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test_models: check controlsd events (#29907)

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* test_moedls: check controlsd events

* clean up

* sort

* controlsd modifies CP

* fix

* can use any segment now

* final fix

* use constant
This commit is contained in:
Shane Smiskol
2023-09-14 20:20:49 -07:00
committed by GitHub
parent 59c7a1d5d4
commit 1410a1150c
2 changed files with 13 additions and 3 deletions
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2
selfdrive/car/tests/routes.py
View File

@@ -146,7 +146,7 @@ routes = [
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN, segment=3),
CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),

14
selfdrive/car/tests/test_models.py
View File

@@ -9,6 +9,7 @@ from parameterized import parameterized_class
from cereal import log, car
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.fingerprints import all_known_cars
from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.controls.controlsd import Controls
from openpilot.selfdrive.test.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route, SegmentName, RouteName
@@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName
from panda.tests.libpanda import libpanda_py
from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
EventName = car.CarEvent.EventName
PandaType = log.PandaState.PandaType
SafetyModel = car.CarParams.SafetyModel
@@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase):
del cls.can_msgs
def setUp(self):
self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
assert self.CI
Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
# TODO: check safetyModel is in release panda build
self.safety = libpanda_py.libpanda
@@ -315,6 +320,8 @@ class TestCarModelBase(unittest.TestCase):
controls_allowed_prev = False
CS_prev = car.CarState.new_message()
checks = defaultdict(lambda: 0)
controlsd = Controls(CI=self.CI)
controlsd.initialized = True
for idx, can in enumerate(self.can_msgs):
CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
for msg in filter(lambda m: m.src in range(64), can.can):
@@ -359,7 +366,10 @@ class TestCarModelBase(unittest.TestCase):
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
else:
# Check for enable events on rising edge of controls allowed
button_enable = any(evt.enable for evt in CS.events)
controlsd.update_events(CS)
controlsd.CS_prev = CS
button_enable = (any(evt.enable for evt in CS.events) and
not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
checks['controlsAllowed'] += mismatch
controls_allowed_prev = self.safety.get_controls_allowed()