mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-16 23:02:07 +08:00
Willem Melching
0d03fad5b6
* split out leaf and xtrail * Add brake pedal * This should work * Fix test car models + bump panda * Combined cruise enabled detection in single message * Proper frequency checks * Add doors * Blinkers and doors * Seatbelt * Gear * Add cancel message * Unify steering pressed * Remove angle limit * Add steer saturation alert for angle based control * Add set speed * Change wheel speed factor * Fix offset in set speed * Timeout on engage for steer saturated * Put counter back * try cancel using seatbelt * Try different cancel message * Rename cancel signal * Add LKAS alert * Add missing fingerprint values * Update test car models * Add some comments old-commit-hash: 1df6b67511e0872c134edef0eb8535d71e0b2cfd
473 lines
14 KiB
Python
Executable File
473 lines
14 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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import os
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import sys
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import signal
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import subprocess
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import requests
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from cereal import car
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import selfdrive.manager as manager
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import cereal.messaging as messaging
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from common.params import Params
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from common.basedir import BASEDIR
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.honda.values import CAR as HONDA
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.gm.values import CAR as GM
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from selfdrive.car.ford.values import CAR as FORD
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.chrysler.values import CAR as CHRYSLER
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from selfdrive.car.subaru.values import CAR as SUBARU
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from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
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from selfdrive.car.nissan.values import CAR as NISSAN
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os.environ['NOCRASH'] = '1'
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def wait_for_sockets(socks, timeout=10.0):
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sm = messaging.SubMaster(socks)
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t = time.time()
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recvd = []
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while time.time() - t < timeout and len(recvd) < len(socks):
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sm.update()
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for s in socks:
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if s not in recvd and sm.updated[s]:
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recvd.append(s)
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return recvd
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def get_route_log(route_name):
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log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
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if not os.path.isfile(log_path):
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log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), "rlog.bz2")
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# if request fails, try again once and let it throw exception if fails again
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try:
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r = requests.get(log_url, timeout=15)
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except:
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r = requests.get(log_url, timeout=15)
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if r.status_code == 200:
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with open(log_path, "wb") as f:
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f.write(r.content)
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else:
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print("failed to download test log %s" % route_name)
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sys.exit(-1)
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routes = {
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"420a8e183f1aed48|2020-03-05--07-15-29": {
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'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
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'enableCamera': True,
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},
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"8190c7275a24557b|2020-01-29--08-33-58": { # 2020 model year
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'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
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'enableCamera': True,
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},
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# This pacifica was removed because the fingerprint seemed from a Volt
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"f1b4c567731f4a1b|2018-04-18--11-29-37": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': False,
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},
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"f1b4c567731f4a1b|2018-04-30--10-15-35": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': True,
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},
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"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
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'carFingerprint': GM.CADILLAC_CT6,
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'enableCamera': True,
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},
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"c950e28c26b5b168|2018-05-30--22-03-41": {
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'carFingerprint': GM.VOLT,
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'enableCamera': True,
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},
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# TODO: use another route that has radar data at start
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"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
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'carFingerprint': GM.ACADIA,
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'enableCamera': True,
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},
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"aa20e335f61ba898|2019-02-05--16-59-04": {
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'carFingerprint': GM.BUICK_REGAL,
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'enableCamera': True,
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},
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"7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
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'carFingerprint': HONDA.CIVIC,
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'enableCamera': True,
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},
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"a859a044a447c2b0|2020-03-03--18-42-45": {
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'carFingerprint': HONDA.CRV_EU,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"232585b7784c1af4|2019-04-08--14-12-14": {
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'carFingerprint': HONDA.CRV_HYBRID,
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'enableCamera': True,
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},
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"99e3eaed7396619e|2019-08-13--15-07-03": {
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'carFingerprint': HONDA.FIT,
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'enableCamera': True,
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},
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"2ac95059f70d76eb|2018-02-05--15-03-29": {
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'carFingerprint': HONDA.ACURA_ILX,
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'enableCamera': True,
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},
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"81722949a62ea724|2019-03-29--15-51-26": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': False,
