move some car tests

opendbc/car/test_can_fingerprint.py

@@ -0,0 +1,56 @@
+from parameterized import parameterized
+
+from openpilot.selfdrive.car.can_definitions import CanData
+from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
+from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+
+
+class TestCanFingerprint:
+  @parameterized.expand(list(FINGERPRINTS.items()))
+  def test_can_fingerprint(self, car_model, fingerprints):
+    """Tests online fingerprinting function on offline fingerprints"""
+
+    for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
+      can = [CanData(address=address, dat=b'\x00' * length, src=src)
+             for address, length in fingerprint.items() for src in (0, 1)]
+
+      fingerprint_iter = iter([can])
+      car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
+
+      assert car_fingerprint == car_model
+      assert finger[0] == fingerprint
+      assert finger[1] == fingerprint
+      assert finger[2] == {}
+
+  def test_timing(self, subtests):
+    # just pick any CAN fingerprinting car
+    car_model = "CHEVROLET_BOLT_EUV"
+    fingerprint = FINGERPRINTS[car_model][0]
+
+    cases = []
+
+    # case 1 - one match, make sure we keep going for 100 frames
+    can = [CanData(address=address, dat=b'\x00' * length, src=src)
+           for address, length in fingerprint.items() for src in (0, 1)]
+    cases.append((FRAME_FINGERPRINT, car_model, can))
+
+    # case 2 - no matches, make sure we keep going for 100 frames
+    can = [CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
+    cases.append((FRAME_FINGERPRINT, None, can))
+
+    # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
+    can = [CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
+    cases.append((FRAME_FINGERPRINT * 2, None, can))
+
+    for expected_frames, car_model, can in cases:
+      with subtests.test(expected_frames=expected_frames, car_model=car_model):
+        frames = 0
+
+        def can_recv(**kwargs):
+          nonlocal frames
+          frames += 1
+          return [can]  # noqa: B023
+
+        car_fingerprint, _ = can_fingerprint(can_recv)
+        assert car_fingerprint == car_model
+        assert frames == expected_frames + 2  # TODO: fix extra frames

opendbc/car/test_docs.py

@@ -0,0 +1,74 @@
+from collections import defaultdict
+import pytest
+import re
+
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.docs import get_all_car_docs
+from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.values import PLATFORMS
+
+
+class TestCarDocs:
+  @classmethod
+  def setup_class(cls):
+    cls.all_cars = get_all_car_docs()
+
+  def test_duplicate_years(self, subtests):
+    make_model_years = defaultdict(list)
+    for car in self.all_cars:
+      with subtests.test(car_docs_name=car.name):
+        make_model = (car.make, car.model)
+        for year in car.year_list:
+          assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year"
+          make_model_years[make_model].append(year)
+
+  def test_missing_car_docs(self, subtests):
+    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
+    for platform in sorted(interfaces.keys()):
+      with subtests.test(platform=platform):
+        assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry"
+
+  def test_naming_conventions(self, subtests):
+    # Asserts market-standard car naming conventions by brand
+    for car in self.all_cars:
+      with subtests.test(car=car.name):
+        tokens = car.model.lower().split(" ")
+        if car.car_name == "hyundai":
+          assert "phev" not in tokens, "Use `Plug-in Hybrid`"
+          assert "hev" not in tokens, "Use `Hybrid`"
+          if "plug-in hybrid" in car.model.lower():
+            assert "Plug-in Hybrid" in car.model, "Use correct capitalization"
+          if car.make != "Kia":
+            assert "ev" not in tokens, "Use `Electric`"
+        elif car.car_name == "toyota":
+          if "rav4" in tokens:
+            assert "RAV4" in car.model, "Use correct capitalization"
+
+  def test_torque_star(self, subtests):
+    # Asserts brand-specific assumptions around steering torque star
+    for car in self.all_cars:
+      with subtests.test(car=car.name):
+        # honda sanity check, it's the definition of a no torque star
+        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
+          assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star"
+        elif car.car_name in ("toyota", "hyundai"):
+          assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star"
+
+  def test_year_format(self, subtests):
+    for car in self.all_cars:
+      with subtests.test(car=car.name):
+        assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}"
+
+  def test_harnesses(self, subtests):
+    for car in self.all_cars:
+      with subtests.test(car=car.name):
+        if car.name == "comma body":
+          pytest.skip()
+
+        car_part_type = [p.part_type for p in car.car_parts.all_parts()]
+        car_parts = list(car.car_parts.all_parts())
+        assert len(car_parts) > 0, f"Need to specify car parts: {car.name}"
+        assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}"
+        assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}"
+        assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}"