Vehicle Researcher
6fe5d4054d
date: 2026-03-13T21:04:16 master commit: 41994b1d27423e8a10008019a962417bf0f5f974
32 lines
1.5 KiB
Python
32 lines
1.5 KiB
Python
import copy
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import os
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from hypothesis import given, HealthCheck, Phase, settings
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import hypothesis.strategies as st
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from openpilot.common.parameterized import parameterized
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from cereal import log
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
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import openpilot.selfdrive.test.process_replay.process_replay as pr
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# These processes currently fail because of unrealistic data breaking assumptions
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# that openpilot makes causing error with NaN, inf, int size, array indexing ...
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# TODO: Make each one testable
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NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
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TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
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MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))
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class TestFuzzProcesses:
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# TODO: make this faster and increase examples
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@parameterized.expand(TEST_CASES)
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@given(st.data())
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@settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
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suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
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def test_fuzz_process(self, proc_name, cfg, data):
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msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
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lr = [log.Event.new_message(**m).as_reader() for m in msgs]
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cfg.timeout = 5
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pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
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