def fingerprint(logcan, sendcan, has_relay):
if has_relay:
# Vin query only reliably works thorugh OBDII
bus = 1
addr, vin = get_vin(logcan, sendcan, bus)
_, car_fw = get_fw_versions(logcan, sendcan, bus)
else:
vin = VIN_UNKNOWN
_, car_fw = set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars()
for i in [0, 1]
} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
while not done:
a = messaging.get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(
can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1:
if frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0
for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
cloudlog.warning("fingerprinted %s", car_fingerprint)
return car_fingerprint, finger, vin, car_fw
class TestCarInterfaces(unittest.TestCase):
@parameterized.expand([(car, ) for car in all_known_cars()])
def test_car_interfaces(self, car_name):
print(car_name)
fingerprint = FINGERPRINTS[car_name][0]
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
car_fw = []
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'lqr':
self.assertTrue(len(car_params.lateralTuning.lqr.a))
elif tuning == 'indi':
self.assertTrue(
len(car_params.lateralTuning.indi.outerLoopGainV))
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Test radar interface
RadarInterface = importlib.import_module(
'selfdrive.car.%s.radar_interface' %
car_params.carName).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if not car_params.radarOffCan and hasattr(
radar_interface, '_update') and hasattr(
radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
def test_car_interfaces(self):
all_cars = all_known_cars()
for car_name in all_cars:
fingerprint = FINGERPRINTS[car_name][0]
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
car_fw = []
for has_relay in [True, False]:
car_params = CarInterface.get_params(car_name, fingerprints,
has_relay, car_fw)
car_interface = CarInterface(car_params, CarController,
CarState)
assert car_params
assert car_interface
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Test radar interface
RadarInterface = importlib.import_module(
'selfdrive.car.%s.radar_interface' %
car_params.carName).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if hasattr(radar_interface, '_update') and hasattr(
radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
HYUNDAI.KONA,
HYUNDAI.KONA_EV,
TOYOTA.CAMRYH,
TOYOTA.CHR,
TOYOTA.CHRH,
TOYOTA.HIGHLANDERH,
TOYOTA.HIGHLANDERH_TSS2,
]
if __name__ == "__main__":
tested_procs = ["controlsd", "radard", "plannerd"]
tested_socks = ["radarState", "controlsState", "carState", "plan"]
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
for car_model in all_known_cars():
if car_model not in tested_cars:
print("***** WARNING: %s not tested *****" % car_model)
# TODO: skip these for now, but make sure any new ports get routes
if car_model not in non_tested_cars:
print("TEST FAILED: Missing route for car '%s'" % car_model)
sys.exit(1)
print("Preparing processes")
for p in tested_procs:
manager.prepare_managed_process(p)
results = {}
for route, checks in routes.items():
get_route_log(route)
HONDA.ACCORDH,
]
ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
CHRYSLER.PACIFICA_2017_HYBRID,
# TODO: get new routes for these cars, current routes are from giraffe with different buses
HONDA.CRV_HYBRID,
HONDA.ACCORD,
HONDA.INSIGHT,
HONDA.ACCORDH,
]
@parameterized_class(('car_model'), [(car, ) for car in all_known_cars()])
class TestCarModel(unittest.TestCase):
@classmethod
def setUpClass(cls):
if cls.car_model not in ROUTES:
# TODO: get routes for missing cars and remove this
if cls.car_model in non_tested_cars:
print(f"Skipping tests for {cls.car_model}: missing route")
raise unittest.SkipTest
else:
raise Exception(f"missing test route for car {cls.car_model}")
for seg in [2, 1, 0]:
try:
lr = LogReader(get_url(ROUTES[cls.car_model], seg))
break
def fingerprint(logcan, sendcan):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
if not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(
cached_params.carFw
) > 0 and cached_params.carVin is not VIN_UNKNOWN:
cloudlog.warning("Using cached CarParams")
vin = cached_params.carVin
car_fw = list(cached_params.carFw)
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
car_fw = get_fw_versions(logcan, sendcan, bus)
fw_candidates = match_fw_to_car(car_fw)
else:
vin = VIN_UNKNOWN
fw_candidates, car_fw = set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars()
for i in [0, 1]
} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
while not done:
a = get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(
can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0
for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
source = car.CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = car.CarParams.FingerprintSource.fw