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},
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"81722949a62ea724|2019-04-06--15-19-25": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': True,
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},
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"08a3deb07573f157|2020-03-06--16-11-19": {
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'carFingerprint': HONDA.ACCORD_15,
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'enableCamera': True,
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},
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"f1b4c567731f4a1b|2018-06-06--14-43-46": {
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'carFingerprint': HONDA.ACCORD,
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'enableCamera': True,
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},
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"690c4c9f9f2354c7|2018-09-15--17-36-05": {
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'carFingerprint': HONDA.ACCORDH,
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'enableCamera': True,
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},
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"1ad763dd22ef1a0e|2020-02-29--18-37-03": {
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'carFingerprint': HONDA.CRV_5G,
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'enableCamera': True,
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},
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"0a96f86fcfe35964|2020-02-05--07-25-51": {
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'carFingerprint': HONDA.ODYSSEY,
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'enableCamera': True,
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},
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"d83f36766f8012a5|2020-02-05--18-42-21": {
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'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"fb51d190ddfd8a90|2020-02-25--14-43-43": {
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'carFingerprint': HONDA.INSIGHT,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"07d37d27996096b6|2020-03-04--21-57-27": {
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'carFingerprint': HONDA.PILOT,
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'enableCamera': True,
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},
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"22affd6c545d985e|2020-03-08--01-08-09": {
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'carFingerprint': HONDA.PILOT_2019,
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'enableCamera': True,
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},
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"0a78dfbacc8504ef|2020-03-04--13-29-55": {
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'carFingerprint': HONDA.CIVIC_BOSCH,
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'enableCamera': True,
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},
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"38bfd238edecbcd7|2018-08-22--09-45-44": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': False,
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},
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"38bfd238edecbcd7|2018-08-29--22-02-15": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': True,
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},
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"7653b2bce7bcfdaa|2020-03-04--15-34-32": {
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'carFingerprint': HYUNDAI.KIA_OPTIMA,
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'enableCamera': True,
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},
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"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': False,
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'enableDsu': False,
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},
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"6cdecc4728d4af37|2020-02-23--15-44-18": {
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'carFingerprint': TOYOTA.CAMRY,
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'enableCamera': True,
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'enableDsu': False,
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},
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"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--00-54-32": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2018-01-26--10-54-38": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--10-59-31": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': False,
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'enableDsu': False,
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},
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"5f5afb36036506e4|2019-05-14--02-09-54": {
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'carFingerprint': TOYOTA.COROLLA_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"5ceff72287a5c86c|2019-10-19--10-59-02": {
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'carFingerprint': TOYOTA.COROLLAH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"56fb1c86a9a86404|2017-11-10--10-18-43": {
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'carFingerprint': TOYOTA.PRIUS,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2017-12-18--20-32-32": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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},
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"b0c9d2329ad1606b|2019-04-02--13-24-43": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': True,
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},
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"32a7df20486b0f70|2020-02-06--16-06-50": {
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'carFingerprint': TOYOTA.RAV4H,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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},
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"cdf2f7de565d40ae|2019-04-25--03-53-41": {
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'carFingerprint': TOYOTA.RAV4_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"7e34a988419b5307|2019-12-18--19-13-30": {
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'carFingerprint': TOYOTA.RAV4H_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed'
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},
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"e6a24be49a6cd46e|2019-10-29--10-52-42": {
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'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"25057fa6a5a63dfb|2020-03-04--08-44-23": {
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'carFingerprint': TOYOTA.LEXUS_CTH,
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'enableCamera': True,
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'enableDsu': True,
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},
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"f49e8041283f2939|2019-05-29--13-48-33": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': False,
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'enableDsu': False,
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},
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"f49e8041283f2939|2019-05-30--11-51-51": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"886fcd8408d570e9|2020-01-29--05-11-22": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': True,
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},
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"886fcd8408d570e9|2020-01-29--02-18-55": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-02-01--21-12-28": {
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'carFingerprint': TOYOTA.LEXUS_RXH,
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'enableCamera': True,
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'enableDsu': True,
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},
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"01b22eb2ed121565|2020-02-02--11-25-51": {
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'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
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'enableCamera': True,
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},
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"ec429c0f37564e3c|2020-02-01--17-28-12": {
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'carFingerprint': TOYOTA.LEXUS_NXH,
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'enableCamera': True,
