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test car models: check that all msgs sent are sent by the car #30094

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test car models: check that all msgs sent are sent by the car #30094

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33 changes: 29 additions & 4 deletions selfdrive/car/tests/test_models.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,10 @@ def setUpClass(cls):
car_fw = []
can_msgs = []
cls.elm_frame = None
fingerprint = defaultdict(dict)
cls.fingerprint = defaultdict(dict)
for i in range(2):
# emulate closed relay
cls.fingerprint[(i*4)+2] = cls.fingerprint[i*4]
experimental_long = False
enabled_toggle = True
dashcam_only = False
Expand All @@ -120,7 +123,11 @@ def setUpClass(cls):
if len(can_msgs) <= FRAME_FINGERPRINT:
for m in msg.can:
if m.src < 64:
fingerprint[m.src][m.address] = len(m.dat)
cls.fingerprint[m.src][m.address] = len(m.dat)
#if (m.src % 4) in (0, 2):
# # relay is closed during fingerprinting, so emulate that
# src = (m.src // 4) + (0 if m.src % 4 == 2 else 2)
# cls.fingerprint[src][m.address] = len(m.dat)

elif msg.which() == "carParams":
car_fw = msg.carParams.carFw
Expand Down Expand Up @@ -156,7 +163,7 @@ def setUpClass(cls):
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)

cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False)
cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
assert cls.CP
assert cls.CP.carFingerprint == cls.car_model

Expand Down Expand Up @@ -202,7 +209,25 @@ def test_car_interface(self):

for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
self.CI.apply(CC, msg.logMonoTime)
_, sendcan = self.CI.apply(CC, msg.logMonoTime)

#from pprint import pprint
#pprint(self.fingerprint)

# ensure we don't send anything that the car doesn't send
for msg in sendcan:
addr, _, dat, bus = msg

# exception: comma pedal
if addr == 0x200:
continue

# exception: unplugged DSU
if addr in (835, 1041, 1042, 0x128, 321, 352, 353, 643, 742, 743, 836, 830, 869, 870, 1227, 1136):
continue

assert addr in self.fingerprint[bus].keys()
assert len(dat) == self.fingerprint[bus][addr]

if CS.canValid:
can_valid = True
Expand Down
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