#!/usr/bin/env python3
import unittest
import random
import cereal.messaging as messaging
from opendbc.can.parser import CANParser
from opendbc.can.packer import CANPacker
from opendbc.can.tests import TEST_DBC
MAX_BAD_COUNTER = 5
# Python implementation so we don't have to depend on boardd
[docs]
def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
dat = messaging.new_message(msgtype, len(can_msgs))
if logMonoTime is not None:
dat.logMonoTime = logMonoTime
for i, can_msg in enumerate(can_msgs):
if msgtype == 'sendcan':
cc = dat.sendcan[i]
else:
cc = dat.can[i]
cc.address = can_msg[0]
cc.busTime = can_msg[1]
cc.dat = bytes(can_msg[2])
cc.src = can_msg[3]
return dat.to_bytes()
[docs]
class TestCanParserPacker(unittest.TestCase):
[docs]
def test_packer(self):
packer = CANPacker(TEST_DBC)
for b in range(6):
for i in range(256):
values = {"COUNTER": i}
addr, _, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values)
self.assertEqual(addr, 245)
self.assertEqual(bus, b)
self.assertEqual(dat[0], i)
[docs]
def test_packer_counter(self):
msgs = [("CAN_FD_MESSAGE", 0), ]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
# packer should increment the counter
for i in range(1000):
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
dat = can_list_to_can_capnp([msg, ])
parser.update_strings([dat])
self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], i % 256)
# setting COUNTER should override
for _ in range(100):
cnt = random.randint(0, 255)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
"COUNTER": cnt,
})
dat = can_list_to_can_capnp([msg, ])
parser.update_strings([dat])
self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], cnt)
# then, should resume counting from the override value
cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"]
for i in range(100):
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
dat = can_list_to_can_capnp([msg, ])
parser.update_strings([dat])
self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], (cnt + i) % 256)
[docs]
def test_parser_can_valid(self):
msgs = [("CAN_FD_MESSAGE", 10), ]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
# shouldn't be valid initially
self.assertFalse(parser.can_valid)
# not valid until the message is seen
for _ in range(100):
dat = can_list_to_can_capnp([])
parser.update_strings([dat])
self.assertFalse(parser.can_valid)
# valid once seen
for i in range(1, 100):
t = int(0.01 * i * 1e9)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
dat = can_list_to_can_capnp([msg, ], logMonoTime=t)
parser.update_strings([dat])
self.assertTrue(parser.can_valid)
[docs]
def test_parser_counter_can_valid(self):
"""
Tests number of allowed bad counters + ensures CAN stays invalid
while receiving invalid messages + that we can recover
"""
msgs = [
("STEERING_CONTROL", 0),
]
packer = CANPacker("honda_civic_touring_2016_can_generated")
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
bts = can_list_to_can_capnp([msg])
# bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
for idx in range(0x1000):
parser.update_strings([bts])
self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid)
# one to recover
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
bts = can_list_to_can_capnp([msg])
parser.update_strings([bts])
self.assertTrue(parser.can_valid)
[docs]
def test_parser_no_partial_update(self):
"""
Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
Previously, the signal update loop would only break once it got to one of these invalid signals,
after already updating most/all of the signals.
