def run_route(route):
can = messaging.pub_sock(service_list['can'].port)
CP = CarInterface.get_params(CAR.CIVIC, {})
signals, checks = get_can_signals(CP)
parser_old = CANParserOld(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1,
tcp_addr="127.0.0.1")
parser_new = CANParserNew(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1,
tcp_addr="127.0.0.1")
parser_string = CANParserNew(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
timeout=-1)
if dict_keys_differ(parser_old.vl, parser_new.vl):
return False
lr = LogReader(route + ".bz2")
route_ok = True
t = 0
for msg in lr:
if msg.which() == 'can':
t += DT
msg_bytes = msg.as_builder().to_bytes()
can.send(msg_bytes)
_, updated_old = parser_old.update(t, True)
_, updated_new = parser_new.update(t, True)
updated_string = parser_string.update_string(t, msg_bytes)
if updated_old != updated_new:
route_ok = False
print(t, "Diff in seen")
if updated_new != updated_string:
route_ok = False
print(t, "Diff in seen string")
if dicts_vals_differ(parser_old.vl, parser_new.vl):
print(t, "Diff in dict")
route_ok = False
if dicts_vals_differ(parser_new.vl, parser_string.vl):
print(t, "Diff in dict string")
route_ok = False
return route_ok
def test_subaru(self):
# Subuaru is little endian
CP = SubaruInterface.get_params(SUBARU_CAR.IMPREZA)
signals = [
("Counter", "ES_LKAS", 0),
("LKAS_Output", "ES_LKAS", 0),
("LKAS_Request", "ES_LKAS", 0),
("SET_1", "ES_LKAS", 0),
]
checks = []
parser = CANParser(SUBARU_DBC[CP.carFingerprint]['pt'], signals,
checks, 0)
packer = CANPacker(SUBARU_DBC[CP.carFingerprint]['pt'])
idx = 0
for steer in range(0, 255):
for active in [1, 0]:
values = {
"Counter": idx,
"LKAS_Output": steer,
"LKAS_Request": active,
"SET_1": 1
}
msgs = packer.make_can_msg("ES_LKAS", 0, values)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"],
steer)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"],
active)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"],
idx % 16)
idx += 1
def test_civic(self):
CP = HondaInterface.get_params(HONDA_CAR.CIVIC)
signals = [
("STEER_TORQUE", "STEERING_CONTROL", 0),
("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
]
checks = []
parser = CANParser(HONDA_DBC[CP.carFingerprint]['pt'], signals, checks,
0)
packer = CANPacker(HONDA_DBC[CP.carFingerprint]['pt'])
idx = 0
for steer in range(0, 255):
for active in [1, 0]:
values = {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
}
msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"],
active)
self.assertAlmostEqual(
parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
idx += 1
