-14-22": {
'carFingerprint': HONDA.ACURA_RDX_3G,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"a74b011b32b51b56|2020-07-26--17-09-36": {
'carFingerprint': HONDA.CIVIC,
'enableCamera': True,
},
"a859a044a447c2b0|2020-03-03--18-42-45": {
'carFingerprint': HONDA.CRV_EU,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"232585b7784c1af4|2019-04-08--14-12-14": {
'carFingerprint': HONDA.CRV_HYBRID,
'enableCamera': True,
},
"99e3eaed7396619e|2019-08-13--15-07-03": {
'carFingerprint': HONDA.FIT,
'enableCamera': True,
},
"03be5f2fd5c508d1|2020-04-19--18-44-15": {
'carFingerprint': HONDA.HRV,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"2ac95059f70d76eb|2018-02-05--15-03-29": {
'carFingerprint': HONDA.ACURA_ILX,
'enableCamera': True,
},
"81722949a62ea724|2019-03-29--15-51-26": {
'carFingerprint': HONDA.ODYSSEY_CHN,
'enableCamera': False,
},
"81722949a62ea724|2019-04-06--15-19-25": {
'carFingerprint': HONDA.ODYSSEY_CHN,
'enableCamera': True,
},
"08a3deb07573f157|2020-03-06--16-11-19": {
'carFingerprint': HONDA.ACCORD_15,
'enableCamera': True,
},
"f1b4c567731f4a1b|2018-06-06--14-43-46": {
'carFingerprint': HONDA.ACCORD,
'enableCamera': True,
},
"690c4c9f9f2354c7|2018-09-15--17-36-05": {
'carFingerprint': HONDA.ACCORDH,
'enableCamera': True,
},
"1ad763dd22ef1a0e|2020-02-29--18-37-03": {
'carFingerprint': HONDA.CRV_5G,
'enableCamera': True,
},
"0a96f86fcfe35964|2020-02-05--07-25-51": {
'carFingerprint': HONDA.ODYSSEY,
'enableCamera': True,
},
"d83f36766f8012a5|2020-02-05--18-42-21": {
'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"fb51d190ddfd8a90|2020-02-25--14-43-43": {
'carFingerprint': HONDA.INSIGHT,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"07d37d27996096b6|2020-03-04--21-57-27": {
'carFingerprint': HONDA.PILOT,
'enableCamera': True,
},
"22affd6c545d985e|2020-03-08--01-08-09": {
'carFingerprint': HONDA.PILOT_2019,
'enableCamera': True,
},
"0a78dfbacc8504ef|2020-03-04--13-29-55": {
'carFingerprint': HONDA.CIVIC_BOSCH,
'enableCamera': True,
},
"f34a60d68d83b1e5|2020-10-06--14-35-55": {
'carFingerprint': HONDA.ACURA_RDX,
'enableCamera': True,
},
"6fe86b4e410e4c37|2020-07-22--16-27-13": {
'carFingerprint': HYUNDAI.HYUNDAI_GENESIS,
'enableCamera': True,
},
"70c5bec28ec8e345|2020-08-08--12-22-23": {
'carFingerprint': HYUNDAI.GENESIS_G70,
'enableCamera': True,
},
"6b301bf83f10aa90|2020-11-22--16-45-07": {
'carFingerprint': HYUNDAI.GENESIS_G80,
'enableCamera': True,
},
"38bfd238edecbcd7|2018-08-22--09-45-44": {
'carFingerprint': HYUNDAI.SANTA_FE,
'enableCamera': False,
},
"38bfd238edecbcd7|2018-08-29--22-02-15": {
'carFingerprint': HYUNDAI.SANTA_FE,
'enableCamera': True,
},
"7653b2bce7bcfdaa|2020-03-04--15-34-32": {
'carFingerprint': HYUNDAI.KIA_OPTIMA,
'enableCamera': True,
},
"5b7c365c50084530|2020-04-15--16-13-24": {
'carFingerprint': HYUNDAI.SONATA,
'enableCamera': True,
},
"b2a38c712dcf90bd|2020-05-18--18-12-48": {
'carFingerprint': HYUNDAI.SONATA_LF,
'enableCamera': True,
},
"5875672fc1d4bf57|2020-07-23--21-33-28": {
'carFingerprint': HYUNDAI.KIA_SORENTO,
'enableCamera': True,
},
"9c917ba0d42ffe78|2020-04-17--12-43-19": {
'carFingerprint': HYUNDAI.PALISADE,
'enableCamera': True,
},
"2c5cf2dd6102e5da|2020-12-17--16-06-44": {
'carFingerprint': HYUNDAI.IONIQ_EV_2020,
'enableCamera': True,
},
"610ebb9faaad6b43|2020-06-13--15-28-36": {
'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