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'enableDsu': False,
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},
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# TODO: missing some combos for highlander
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"0a302ffddbb3e3d3|2020-02-08--16-19-08": {
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'carFingerprint': TOYOTA.HIGHLANDER_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"aa659debdd1a7b54|2018-08-31--11-12-01": {
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'carFingerprint': TOYOTA.HIGHLANDER,
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'enableCamera': False,
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'enableDsu': False,
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},
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"eb6acd681135480d|2019-06-20--20-00-00": {
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'carFingerprint': TOYOTA.SIENNA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-25--13-15-13": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': True,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-29--09-35-42": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': False,
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'enableDsu': False,
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},
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"1dd19ceed0ee2b48|2018-12-22--17-36-49": {
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'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
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'enableCamera': True,
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'enableDsu': False,
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},
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"76b83eb0245de90e|2019-10-20--15-42-29": {
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'carFingerprint': VOLKSWAGEN.GOLF,
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'enableCamera': True,
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},
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"791340bc01ed993d|2019-03-10--16-28-08": {
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'carFingerprint': SUBARU.IMPREZA,
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'enableCamera': True,
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},
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"fbbfa6af821552b9|2020-03-03--08-09-43": {
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'carFingerprint': NISSAN.XTRAIL,
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'enableCamera': True,
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},
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"5b7c365c50084530|2020-03-25--22-10-13": {
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'carFingerprint': NISSAN.LEAF,
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'enableCamera': True,
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},
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}
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passive_routes = [
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]
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forced_dashcam_routes = [
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# Ford fusion
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"f1b4c567731f4a1b|2018-04-18--11-29-37",
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"f1b4c567731f4a1b|2018-04-30--10-15-35",
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]
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# TODO: add routes for these cars
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non_tested_cars = [
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CHRYSLER.JEEP_CHEROKEE,
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CHRYSLER.JEEP_CHEROKEE_2019,
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CHRYSLER.PACIFICA_2018,
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CHRYSLER.PACIFICA_2018_HYBRID,
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GM.CADILLAC_ATS,
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GM.HOLDEN_ASTRA,
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GM.MALIBU,
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HONDA.ACURA_RDX,
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HONDA.CRV,
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HONDA.RIDGELINE,
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HYUNDAI.ELANTRA,
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HYUNDAI.GENESIS,
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HYUNDAI.KIA_SORENTO,
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HYUNDAI.KIA_STINGER,
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TOYOTA.CAMRYH,
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TOYOTA.CHR,
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TOYOTA.CHRH,
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TOYOTA.HIGHLANDERH,
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]
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if __name__ == "__main__":
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tested_procs = ["controlsd", "radard", "plannerd"]
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tested_socks = ["radarState", "controlsState", "carState", "plan"]
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tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
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for car_model in all_known_cars():
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if car_model not in tested_cars:
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print("***** WARNING: %s not tested *****" % car_model)
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# TODO: skip these for now, but make sure any new ports get routes
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if car_model not in non_tested_cars:
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print("TEST FAILED: Missing route for car '%s'" % car_model)
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sys.exit(1)
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print("Preparing processes")
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for p in tested_procs:
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manager.prepare_managed_process(p)
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results = {}
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for route, checks in routes.items():
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print("GETTING ROUTE LOGS")
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get_route_log(route)
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print("DONE GETTING ROUTE LOGS")
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params = Params()
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params.clear_all()
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params.manager_start()
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params.put("OpenpilotEnabledToggle", "1")
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params.put("CommunityFeaturesToggle", "1")
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params.put("Passive", "1" if route in passive_routes else "0")
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if checks.get('fingerprintSource', None) == 'fixed':
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os.environ['FINGERPRINT'] = checks['carFingerprint']
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else:
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os.environ['FINGERPRINT'] = ""
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print("testing ", route, " ", checks['carFingerprint'])
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print("Starting processes")
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for p in tested_procs:
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manager.start_managed_process(p)
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# Start unlogger
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print("Start unlogger")
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unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
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unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)
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print("Check sockets")
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extra_socks = []
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has_camera = checks.get('enableCamera', False)
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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("pathPlan")
|
|
|
|
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")
|