mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-19 22:23:44 +08:00
Adeeb Shihadeh
29 lines
1.3 KiB
Python
29 lines
1.3 KiB
Python
import copy
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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 openpilot.cereal import log
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from opendbc.car.toyota.values import CAR as TOYOTA
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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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class TestFuzzProcesses(OpenpilotTestCase):
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# TODO: make this faster and increase examples
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@parameterized.expand(TEST_CASES)
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@fuzzy_test(max_examples=10)
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def test_fuzz_process(self, proc_name, cfg, fuzzy):
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msgs = [capnp_random_dict(fuzzy, log.Event.schema, event, real_floats=True) for event in sorted(cfg.pubs)]
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for i, msg in enumerate(msgs):
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msg["logMonoTime"] = i * 1_000_000_000
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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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