mirror of https://github.com/rusefi/opendbc.git
162 lines
4.7 KiB
Python
162 lines
4.7 KiB
Python
#!/usr/bin/env python3
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import unittest
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import random
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import cereal.messaging as messaging
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from opendbc.can.parser import CANParser
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from opendbc.can.packer import CANPacker
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# Python implementation so we don't have to depend on boardd
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def can_list_to_can_capnp(can_msgs, msgtype='can'):
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dat = messaging.new_message()
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dat.init(msgtype, len(can_msgs))
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for i, can_msg in enumerate(can_msgs):
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if msgtype == 'sendcan':
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cc = dat.sendcan[i]
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else:
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cc = dat.can[i]
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cc.address = can_msg[0]
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cc.busTime = can_msg[1]
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cc.dat = bytes(can_msg[2])
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cc.src = can_msg[3]
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return dat.to_bytes()
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class TestCanParserPacker(unittest.TestCase):
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def test_civic(self):
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dbc_file = "honda_civic_touring_2016_can_generated"
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signals = [
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("STEER_TORQUE", "STEERING_CONTROL"),
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("STEER_TORQUE_REQUEST", "STEERING_CONTROL"),
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]
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checks = [("STEERING_CONTROL", 50)]
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for steer in range(-256, 255):
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for active in (1, 0):
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values = {
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"STEER_TORQUE": steer,
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"STEER_TORQUE_REQUEST": active,
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}
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msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
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bts = can_list_to_can_capnp([msgs])
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parser.update_string(bts)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"], active)
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self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
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for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
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self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig])
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idx += 1
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def test_scale_offset(self):
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"""Test that both scale and offset are correctly preserved"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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signals = [
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("USER_BRAKE", "VSA_STATUS"),
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]
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checks = [("VSA_STATUS", 50)]
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for brake in range(0, 100):
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values = {"USER_BRAKE": brake}
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msgs = packer.make_can_msg("VSA_STATUS", 0, values, idx)
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bts = can_list_to_can_capnp([msgs])
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parser.update_string(bts)
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self.assertAlmostEqual(parser.vl["VSA_STATUS"]["USER_BRAKE"], brake)
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idx += 1
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def test_subaru(self):
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# Subuaru is little endian
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dbc_file = "subaru_global_2017_generated"
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signals = [
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("Counter", "ES_LKAS"),
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("LKAS_Output", "ES_LKAS"),
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("LKAS_Request", "ES_LKAS"),
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("SET_1", "ES_LKAS"),
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]
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checks = [("ES_LKAS", 50)]
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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idx = 0
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for steer in range(-256, 255):
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for active in [1, 0]:
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values = {
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"Counter": idx,
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"LKAS_Output": steer,
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"LKAS_Request": active,
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"SET_1": 1
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}
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msgs = packer.make_can_msg("ES_LKAS", 0, values)
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bts = can_list_to_can_capnp([msgs])
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parser.update_string(bts)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
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self.assertAlmostEqual(parser.vl["ES_LKAS"]["Counter"], idx % 16)
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idx += 1
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def test_updated(self):
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"""Test updated value dict"""
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dbc_file = "honda_civic_touring_2016_can_generated"
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signals = [("USER_BRAKE", "VSA_STATUS")]
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checks = [("VSA_STATUS", 50)]
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parser = CANParser(dbc_file, signals, checks, 0)
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packer = CANPacker(dbc_file)
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# Make sure nothing is updated
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self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0)
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idx = 0
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for _ in range(10):
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# Ensure CANParser holds the values of any duplicate messages over multiple frames
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user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
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half_idx = len(user_brake_vals) // 2
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can_msgs = [[], []]
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for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
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for user_brake in brake_vals:
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values = {"USER_BRAKE": user_brake}
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can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values, idx))
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idx += 1
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can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs]
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parser.update_strings(can_strings)
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vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
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self.assertEqual(vl_all, user_brake_vals)
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if len(user_brake_vals):
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self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])
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if __name__ == "__main__":
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unittest.main()
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