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test car models: verify panda and carState's ACC main on match (#22979)

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This commit is contained in:
Adeeb Shihadeh
2021-11-19 15:07:16 -08:00
committed by GitHub
parent 94d59314e2
commit cfdeeff3fd
2 changed files with 26 additions and 25 deletions
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panda
+1 -1
Submodule panda updated: ddb3698f9b...13f8cd17a6
selfdrive/test/test_models.py
+25 -24
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@@ -10,8 +10,7 @@ from cereal import log, car
from common.params import Params
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.honda.values import HONDA_BOSCH
from selfdrive.car.honda.values import CAR as HONDA
from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.test.test_routes import routes, non_tested_cars
@@ -78,13 +77,20 @@ class TestCarModel(unittest.TestCase):
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
CarInterface, CarController, CarState = interfaces[cls.car_model]
cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
cls.CP = CarInterface.get_params(cls.car_model, fingerprint, [])
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [])
assert cls.CP
cls.CI = CarInterface(cls.CP, CarController, CarState)
assert cls.CI
def setUp(self):
self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
assert self.CI
# TODO: check safetyModel is in release panda build
self.safety = libpandasafety_py.libpandasafety
set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
self.safety.init_tests()
def test_car_params(self):
if self.CP.dashcamOnly:
@@ -103,11 +109,6 @@ class TestCarModel(unittest.TestCase):
elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
# TODO: check safetyModel is in release panda build
safety = libpandasafety_py.libpandasafety
set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
def test_car_interface(self):
# TODO: also check for checkusm and counter violations from can parser
can_invalid_cnt = 0
@@ -140,30 +141,25 @@ class TestCarModel(unittest.TestCase):
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
safety = libpandasafety_py.libpandasafety
set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
self.assertEqual(0, set_status)
failed_addrs = Counter()
for can in self.can_msgs:
for msg in can.can:
if msg.src >= 128:
continue
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
if not safety.safety_rx_hook(to_send):
if self.safety.safety_rx_hook(to_send) != 1:
failed_addrs[hex(msg.address)] += 1
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
def test_panda_safety_carstate(self):
"""
Assert that panda safety matches openpilot's carState
"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
if self.car_model in ignore_carstate_check:
self.skipTest("see comments in test_models.py")
safety = libpandasafety_py.libpandasafety
set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
self.assertEqual(0, set_status)
checks = defaultdict(lambda: 0)
CC = car.CarControl.new_message()
for can in self.can_msgs:
@@ -171,15 +167,20 @@ class TestCarModel(unittest.TestCase):
if msg.src >= 128:
continue
to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
safety.safety_rx_hook(to_send)
ret = self.safety.safety_rx_hook(to_send)
self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
CS = self.CI.update(CC, (can.as_builder().to_bytes(),))
# TODO: check steering state
# check that openpilot and panda safety agree on the car's state
checks['gasPressed'] += CS.gasPressed != safety.get_gas_pressed_prev()
checks['brakePressed'] += CS.brakePressed != safety.get_brake_pressed_prev()
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
if self.CP.pcmCruise:
checks['controlsAllowed'] += not CS.cruiseState.enabled and safety.get_controls_allowed()
checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
# TODO: extend this to all cars
if self.CP.carName == "honda":
checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
# TODO: reduce tolerance to 0
failed_checks = {k: v for k, v in checks.items() if v > 25}