62 lines
2.5 KiB
Python
62 lines
2.5 KiB
Python
import os
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import hypothesis.strategies as st
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from hypothesis import Phase, given, settings
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from parameterized import parameterized
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from cereal import car
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from opendbc.car import DT_CTRL
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from opendbc.car.structs import CarParams
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from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
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from opendbc.car.mock.values import CAR as MOCK
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from opendbc.car.values import PLATFORMS
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
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MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
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class TestCarInterfaces:
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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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@parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK])
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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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cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
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# Run car interface
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now_nanos = 0
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CC = car.CarControl.new_message(**cc_msg)
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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, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10 ms
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CC = car.CarControl.new_message(**cc_msg)
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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, now_nanos)
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now_nanos += DT_CTRL * 1e9 # 10ms
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# Test controller initialization
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# TODO: wait until card refactor is merged to run controller a few times,
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# hypothesis also slows down significantly with just one more message draw
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LongControl(car_params)
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if car_params.steerControlType == CarParams.SteerControlType.angle:
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LatControlAngle(car_params, car_interface, DT_CTRL)
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elif car_params.lateralTuning.which() == 'pid':
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LatControlPID(car_params, car_interface, DT_CTRL)
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elif car_params.lateralTuning.which() == 'torque':
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LatControlTorque(car_params, car_interface, DT_CTRL)
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