'enableCamera': True,
},
"2c5cf2dd6102e5da|2020-06-26--16-00-08": {
'carFingerprint': HYUNDAI.IONIQ,
'enableCamera': True,
},
"22d955b2cd499c22|2020-08-10--19-58-21": {
'carFingerprint': HYUNDAI.KONA,
'enableCamera': True,
},
"5dddcbca6eb66c62|2020-07-26--13-24-19": {
'carFingerprint': HYUNDAI.KIA_STINGER,
'enableCamera': True,
},
"d624b3d19adce635|2020-08-01--14-59-12": {
'carFingerprint': HYUNDAI.VELOSTER,
'enableCamera': True,
},
"50c6c9b85fd1ff03|2020-10-26--17-56-06": {
'carFingerprint': HYUNDAI.KIA_NIRO_EV,
'enableCamera': True,
},
"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
'carFingerprint': TOYOTA.AVALON,
'enableCamera': False,
'enableDsu': False,
},
"6cdecc4728d4af37|2020-02-23--15-44-18": {
'carFingerprint': TOYOTA.CAMRY,
'enableCamera': True,
'enableDsu': False,
'fingerprintSource': 'fixed',
},
"3456ad0cd7281b24|2020-12-13--17-45-56": {
'carFingerprint': TOYOTA.CAMRY_TSS2,
'enableCamera': True,
'enableDsu': False,
'fingerprintSource': 'fixed',
},
"ffccc77938ddbc44|2021-01-04--16-55-41": {
'carFingerprint': TOYOTA.CAMRYH_TSS2,
'enableCamera': True,
'enableDsu': False,
'fingerprintSource': 'fixed',
},
"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
'carFingerprint': TOYOTA.AVALON,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-01-26--00-54-32": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': True,
'enableDsu': True,
},
"b0f5a01cf604185c|2018-01-26--10-54-38": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-01-26--10-59-31": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': False,
'enableDsu': False,
},
"5f5afb36036506e4|2019-05-14--02-09-54": {
'carFingerprint': TOYOTA.COROLLA_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"5ceff72287a5c86c|2019-10-19--10-59-02": {
'carFingerprint': TOYOTA.COROLLAH_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"56fb1c86a9a86404|2017-11-10--10-18-43": {
'carFingerprint': TOYOTA.PRIUS,
'enableCamera': True,
'enableDsu': True,
},
"b0f5a01cf604185c|2017-12-18--20-32-32": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': False,
},
"b0c9d2329ad1606b|2019-04-02--13-24-43": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': True,
},
"b14c5b4742e6fc85|2020-07-28--19-50-11": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': False,
'enableGasInterceptor': True,
},
"32a7df20486b0f70|2020-02-06--16-06-50": {
'carFingerprint': TOYOTA.RAV4H,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': False,
'fingerprintSource': 'fixed',
},
"cdf2f7de565d40ae|2019-04-25--03-53-41": {
'carFingerprint': TOYOTA.RAV4_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"7e34a988419b5307|2019-12-18--19-13-30": {
'carFingerprint': TOYOTA.RAV4H_TSS2,
'enableCamera': True,
'fingerprintSource': 'fixed'
},
"e6a24be49a6cd46e|2019-10-29--10-52-42": {
'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"25057fa6a5a63dfb|2020-03-04--08-44-23": {
'carFingerprint': TOYOTA.LEXUS_CTH,
'enableCamera': True,
'enableDsu': True,
},
"f49e8041283f2939|2019-05-29--13-48-33": {
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
'enableCamera': False,
'enableDsu': False,
},
"f49e8041283f2939|2019-05-30--11-51-51": {
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"37041c500fd30100|2020-12-30--12-17-24": {
'carFingerprint': TOYOTA.LEXUS_ESH,
'enableCamera': True,
'enableDsu': True,
},
"886fcd8408d570e9|2020-01-29--05-11-22": {
'carFingerprint': TOYOTA.LEXUS_RX,
