mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-30 11:33:41 +08:00
Adeeb Shihadeh
70 lines
3.1 KiB
Python
70 lines
3.1 KiB
Python
from openpilot.common.test import OpenpilotTestCase
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from openpilot.common.parameterized import parameterized
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from openpilot.common.fuzzy import capnp_random_dict, fuzzy_test
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from opendbc.car.structs import car
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from opendbc.car import DT_CTRL
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.fingerprints import FW_VERSIONS
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from opendbc.car.fw_versions import FW_QUERY_CONFIGS
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from opendbc.car.structs import CarParams
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from opendbc.car.mock.values import CAR as MOCK
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from opendbc.car.values import PLATFORMS
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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ALL_ECUS = tuple(sorted({ecu for ecus in FW_VERSIONS.values() for ecu in ecus} |
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{ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}))
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ALL_REQUESTS = tuple(sorted({tuple(request.request) for config in FW_QUERY_CONFIGS.values() for request in config.requests}))
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DLC_TO_LEN = (0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64)
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class TestCarInterfaces(OpenpilotTestCase):
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@parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK], ids=lambda car_name: car_name)
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@fuzzy_test(max_examples=60)
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def test_car_interfaces(self, car_name, fuzzy):
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fingerprint = dict(fuzzy.list(lambda: (fuzzy.integer(0, 0x800), fuzzy.choice(DLC_TO_LEN))))
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fingerprints = dict.fromkeys(range(7), fingerprint)
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def generate_car_fw():
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ecu, address, sub_address = fuzzy.choice(ALL_ECUS)
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return CarParams.CarFw(ecu=ecu, address=address, subAddress=sub_address or 0, request=fuzzy.choice(ALL_REQUESTS))
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CarInterface = interfaces[car_name]
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car_params = CarInterface.get_params(car_name, fingerprints, fuzzy.list(generate_car_fw),
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alpha_long=fuzzy.boolean(), is_release=False, docs=False)
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car_interface = CarInterface(car_params)
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car_params = car_interface.CP.as_reader()
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cc_msg = capnp_random_dict(fuzzy, car.CarControl.schema, real_floats=True)
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# Run car interface
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now_nanos = 0
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CC = car.CarControl.new_message(**cc_msg)
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CC = CC.as_reader()
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for _ in range(10):
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car_interface.update([])
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car_interface.apply(CC, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10 ms
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CC = car.CarControl.new_message(**cc_msg)
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CC.enabled = True
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CC.latActive = True
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CC.longActive = True
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CC = CC.as_reader()
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for _ in range(10):
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car_interface.update([])
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car_interface.apply(CC, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10ms
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# Test controller initialization
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# TODO: wait until card refactor is merged to run controller a few times
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LongControl(car_params)
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if car_params.steerControlType == CarParams.SteerControlType.angle:
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LatControlAngle(car_params, car_interface, DT_CTRL)
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elif car_params.lateralTuning.which() == 'pid':
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LatControlPID(car_params, car_interface, DT_CTRL)
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elif car_params.lateralTuning.which() == 'torque':
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LatControlTorque(car_params, car_interface, DT_CTRL)
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