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test_models: check if in relay-breaking safety mode (#30476)

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* remove initData, remove tolerance

* can check faster now

* don't
old-commit-hash: fc8cfe128046e741d28b127bac03b7a691aa39f3
This commit is contained in:
Shane Smiskol
2023-11-15 18:57:37 -08:00
committed by GitHub
parent de63cac4c7
commit 559b620b20
1 changed files with 16 additions and 16 deletions
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32
selfdrive/car/tests/test_models.py
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@@ -68,6 +68,7 @@ class TestCarModelBase(unittest.TestCase):
can_msgs: List[capnp.lib.capnp._DynamicStructReader]
elm_frame: Optional[int]
car_safety_mode_frame: Optional[int]
@classmethod
def setUpClass(cls):
@@ -103,10 +104,9 @@ class TestCarModelBase(unittest.TestCase):
car_fw = []
can_msgs = []
cls.elm_frame = None
cls.car_safety_mode_frame = None
fingerprint = defaultdict(dict)
experimental_long = False
enabled_toggle = True
dashcam_only = False
for msg in lr:
if msg.which() == "can":
can_msgs.append(msg)
@@ -117,26 +117,26 @@ class TestCarModelBase(unittest.TestCase):
elif msg.which() == "carParams":
car_fw = msg.carParams.carFw
dashcam_only = msg.carParams.dashcamOnly
if msg.carParams.openpilotLongitudinalControl:
experimental_long = True
if cls.car_model is None and not cls.ci:
cls.car_model = msg.carParams.carFingerprint
elif msg.which() == 'initData':
for param in msg.initData.params.entries:
if param.key == 'OpenpilotEnabledToggle':
enabled_toggle = param.value.strip(b'\x00') == b'1'
# Log which can frame the panda safety mode left ELM327, for CAN validity checks
if msg.which() == 'pandaStates':
elif msg.which() == 'pandaStates':
for ps in msg.pandaStates:
if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
cls.elm_frame = len(can_msgs)
if cls.car_safety_mode_frame is None and ps.safetyModel not in \
(SafetyModel.elm327, SafetyModel.noOutput):
cls.car_safety_mode_frame = len(can_msgs)
elif msg.which() == 'pandaStateDEPRECATED':
if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
cls.elm_frame = len(can_msgs)
if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
(SafetyModel.elm327, SafetyModel.noOutput):
cls.car_safety_mode_frame = len(can_msgs)
if len(can_msgs) > int(50 / DT_CTRL):
break
@@ -144,7 +144,7 @@ class TestCarModelBase(unittest.TestCase):
raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
# if relay is expected to be open in the route
cls.openpilot_enabled = enabled_toggle and not dashcam_only
cls.openpilot_enabled = cls.car_safety_mode_frame is not None
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
@@ -247,12 +247,12 @@ class TestCarModelBase(unittest.TestCase):
if t > 1e6:
self.assertTrue(self.safety.addr_checks_valid())
# No need to check relay malfunction on disabled routes (relay closed),
# or before fingerprinting is done (1s of tolerance to exit silent mode)
if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100):
self.assertFalse(self.safety.get_relay_malfunction())
else:
self.safety.set_relay_malfunction(False)
# Don't check relay malfunction on disabled routes (relay closed),
# or before fingerprinting is done (elm327 and noOutput)
if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
self.assertFalse(self.safety.get_relay_malfunction())
else:
self.safety.set_relay_malfunction(False)
self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")