mirror of https://github.com/commaai/openpilot.git
stash, something is wrong with hyundai enable
This commit is contained in:
Shane Smiskol
parent
391445ede9
commit
39cf327def
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@ -141,12 +141,12 @@ routes = [
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CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ),
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CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ), # openpilot longitudinal enabled
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CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
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CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
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CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
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# CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
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# CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
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CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled
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CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
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CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
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CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
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# CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
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# CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
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# CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
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CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
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CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
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CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
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@ -21,7 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
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from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
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from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
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from openpilot.selfdrive.car.values import Platform
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from openpilot.selfdrive.car.card import Car, convert_carControl
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from openpilot.selfdrive.car.card import Car, convert_carControl, convert_to_capnp
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from openpilot.selfdrive.pandad import can_capnp_to_list
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from openpilot.selfdrive.test.helpers import read_segment_list
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from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
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@ -163,7 +163,8 @@ class TestCarModelBase(unittest.TestCase):
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if cls.platform in non_tested_cars:
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print(f"Skipping tests for {cls.platform}: missing route")
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raise unittest.SkipTest
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raise Exception(f"missing test route for {cls.platform}")
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raise unittest.SkipTest
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# raise Exception(f"missing test route for {cls.platform}")
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car_fw, can_msgs, experimental_long = cls.get_testing_data()
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@ -197,195 +198,195 @@ class TestCarModelBase(unittest.TestCase):
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self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
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self.safety.init_tests()
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def test_car_params(self):
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if self.CP.dashcamOnly:
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self.skipTest("no need to check carParams for dashcamOnly")
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# make sure car params are within a valid range
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self.assertGreater(self.CP.mass, 1)
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if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
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tuning = self.CP.lateralTuning.which()
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if tuning == 'pid':
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self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
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elif tuning == 'torque':
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self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
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else:
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raise Exception("unknown tuning")
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def test_car_interface(self):
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# TODO: also check for checksum violations from can parser
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can_invalid_cnt = 0
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can_valid = False
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CC = structs.CarControl()
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for i, msg in enumerate(self.can_msgs):
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CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
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self.CI.apply(CC, msg.logMonoTime)
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if CS.canValid:
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can_valid = True
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# wait max of 2s for low frequency msgs to be seen
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if i > 200 or can_valid:
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can_invalid_cnt += not CS.canValid
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self.assertEqual(can_invalid_cnt, 0)
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def test_radar_interface(self):
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RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
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RI = RadarInterface(self.CP)
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assert RI
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# Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
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# start parsing CAN messages after we've left ELM mode and can expect CAN traffic
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error_cnt = 0
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for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
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rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
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if rr is not None and i > 50:
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error_cnt += car.RadarData.Error.canError in rr.errors
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self.assertEqual(error_cnt, 0)
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def test_panda_safety_rx_checks(self):
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if self.CP.dashcamOnly:
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self.skipTest("no need to check panda safety for dashcamOnly")
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start_ts = self.can_msgs[0].logMonoTime
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failed_addrs = Counter()
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for can in self.can_msgs:
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# update panda timer
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t = (can.logMonoTime - start_ts) / 1e3
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self.safety.set_timer(int(t))
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# run all msgs through the safety RX hook
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for msg in can.can:
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if msg.src >= 64:
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continue
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to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
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if self.safety.safety_rx_hook(to_send) != 1:
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failed_addrs[hex(msg.address)] += 1
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# ensure all msgs defined in the addr checks are valid
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self.safety.safety_tick_current_safety_config()
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if t > 1e6:
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self.assertTrue(self.safety.safety_config_valid())
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# Don't check relay malfunction on disabled routes (relay closed),
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# or before fingerprinting is done (elm327 and noOutput)
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if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
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self.assertFalse(self.safety.get_relay_malfunction())
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else:
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self.safety.set_relay_malfunction(False)
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self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
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# ensure RX checks go invalid after small time with no traffic
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self.safety.set_timer(int(t + (2*1e6)))
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self.safety.safety_tick_current_safety_config()
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self.assertFalse(self.safety.safety_config_valid())
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def test_panda_safety_tx_cases(self, data=None):
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"""Asserts we can tx common messages"""
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if self.CP.notCar:
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self.skipTest("Skipping test for notCar")
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def test_car_controller(car_control):
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now_nanos = 0
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msgs_sent = 0
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CI = self.CarInterface(self.CP, self.CarController, self.CarState)
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for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages
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CI.update([])
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_, sendcan = CI.apply(car_control, now_nanos)
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now_nanos += DT_CTRL * 1e9
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msgs_sent += len(sendcan)
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for addr, dat, bus in sendcan:
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to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
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self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
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# Make sure we attempted to send messages
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self.assertGreater(msgs_sent, 50)
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# Make sure we can send all messages while inactive
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CC = car.CarControl.new_message()
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test_car_controller(convert_carControl(CC.as_reader()))
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# Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
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self.safety.set_cruise_engaged_prev(True)
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CC = car.CarControl.new_message(cruiseControl={'cancel': True})
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test_car_controller(convert_carControl(CC.as_reader()))
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# Test resume + general messages (controls_allowed=True & cruise_engaged=True)
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self.safety.set_controls_allowed(True)
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CC = car.CarControl.new_message(cruiseControl={'resume': True})
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test_car_controller(convert_carControl(CC.as_reader()))
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# Skip stdout/stderr capture with pytest, causes elevated memory usage
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@pytest.mark.nocapture
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@settings(max_examples=MAX_EXAMPLES, deadline=None,
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phases=(Phase.reuse, Phase.generate, Phase.shrink))
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@given(data=st.data())
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def test_panda_safety_carstate_fuzzy(self, data):
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"""
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For each example, pick a random CAN message on the bus and fuzz its data,
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checking for panda state mismatches.
