fix test_startup (#31103)
* fix test_startup * real fix old-commit-hash: 139b0ae3b696c16056c065dec626c65ec8282622
This commit is contained in:
Adeeb Shihadeh
143
selfdrive/controls/tests/test_startup.py
Executable file → Normal file
143
selfdrive/controls/tests/test_startup.py
Executable file → Normal file
@@ -1,6 +1,4 @@
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#!/usr/bin/env python3
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import os
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import unittest
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from parameterized import parameterized
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from cereal import log, car
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@@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [
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(Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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]
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class TestStartup(unittest.TestCase):
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def tearDown(self):
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managed_processes['controlsd'].stop()
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@parameterized.expand([
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# TODO: test EventName.startup for release branches
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@parameterized.expand([
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# TODO: test EventName.startup for release branches
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# officially supported car
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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# officially supported car
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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# unrecognized car with no fw
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(EventName.startupNoFw, None, None, ""),
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(EventName.startupNoFw, None, None, ""),
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# unrecognized car with no fw
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(EventName.startupNoFw, None, None, ""),
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(EventName.startupNoFw, None, None, ""),
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# unrecognized car
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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# unrecognized car
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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# fuzzy match
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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])
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def test_startup_alert(expected_event, car_model, fw_versions, brand):
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controls_sock = messaging.sub_sock("controlsState")
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pm = messaging.PubMaster(['can', 'pandaStates'])
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# fuzzy match
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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])
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def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
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controls_sock = messaging.sub_sock("controlsState")
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pm = messaging.PubMaster(['can', 'pandaStates'])
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params = Params()
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params.put_bool("OpenpilotEnabledToggle", True)
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params = Params()
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params.put_bool("OpenpilotEnabledToggle", True)
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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f.brand = brand
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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f.brand = brand
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if subaddress is not None:
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f.subAddress = subaddress
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if subaddress is not None:
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f.subAddress = subaddress
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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else:
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os.environ['SKIP_FW_QUERY'] = '1'
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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else:
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os.environ['SKIP_FW_QUERY'] = '1'
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managed_processes['controlsd'].start()
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managed_processes['controlsd'].start()
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assert pm.wait_for_readers_to_update('can', 5)
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pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
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assert pm.wait_for_readers_to_update('can', 5)
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pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
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assert pm.wait_for_readers_to_update('pandaStates', 5)
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msg = messaging.new_message('pandaStates', 1)
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msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', msg)
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msg = messaging.new_message('pandaStates', 1)
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msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', msg)
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# fingerprint
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if (car_model is None) or (fw_versions is not None):
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car_model][0]
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# fingerprint
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if (car_model is None) or (fw_versions is not None):
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car_model][0]
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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for _ in range(1000):
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# controlsd waits for boardd to echo back that it has changed the multiplexing mode
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if not params.get_bool("ObdMultiplexingChanged"):
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params.put_bool("ObdMultiplexingChanged", True)
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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for _ in range(1000):
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# controlsd waits for boardd to echo back that it has changed the multiplexing mode
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if not params.get_bool("ObdMultiplexingChanged"):
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params.put_bool("ObdMultiplexingChanged", True)
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pm.send('can', can_list_to_can_capnp(msgs))
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assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
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pm.send('can', can_list_to_can_capnp(msgs))
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assert pm.wait_for_readers_to_update('can', 2, dt=0.001)
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ctrls = messaging.drain_sock(controls_sock)
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if len(ctrls):
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event_name = ctrls[0].controlsState.alertType.split("/")[0]
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self.assertEqual(EVENT_NAME[expected_event], event_name,
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f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car_model}")
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if __name__ == "__main__":
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unittest.main()
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ctrls = messaging.drain_sock(controls_sock)
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if len(ctrls):
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event_name = ctrls[0].controlsState.alertType.split("/")[0]
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assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
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break
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else:
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raise Exception(f"failed to fingerprint {car_model}")
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