'enableCamera': True,
'enableDsu': True,
},
"886fcd8408d570e9|2020-01-29--02-18-55": {
'carFingerprint': TOYOTA.LEXUS_RX,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-02-01--21-12-28": {
'carFingerprint': TOYOTA.LEXUS_RXH,
'enableCamera': True,
'enableDsu': True,
},
"01b22eb2ed121565|2020-02-02--11-25-51": {
'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"b74758c690a49668|2020-05-20--15-58-57": {
'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
'enableCamera': True,
'fingerprintSource': 'fixed',
},
"ec429c0f37564e3c|2020-02-01--17-28-12": {
'carFingerprint': TOYOTA.LEXUS_NXH,
'enableCamera': True,
'enableDsu': False,
},
"964c09eb11ca8089|2020-11-03--22-04-00": {
'carFingerprint': TOYOTA.LEXUS_NX,
'enableCamera': True,
'enableDsu': False,
},
# TODO: missing some combos for highlander
"0a302ffddbb3e3d3|2020-02-08--16-19-08": {
'carFingerprint': TOYOTA.HIGHLANDER_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"aa659debdd1a7b54|2018-08-31--11-12-01": {
'carFingerprint': TOYOTA.HIGHLANDER,
'enableCamera': False,
'enableDsu': False,
},
"eb6acd681135480d|2019-06-20--20-00-00": {
'carFingerprint': TOYOTA.SIENNA,
'enableCamera': True,
'enableDsu': False,
},
"2e07163a1ba9a780|2019-08-25--13-15-13": {
'carFingerprint': TOYOTA.LEXUS_IS,
'enableCamera': True,
'enableDsu': False,
},
"2e07163a1ba9a780|2019-08-29--09-35-42": {
'carFingerprint': TOYOTA.LEXUS_IS,
'enableCamera': False,
'enableDsu': False,
},
"0a0de17a1e6a2d15|2020-09-21--21-24-41": {
'carFingerprint': TOYOTA.PRIUS_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"76b83eb0245de90e|2019-10-20--15-42-29": {
'carFingerprint': VOLKSWAGEN.GOLF,
'enableCamera': True,
},
"07667b885add75fd|2021-01-23--19-48-42": {
'carFingerprint': VOLKSWAGEN.AUDI_A3,
'enableCamera': True,
},
"3c8f0c502e119c1c|2020-06-30--12-58-02": {
'carFingerprint': SUBARU.ASCENT,
'enableCamera': True,
},
"c321c6b697c5a5ff|2020-06-23--11-04-33": {
'carFingerprint': SUBARU.FORESTER,
'enableCamera': True,
},
"791340bc01ed993d|2019-03-10--16-28-08": {
'carFingerprint': SUBARU.IMPREZA,
'enableCamera': True,
},
# Dashcam
"95441c38ae8c130e|2020-06-08--12-10-17": {
'carFingerprint': SUBARU.FORESTER_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"df5ca7660000fba8|2020-06-16--17-37-19": {
'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"5ab784f361e19b78|2020-06-08--16-30-41": {
'carFingerprint': SUBARU.OUTBACK_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"e19eb5d5353b1ac1|2020-08-09--14-37-56": {
'carFingerprint': SUBARU.OUTBACK_PREGLOBAL_2018,
'enableCamera': True,
},
"fbbfa6af821552b9|2020-03-03--08-09-43": {
'carFingerprint': NISSAN.XTRAIL,
'enableCamera': True,
},
"5b7c365c50084530|2020-03-25--22-10-13": {
'carFingerprint': NISSAN.LEAF,
'enableCamera': True,
},
"22c3dcce2dd627eb|2020-12-30--16-38-48": {
'carFingerprint': NISSAN.LEAF_IC,
'enableCamera': True,
},
"059ab9162e23198e|2020-05-30--09-41-01": {
'carFingerprint': NISSAN.ROGUE,
'enableCamera': True,
},
"32a319f057902bb3|2020-04-27--15-18-58": {
'carFingerprint': MAZDA.CX5,
'enableCamera': True,
},
"10b5a4b380434151|2020-08-26--17-11-45": {
'carFingerprint': MAZDA.CX9,
'enableCamera': True,
},
"74f1038827005090|2020-08-26--20-05-50": {
'carFingerprint': MAZDA.Mazda3,
'enableCamera': True,
},
}
passive_routes: List[str] = [
]
forced_dashcam_routes = [
# Ford fusion
"f1b4c567731f4a1b|2018-04-18--11-29-37",