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = car.CarParams.FingerprintSource.fixed
cloudlog.warning("fingerprinted %s", car_fingerprint)
return car_fingerprint, finger, vin, car_fw, source
# TODO: get updated routes for these cars
ignore_can_valid = [
HYUNDAI.SANTA_FE,
]
ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
CHRYSLER.PACIFICA_2017_HYBRID,
]
ignore_addr_checks_valid = [
GM.BUICK_REGAL,
HYUNDAI.GENESIS_G70_2020,
]
@parameterized_class(('car_model'), [(car,) for i, car in enumerate(sorted(all_known_cars())) if i % NUM_JOBS == JOB_ID])
class TestCarModel(unittest.TestCase):
@classmethod
def setUpClass(cls):
if cls.car_model not in ROUTES:
# TODO: get routes for missing cars and remove this
if cls.car_model in non_tested_cars:
print(f"Skipping tests for {cls.car_model}: missing route")
raise unittest.SkipTest
else:
raise Exception(f"missing test route for car {cls.car_model}")
params = Params()
params.clear_all()
ignore_can_valid = [
HYUNDAI.GRANDEUR_IG,
]
ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
HYUNDAI.GRANDEUR_IG,
]
ignore_addr_checks_valid = [
HYUNDAI.GRANDEUR_IG,
]
@parameterized_class(('car_model'),
[(car, ) for i, car in enumerate(sorted(all_known_cars()))
if i % NUM_JOBS == JOB_ID])
class TestCarModel(unittest.TestCase):
@classmethod
def setUpClass(cls):
if cls.car_model not in ROUTES:
# TODO: get routes for missing cars and remove this
if cls.car_model in non_tested_cars:
print(f"Skipping tests for {cls.car_model}: missing route")
raise unittest.SkipTest
else:
raise Exception(f"missing test route for car {cls.car_model}")
params = Params()
params.clear_all()
#!/usr/bin/env python3
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
import cereal.messaging as messaging
# rav4 2019 and corolla tss2
fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8}
candidate_cars = all_known_cars()
for addr, l in fingerprint.items():
dat = messaging.new_message('can', 1)
msg = dat.can[0]
msg.address = addr
msg.dat = " " * l
candidate_cars = eliminate_incompatible_cars(msg, candidate_cars)
print(candidate_cars)
NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
JOB_ID = int(os.environ.get("JOB_ID", "0"))
ignore_addr_checks_valid = [
GM.BUICK_REGAL,
HYUNDAI.GENESIS_G70_2020,
]
# build list of test cases
routes_by_car = defaultdict(set)
for r in routes:
routes_by_car[r.car_fingerprint].add(r)
test_cases: List[Tuple[str, Optional[TestRoute]]] = []
for i, c in enumerate(sorted(all_known_cars())):
if i % NUM_JOBS == JOB_ID:
test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
SKIP_ENV_VAR = "SKIP_LONG_TESTS"
@parameterized_class(('car_model', 'test_route'), test_cases)
class TestCarModel(unittest.TestCase):
@unittest.skipIf(SKIP_ENV_VAR in os.environ,
f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
@classmethod
def setUpClass(cls):
if cls.test_route is None:
if cls.car_model in non_tested_cars:
print(f"Skipping tests for {cls.car_model}: missing route")
def test_car_interfaces(self):
all_cars = all_known_cars()
for car_name in all_cars:
fingerprint = FINGERPRINTS[car_name][0]
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
car_fw = []
for has_relay in [True, False]:
car_params = CarInterface.get_params(car_name, fingerprints,
has_relay, car_fw)
car_interface = CarInterface(car_params, CarController,
CarState)
assert car_params
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'lqr':
self.assertTrue(len(car_params.lateralTuning.lqr.a))
elif tuning == 'indi':
self.assertGreater(
car_params.lateralTuning.indi.outerLoopGain, 1e-3)
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Test radar interface
RadarInterface = importlib.import_module(
'selfdrive.car.%s.radar_interface' %
car_params.carName).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if hasattr(radar_interface, '_update') and hasattr(
radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
def fingerprint(logcan, sendcan, has_relay):
params = Params()
car_params = params.get("CarParams")
if not travis:
cached_fingerprint = params.get('CachedFingerprint')
else:
cached_fingerprint = None
if car_params is not None:
car_params = car.CarParams.from_bytes(car_params)
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
if has_relay and not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
cloudlog.warning("Using cached CarParams")
vin = cached_params.carVin
car_fw = list(cached_params.carFw)
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
car_fw = get_fw_versions(logcan, sendcan, bus)
fw_candidates = match_fw_to_car(car_fw)
else:
vin = VIN_UNKNOWN
fw_candidates, car_fw = set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
if cached_fingerprint is not None and use_car_caching: # if we previously identified a car and fingerprint and user hasn't disabled caching
cached_fingerprint = json.loads(cached_fingerprint)