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"""
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if self.CP.dashcamOnly:
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self.skipTest("no need to check panda safety for dashcamOnly")
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valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
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address, bus, size = data.draw(st.sampled_from(valid_addrs))
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msg_strategy = st.binary(min_size=size, max_size=size)
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msgs = data.draw(st.lists(msg_strategy, min_size=20))
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for dat in msgs:
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# due to panda updating state selectively, only edges are expected to match
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# TODO: warm up CarState with real CAN messages to check edge of both sources
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# (eg. toyota's gasPressed is the inverse of a signal being set)
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prev_panda_gas = self.safety.get_gas_pressed_prev()
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prev_panda_brake = self.safety.get_brake_pressed_prev()
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prev_panda_regen_braking = self.safety.get_regen_braking_prev()
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prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
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prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
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prev_panda_acc_main_on = self.safety.get_acc_main_on()
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to_send = libpanda_py.make_CANPacket(address, bus, dat)
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self.safety.safety_rx_hook(to_send)
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can = messaging.new_message('can', 1)
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can.can = [log.CanData(address=address, dat=dat, src=bus)]
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CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
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if self.safety.get_gas_pressed_prev() != prev_panda_gas:
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self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
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if self.safety.get_brake_pressed_prev() != prev_panda_brake:
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# TODO: remove this exception once this mismatch is resolved
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brake_pressed = CS.brakePressed
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if CS.brakePressed and not self.safety.get_brake_pressed_prev():
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if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
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brake_pressed = False
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self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
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if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
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self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
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if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
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self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
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if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
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if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
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self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
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if self.CP.carName == "honda":
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if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
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self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
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# def test_car_params(self):
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# if self.CP.dashcamOnly:
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# self.skipTest("no need to check carParams for dashcamOnly")
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#
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# # make sure car params are within a valid range
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# self.assertGreater(self.CP.mass, 1)
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#
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# if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
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# tuning = self.CP.lateralTuning.which()
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# if tuning == 'pid':
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# self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
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# elif tuning == 'torque':
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# self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
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# else:
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# raise Exception("unknown tuning")
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#
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# def test_car_interface(self):
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# # TODO: also check for checksum violations from can parser
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# can_invalid_cnt = 0
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# can_valid = False
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# CC = structs.CarControl()
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#
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# for i, msg in enumerate(self.can_msgs):
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# CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
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# self.CI.apply(CC, msg.logMonoTime)
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#
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# if CS.canValid:
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# can_valid = True
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#
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# # wait max of 2s for low frequency msgs to be seen
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# if i > 200 or can_valid:
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# can_invalid_cnt += not CS.canValid
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#
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# self.assertEqual(can_invalid_cnt, 0)
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#
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# def test_radar_interface(self):
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# RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
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# RI = RadarInterface(self.CP)
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# assert RI
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#
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# # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
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# # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
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# error_cnt = 0
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# for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
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# rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
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# if rr is not None and i > 50:
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# error_cnt += car.RadarData.Error.canError in rr.errors
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# self.assertEqual(error_cnt, 0)
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#
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# def test_panda_safety_rx_checks(self):
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# if self.CP.dashcamOnly:
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# self.skipTest("no need to check panda safety for dashcamOnly")
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#
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# start_ts = self.can_msgs[0].logMonoTime
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#
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# failed_addrs = Counter()
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# for can in self.can_msgs:
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# # update panda timer
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# t = (can.logMonoTime - start_ts) / 1e3
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# self.safety.set_timer(int(t))
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#
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# # run all msgs through the safety RX hook
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# for msg in can.can:
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# if msg.src >= 64:
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# continue