"f1b4c567731f4a1b|2018-04-30--10-15-35",
# Mazda CX5
"32a319f057902bb3|2020-04-27--15-18-58",
# Mazda CX9
"10b5a4b380434151|2020-08-26--17-11-45",
# Mazda3
"74f1038827005090|2020-08-26--20-05-50",
]
# TODO: add routes for these cars
non_tested_cars = [
CHRYSLER.JEEP_CHEROKEE,
CHRYSLER.JEEP_CHEROKEE_2019,
CHRYSLER.PACIFICA_2018,
CHRYSLER.PACIFICA_2018_HYBRID,
CHRYSLER.PACIFICA_2020,
GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA,
GM.MALIBU,
HONDA.CRV,
HONDA.RIDGELINE,
HYUNDAI.ELANTRA,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_FORTE,
HYUNDAI.KIA_OPTIMA_H,
HYUNDAI.KONA_EV,
TOYOTA.CAMRYH,
TOYOTA.CHR,
TOYOTA.CHRH,
TOYOTA.HIGHLANDER,
TOYOTA.HIGHLANDERH,
TOYOTA.HIGHLANDERH_TSS2,
]
if __name__ == "__main__":
tested_procs = ["controlsd", "radard", "plannerd"]
tested_socks = ["radarState", "controlsState", "carState", "plan"]
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
for car_model in all_known_cars():
if car_model not in tested_cars:
print("***** WARNING: %s not tested *****" % car_model)
# TODO: skip these for now, but make sure any new ports get routes
if car_model not in non_tested_cars:
print("TEST FAILED: Missing route for car '%s'" % car_model)
sys.exit(1)
print("Preparing processes")
for p in tested_procs:
manager.prepare_managed_process(p)
results = {}
for route, checks in routes.items():
get_route_log(route)
params = Params()
params.clear_all()
params.manager_start()
params.put("OpenpilotEnabledToggle", "1")
params.put("CommunityFeaturesToggle", "1")
params.put("Passive", "1" if route in passive_routes else "0")
os.environ['SKIP_FW_QUERY'] = "1"
if checks.get('fingerprintSource', None) == 'fixed':
os.environ['FINGERPRINT'] = cast(str, checks['carFingerprint'])
else:
os.environ['FINGERPRINT'] = ""
print("testing ", route, " ", checks['carFingerprint'])
print("Starting processes")
for p in tested_procs:
manager.start_managed_process(p)
# Start unlogger
print("Start unlogger")
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
disable_socks = 'frame,roadEncodeIdx,plan,lateralPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid) # pylint: disable=subprocess-popen-preexec-fn
print("Check sockets")
extra_socks = []
has_camera = checks.get('enableCamera', False)
if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
extra_socks.append("sendcan")
if route not in passive_routes:
extra_socks.append("lateralPlan")
recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
print("Check if everything is running")
running = manager.get_running()
for p in tested_procs:
if not running[p].is_alive:
failures.append(p)
manager.kill_managed_process(p)
os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
sockets_ok = len(failures) == 0
params_ok = True
try:
car_params = car.CarParams.from_bytes(params.get("CarParams"))
for k, v in checks.items():
if not v == getattr(car_params, k):
params_ok = False
failures.append(k)
except Exception:
params_ok = False
if sockets_ok and params_ok:
print("Success")
results[route] = True, failures
else:
print("Failure")
results[route] = False, failures
break
# put back not passive to not leave the params in an unintended state
Params().put("Passive", "0")
for route in results:
print(results[route])
if not all(passed for passed, _ in results.values()):
print("TEST FAILED")
sys.exit(1)
else:
print("TEST SUCCESSFUL")
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