201 lines
8.4 KiB
Python
201 lines
8.4 KiB
Python
import inspect
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import math
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import os
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import subprocess
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import sys
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import hypothesis.strategies as st
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import pytest
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from functools import cache
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from hypothesis import Phase, given, settings
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from collections.abc import Callable
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from typing import Any
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from iqdbc.car import DT_CTRL, CanData, structs
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from iqdbc.car.car_helpers import interfaces
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from iqdbc.car.fingerprints import FW_VERSIONS
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from iqdbc.car.fw_versions import FW_QUERY_CONFIGS
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from iqdbc.car.interfaces import CarInterfaceBase, get_interface_attr
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from iqdbc.car.mock.values import CAR as MOCK
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from iqdbc.car.values import PLATFORMS
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DrawType = Callable[[st.SearchStrategy], Any]
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ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
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ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
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ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
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# From panda/python/__init__.py
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DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
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MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '15'))
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SIGNED_RUNTIME_BRANDS = {"tesla", "volkswagen"}
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SIGNED_RUNTIME_PLATFORMS = tuple(car_name for car_name in sorted(PLATFORMS)
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if interfaces[car_name].__module__.split(".")[-2] in SIGNED_RUNTIME_BRANDS)
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PUBLIC_INTERFACE_PLATFORMS = tuple(car_name for car_name in sorted(PLATFORMS)
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if car_name not in SIGNED_RUNTIME_PLATFORMS)
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@cache
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def get_fuzzy_strategy():
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# Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
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fingerprint_strategy = st.fixed_dictionaries({0: st.dictionaries(st.integers(min_value=0, max_value=0x800),
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st.sampled_from(DLC_TO_LEN))})
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# only pick from possible ecus to reduce search space
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car_fw_strategy = st.lists(st.builds(
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lambda fw, req: structs.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0, request=req),
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st.sampled_from(sorted(ALL_ECUS)),
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st.sampled_from(sorted(ALL_REQUESTS)),
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))
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params_strategy = st.fixed_dictionaries({
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'fingerprints': fingerprint_strategy,
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'car_fw': car_fw_strategy,
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'alpha_long': st.booleans(),
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})
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return params_strategy
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def get_fuzzy_car_interface(car_name: str, draw: DrawType) -> CarInterfaceBase:
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params: dict = draw(get_fuzzy_strategy())
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# reduce search space by duplicating CAN fingerprints across all buses
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params['fingerprints'] |= {key + 1: params['fingerprints'][0] for key in range(6)}
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# initialize car interface
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CarInterface = interfaces[car_name]
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car_params = CarInterface.get_params(car_name, params['fingerprints'], params['car_fw'],
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alpha_long=params['alpha_long'], is_release=False, docs=False)
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car_params_iq = CarInterface.get_params_iq(car_params, car_name, params['fingerprints'], params['car_fw'],
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alpha_long=params['alpha_long'], is_release_iq=False, docs=False)
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return CarInterface(car_params, car_params_iq)
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class TestCarInterfaces:
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def test_init_contract(self):
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for car_interface in set(interfaces.values()):
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parameters = tuple(inspect.signature(car_interface.init).parameters)
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assert parameters[:4] == ("CP", "CP_IQ", "can_recv", "can_send")
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# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
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# many generated examples to overrun when max_examples > ~20, don't use it
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@pytest.mark.parametrize("car_name", PUBLIC_INTERFACE_PLATFORMS)
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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_car_interfaces(self, car_name, data):
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car_interface = get_fuzzy_car_interface(car_name, data.draw)
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car_params = car_interface.CP.as_reader()
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car_params_iq = car_interface.CP_IQ
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assert car_params.mass > 1
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assert car_params.wheelbase > 0
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# centerToFront is center of gravity to front wheels, assert a reasonable range
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assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
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assert car_params.maxLateralAccel > 0
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# Longitudinal sanity checks
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assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
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assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
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# If we're using the interceptor for gasPressed, we should be commanding gas with it
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if car_params_iq.enableGasInterceptor:
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assert car_params.openpilotLongitudinalControl
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# Lateral sanity checks
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if car_params.steerControlType not in (structs.CarParams.SteerControlType.angle,
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structs.CarParams.SteerControlType.curvatureDEPRECATED):
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tune = car_params.lateralTuning
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if tune.which() == 'pid':
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if car_name != MOCK.MOCK:
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assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
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assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
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assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
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elif tune.which() == 'torque':
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assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
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assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
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# Run car interface
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# TODO: use hypothesis to generate random messages
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now_nanos = 0
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CC = structs.CarControl().as_reader()
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CC_IQ = structs.IQCarControl()
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for _ in range(10):
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car_interface.update([])
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car_interface.apply(CC, CC_IQ, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10 ms
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CC = structs.CarControl()
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CC.enabled = True
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CC.latActive = True
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CC.longActive = True
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CC = CC.as_reader()
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for _ in range(10):
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car_interface.update([])
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car_interface.apply(CC, CC_IQ, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10ms
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# Test radar interface
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radar_interface = car_interface.RadarInterface(car_params, car_params_iq)
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assert radar_interface
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# Run radar interface once
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radar_interface.update([])
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if not car_params.radarUnavailable and radar_interface.rcp is not None and \
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hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
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radar_interface._update([radar_interface.trigger_msg])
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# Test radar fault
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if not car_params.radarUnavailable and radar_interface.rcp is not None:
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cans = [(0, [CanData(0, b'', 0) for _ in range(5)])]
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rr = radar_interface.update(cans)
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assert rr is None or len(rr.errors) > 0
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@pytest.mark.parametrize("car_name", SIGNED_RUNTIME_PLATFORMS)
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def test_signed_runtime_params(self, car_name):
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car_interface = interfaces[car_name]
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fingerprints = {bus: {} for bus in range(7)}
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car_params = car_interface.get_params(car_name, fingerprints, [], alpha_long=False, is_release=False, docs=False)
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car_params_iq = car_interface.get_params_iq(car_params, car_name, fingerprints, [],
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alpha_long=False, is_release_iq=False, docs=False)
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assert car_params.mass > 1
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assert car_params.wheelbase > 0
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assert car_params.maxLateralAccel > 0
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assert car_params_iq is not None
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def test_interface_attrs(self):
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"""Asserts basic behavior of interface attribute getter"""
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num_brands = len(get_interface_attr('CAR'))
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assert num_brands >= 12
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# Should return value for all brands when not combining, even if attribute doesn't exist
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ret = get_interface_attr('FAKE_ATTR')
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assert len(ret) == num_brands
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# Make sure we can combine dicts
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ret = get_interface_attr('DBC', combine_brands=True)
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assert len(ret) >= 160
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# We don't support combining non-dicts
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ret = get_interface_attr('CAR', combine_brands=True)
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assert len(ret) == 0
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# If brand has None value, it shouldn't return when ignore_none=True is specified
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none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
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assert len(none_brands) >= 1
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ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
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none_brands_in_ret = none_brands.intersection(ret)
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assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}'
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def test_interface_discovery_does_not_load_private_runtime():
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code = "; ".join((
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"import sys",
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"sys.modules['iqpilot.system.proprietary_runtime._verified_import'] = None",
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"from iqdbc.car.car_helpers import interfaces",
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"assert len(interfaces) >= 300",
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))
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subprocess.run([sys.executable, "-c", code], check=True)
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