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#
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# to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
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# if self.safety.safety_rx_hook(to_send) != 1:
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# failed_addrs[hex(msg.address)] += 1
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#
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# # ensure all msgs defined in the addr checks are valid
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# self.safety.safety_tick_current_safety_config()
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# if t > 1e6:
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# self.assertTrue(self.safety.safety_config_valid())
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#
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# # Don't check relay malfunction on disabled routes (relay closed),
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# # or before fingerprinting is done (elm327 and noOutput)
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# if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
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# self.assertFalse(self.safety.get_relay_malfunction())
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# else:
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# self.safety.set_relay_malfunction(False)
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#
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# self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
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#
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# # ensure RX checks go invalid after small time with no traffic
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# self.safety.set_timer(int(t + (2*1e6)))
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# self.safety.safety_tick_current_safety_config()
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# self.assertFalse(self.safety.safety_config_valid())
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#
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# def test_panda_safety_tx_cases(self, data=None):
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# """Asserts we can tx common messages"""
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# if self.CP.notCar:
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# self.skipTest("Skipping test for notCar")
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#
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# def test_car_controller(car_control):
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# now_nanos = 0
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# msgs_sent = 0
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# CI = self.CarInterface(self.CP, self.CarController, self.CarState)
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# for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages
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# CI.update([])
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# _, sendcan = CI.apply(car_control, now_nanos)
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#
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# now_nanos += DT_CTRL * 1e9
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# msgs_sent += len(sendcan)
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# for addr, dat, bus in sendcan:
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# to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
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# self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
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#
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# # Make sure we attempted to send messages
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# self.assertGreater(msgs_sent, 50)
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#
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# # Make sure we can send all messages while inactive
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# CC = car.CarControl.new_message()
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# test_car_controller(convert_carControl(CC.as_reader()))
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#
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# # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
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# self.safety.set_cruise_engaged_prev(True)
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# CC = car.CarControl.new_message(cruiseControl={'cancel': True})
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# test_car_controller(convert_carControl(CC.as_reader()))
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#
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# # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
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# self.safety.set_controls_allowed(True)
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# CC = car.CarControl.new_message(cruiseControl={'resume': True})
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# test_car_controller(convert_carControl(CC.as_reader()))
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#
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# # Skip stdout/stderr capture with pytest, causes elevated memory usage
|
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# @pytest.mark.nocapture
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# @settings(max_examples=MAX_EXAMPLES, deadline=None,
|
||||
# phases=(Phase.reuse, Phase.generate, Phase.shrink))
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# @given(data=st.data())
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# def test_panda_safety_carstate_fuzzy(self, data):
|
||||
# """
|
||||
# For each example, pick a random CAN message on the bus and fuzz its data,
|
||||
# checking for panda state mismatches.
|
||||
# """
|
||||
#
|
||||
# if self.CP.dashcamOnly:
|
||||
# self.skipTest("no need to check panda safety for dashcamOnly")
|
||||
#
|
||||
# valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
|
||||
# address, bus, size = data.draw(st.sampled_from(valid_addrs))
|
||||
#
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||||
# msg_strategy = st.binary(min_size=size, max_size=size)
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||||
# msgs = data.draw(st.lists(msg_strategy, min_size=20))
|
||||
#
|
||||
# for dat in msgs:
|
||||
# # due to panda updating state selectively, only edges are expected to match
|
||||
# # TODO: warm up CarState with real CAN messages to check edge of both sources
|
||||
# # (eg. toyota's gasPressed is the inverse of a signal being set)
|
||||
# prev_panda_gas = self.safety.get_gas_pressed_prev()
|
||||
# prev_panda_brake = self.safety.get_brake_pressed_prev()
|
||||
# prev_panda_regen_braking = self.safety.get_regen_braking_prev()
|
||||
# prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
|
||||
# prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
|
||||
# prev_panda_acc_main_on = self.safety.get_acc_main_on()
|
||||
#
|
||||
# to_send = libpanda_py.make_CANPacket(address, bus, dat)
|
||||
# self.safety.safety_rx_hook(to_send)
|
||||
#
|
||||
# can = messaging.new_message('can', 1)
|
||||
# can.can = [log.CanData(address=address, dat=dat, src=bus)]
|
||||
#
|
||||
# CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
|
||||
#
|
||||
# if self.safety.get_gas_pressed_prev() != prev_panda_gas:
|
||||
# self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
#
|
||||
# if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
# # TODO: remove this exception once this mismatch is resolved
|
||||
# brake_pressed = CS.brakePressed
|
||||
# if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
# if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
# brake_pressed = False
|
||||
#
|
||||
# self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
#
|
||||
# if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
# self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
#
|
||||
# if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
|
||||
# self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
|
||||
#
|
||||
# if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
|
||||
# if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
|
||||
# self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
|
||||
#
|
||||
# if self.CP.carName == "honda":
|
||||
# if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
|
||||
# self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
|
||||
|
||||
def test_panda_safety_carstate(self):
|
||||
"""
|
||||
|
|
@ -449,11 +450,14 @@ 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
|
||||
card.update_events(CS)
|
||||
card.CS_prev = CS
|
||||
button_enable = (any(evt.enable for evt in CS.events) and
|
||||
CS_capnp = convert_to_capnp(CS)
|
||||
card.update_events(CS_capnp)
|
||||
card.CS_prev = CS_capnp
|
||||
button_enable = (any(evt.enable for evt in CS_capnp.events) and
|
||||
not any(evt == EventName.pedalPressed for evt in card.events.names))
|
||||
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
|
||||
if mismatch:
|
||||
print(button_enable, (self.safety.get_controls_allowed() and not controls_allowed_prev), CS_capnp.events)
|
||||
checks['controlsAllowed'] += mismatch
|
||||
controls_allowed_prev = self.safety.get_controls_allowed()
|
||||
if button_enable and not mismatch:
|
||||
|
|
|
|||
Loading…
Reference in New Issue