"""
msgs = [
("STEERING_CONTROL", 0),
]
packer = CANPacker("honda_civic_touring_2016_can_generated")
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
def rx_steering_msg(values, bad_checksum=False):
msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
if bad_checksum:
# add 1 to checksum
msg[2] = bytearray(msg[2])
msg[2][4] = (msg[2][4] & 0xF0) | ((msg[2][4] & 0x0F) + 1)
bts = can_list_to_can_capnp([msg])
parser.update_strings([bts])
rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [100])
for _ in range(5):
rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [])
# Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 300)
self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [300])
[docs]
def test_packer_parser(self):
msgs = [
("Brake_Status", 0),
("CAN_FD_MESSAGE", 0),
("STEERING_CONTROL", 0),
]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
for steer in range(-256, 255):
for active in (1, 0):
values = {
"STEERING_CONTROL": {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
},
"Brake_Status": {
"Signal1": 61042322657536.0,
},
"CAN_FD_MESSAGE": {
"SIGNED": steer,
"64_BIT_LE": random.randint(0, 100),
"64_BIT_BE": random.randint(0, 100),
},
}
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
bts = can_list_to_can_capnp(msgs)
parser.update_strings([bts])
for k, v in values.items():
for key, val in v.items():
self.assertAlmostEqual(parser.vl[k][key], val)
# also check address
for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig])
[docs]
def test_scale_offset(self):
"""Test that both scale and offset are correctly preserved"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [("VSA_STATUS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
for brake in range(100):
values = {"USER_BRAKE": brake}
msgs = packer.make_can_msg("VSA_STATUS", 0, values)
bts = can_list_to_can_capnp([msgs])
parser.update_strings([bts])
self.assertAlmostEqual(parser.vl["VSA_STATUS"]["USER_BRAKE"], brake)
[docs]
def test_subaru(self):
# Subaru is little endian
dbc_file = "subaru_global_2017_generated"
msgs = [("ES_LKAS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
idx = 0
for steer in range(-256, 255):
for active in [1, 0]:
values = {
"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_strings([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
[docs]
def test_bus_timeout(self):
"""Test CAN bus timeout detection"""
dbc_file = "honda_civic_touring_2016_can_generated"
freq = 100
msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
i = 0
def send_msg(blank=False):
nonlocal i
i += 1
t = i*((1 / freq) * 1e9)
if blank:
msgs = []
else:
msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
can = can_list_to_can_capnp(msgs, logMonoTime=t)
parser.update_strings([can, ])
# all good, no timeout
for _ in range(1000):
send_msg()
self.assertFalse(parser.bus_timeout, str(_))
# timeout after 10 blank msgs
for n in range(200):
send_msg(blank=True)
self.assertEqual(n >= 10, parser.bus_timeout)
# no timeout immediately after seen again
send_msg()
self.assertFalse(parser.bus_timeout)
[docs]
def test_updated(self):
"""Test updated value dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [("VSA_STATUS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
# Make sure nothing is updated
self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0)
idx = 0
for _ in range(10):
# Ensure CANParser holds the values of any duplicate messages over multiple frames
user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
half_idx = len(user_brake_vals) // 2
can_msgs = [[], []]
for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
for user_brake in brake_vals:
values = {"USER_BRAKE": user_brake}
can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values))
idx += 1
can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs]
parser.update_strings(can_strings)
vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
self.assertEqual(vl_all, user_brake_vals)
if len(user_brake_vals):
self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])
[docs]
def test_timestamp_nanos(self):
"""Test message timestamp dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [
("VSA_STATUS", 50),
("POWERTRAIN_DATA", 100),
]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
# Check the default timestamp is zero
for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
ts_nanos = parser.ts_nanos[msg].values()
self.assertEqual(set(ts_nanos), {0})
# Check:
# - timestamp is only updated for correct messages
# - timestamp is correct for multiple runs
# - timestamp is from the latest message if updating multiple strings
for _ in range(10):
can_strings = []
log_mono_time = 0
for i in range(10):
log_mono_time = int(0.01 * i * 1e+9)
can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
can_strings.append(can_list_to_can_capnp([can_msg], logMonoTime=log_mono_time))
parser.update_strings(can_strings)
ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
self.assertEqual(set(ts_nanos), {log_mono_time})
ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
self.assertEqual(set(ts_nanos), {0})
[docs]
def test_nonexistent_messages(self):
# Ensure we don't allow messages not in the DBC
existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245)
for msg in existing_messages:
CANParser(TEST_DBC, [(msg, 0)])
with self.assertRaises(RuntimeError):
new_msg = msg + "1" if isinstance(msg, str) else msg + 1
CANParser(TEST_DBC, [(new_msg, 0)])
[docs]
def test_track_all_signals(self):
parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)])
self.assertEqual(parser.vl["ACC_CONTROL"], {
"ACCEL_CMD": 0,
"ALLOW_LONG_PRESS": 0,
"ACC_MALFUNCTION": 0,
"RADAR_DIRTY": 0,
"DISTANCE": 0,
"MINI_CAR": 0,
"ACC_TYPE": 0,
"CANCEL_REQ": 0,
"ACC_CUT_IN": 0,
"LEAD_VEHICLE_STOPPED": 0,
"PERMIT_BRAKING": 0,
"RELEASE_STANDSTILL": 0,
"ITS_CONNECT_LEAD": 0,
"ACCEL_CMD_ALT": 0,
"CHECKSUM": 0,
})
[docs]
def test_disallow_duplicate_messages(self):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)])
with self.assertRaises(RuntimeError):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)])
with self.assertRaises(RuntimeError):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)])
if __name__ == "__main__":
unittest.main()