if cached_fingerprint[0] is None or len(cached_fingerprint) < 3:
params.delete('CachedFingerprint')
else:
finger[0] = {int(key): value for key, value in cached_fingerprint[2].items()}
source = car.CarParams.FingerprintSource.can
return (str(cached_fingerprint[0]), finger, vin, car_fw, cached_fingerprint[1])
while not done:
a = messaging.get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1:
if frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
elif len(candidate_cars[b]) < 4: # For the RAV4 2019 and Corolla 2020 LE Fingerprint problem
if frame > 180:
if any(("TOYOTA COROLLA TSS2 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "TOYOTA COROLLA TSS2 2019"
if any(("TOYOTA COROLLA HYBRID TSS2 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "TOYOTA COROLLA HYBRID TSS2 2019"
if any(("HYUNDAI IONIQ ELECTRIC LIMITED 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
source = car.CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = car.CarParams.FingerprintSource.fw
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = car.CarParams.FingerprintSource.fixed
cloudlog.warning("fingerprinted %s", car_fingerprint)
params.put("CachedFingerprint", json.dumps([car_fingerprint, source, {int(key): value for key, value in finger[0].items()}]))
return car_fingerprint, finger, vin, car_fw, source
def fingerprint(logcan, sendcan, has_relay):
params = Params()
car_params = params.get("CarParams")
if not travis:
cached_fingerprint = params.get('CachedFingerprint')
else:
cached_fingerprint = None
if car_params is not None:
# use already stored VIN: a new VIN query cannot be done, since panda isn't in ELM327 mode
car_params = car.CarParams.from_bytes(car_params)
vin = VIN_UNKNOWN if car_params.carVin == "" else car_params.carVin
elif has_relay:
# Vin query only reliably works thorugh OBDII
vin = get_vin(logcan, sendcan, 1)
else:
vin = VIN_UNKNOWN
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars()
for i in [0, 1]
} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
if cached_fingerprint is not None and use_car_caching: # if we previously identified a car and fingerprint and user hasn't disabled caching
cached_fingerprint = json.loads(cached_fingerprint)
finger[0] = {
key: value
for key, value in cached_fingerprint[1].items()
}
return (str(cached_fingerprint[0]), finger, vin)
while not done:
a = get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(
can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1:
if frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0
for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
cloudlog.warning("fingerprinted %s", car_fingerprint)
params.put(
"CachedFingerprint",
json.dumps([
car_fingerprint,
{int(key): value
for key, value in finger[0].items()}
]))
return car_fingerprint, finger, vin
# TODO: get updated routes for these cars
ignore_can_valid = [
HYUNDAI.SANTA_FE,
]
ignore_carstate_check = [
# TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
CHRYSLER.PACIFICA_2017_HYBRID,
]
@parameterized_class(
('car_model'),
[(car, )
for i, car in enumerate(all_known_cars()) if i % NUM_JOBS == JOB_ID])
class TestCarModel(unittest.TestCase):
@classmethod
def setUpClass(cls):
if cls.car_model not in ROUTES:
# TODO: get routes for missing cars and remove this
if cls.car_model in non_tested_cars:
print(f"Skipping tests for {cls.car_model}: missing route")
raise unittest.SkipTest
else:
raise Exception(f"missing test route for car {cls.car_model}")
for seg in [2, 1, 0]:
try:
lr = LogReader(get_url(ROUTES[cls.car_model], seg))
break
class TestCarInterfaces(unittest.TestCase):
@parameterized.expand([(car, ) for car in all_known_cars()])
def test_car_interfaces(self, car_name):
if car_name in FINGERPRINTS:
fingerprint = FINGERPRINTS[car_name][0]
else:
fingerprint = {}
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {
0: fingerprint,
1: fingerprint,
2: fingerprint,
}
car_fw = []
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'torque':
kf = car_params.lateralTuning.torque.kf
self.assertTrue(not math.isnan(kf) and kf > 0)
self.assertTrue(
not math.isnan(car_params.lateralTuning.torque.friction))
elif tuning == 'indi':
self.assertTrue(
len(car_params.lateralTuning.indi.outerLoopGainV))
# Run car interface
CC = car.CarControl.new_message()
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
CC = car.CarControl.new_message()
CC.enabled = True
for _ in range(10):
car_interface.update(CC, [])
car_interface.apply(CC)
car_interface.apply(CC)
# Test radar interface
RadarInterface = importlib.import_module(
f'selfdrive.car.{car_params.carName}.radar_interface'
).RadarInterface
radar_interface = RadarInterface(car_params)
assert radar_interface
# Run radar interface once
radar_interface.update([])
if not car_params.radarOffCan and radar_interface.rcp is not None and \
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
