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Add test for Subaru Brake_Status Signal1 large value #702

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merged 3 commits into from
Sep 8, 2022
Merged

Add test for Subaru Brake_Status Signal1 large value #702

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a327def
Add test for Subaru Brake_Status Signal1 large value
martinl Sep 4, 2022
98bbe8e
Merge branch 'master' of github.com:commaai/opendbc into test_subaru_…
adeebshihadeh Sep 8, 2022
7296fa9
fix
adeebshihadeh Sep 8, 2022
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fix
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@adeebshihadeh
adeebshihadeh committed Sep 8, 2022
commit 7296fa986a5e37efa8bf55cba37d8dfcc7f82a54
2 changes: 1 addition & 1 deletion can/parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1;
int size = msb - lsb + 1;

uint8_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
uint64_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
ret |= d << (bits - size);

bits -= size;
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9 changes: 9 additions & 0 deletions can/tests/test.dbc
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Expand Up @@ -9,6 +9,15 @@ BO_ 228 STEERING_CONTROL: 5 EON
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

BO_ 316 Brake_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX

BO_ 245 CAN_FD_MESSAGE: 32 XXX
SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX
SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX
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76 changes: 21 additions & 55 deletions can/tests/test_packer_parser.py
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Expand Up @@ -112,39 +112,41 @@ def test_packer_parser(self):
("STEER_TORQUE", "STEERING_CONTROL"),
("STEER_TORQUE_REQUEST", "STEERING_CONTROL"),

("Signal1", "Brake_Status"),

("COUNTER", "CAN_FD_MESSAGE"),
("64_BIT_LE", "CAN_FD_MESSAGE"),
("64_BIT_BE", "CAN_FD_MESSAGE"),
("SIGNED", "CAN_FD_MESSAGE"),
]
checks = [("STEERING_CONTROL", 0), ("CAN_FD_MESSAGE", 0)]

packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, signals, checks, 0)
parser = CANParser(TEST_DBC, signals, [], 0, enforce_checks=False)

for steer in range(-256, 255):
for active in (1, 0):
v1 = {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
}
m1 = packer.make_can_msg("STEERING_CONTROL", 0, v1)

v2 = {
"SIGNED": steer,
"64_BIT_LE": random.randint(0, 100),
"64_BIT_BE": random.randint(0, 100),
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),
},
}
m2 = packer.make_can_msg("CAN_FD_MESSAGE", 0, v2)

bts = can_list_to_can_capnp([m1, m2])
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
bts = can_list_to_can_capnp(msgs)
parser.update_string(bts)

for key, val in v1.items():
self.assertAlmostEqual(parser.vl["STEERING_CONTROL"][key], val)

for key, val in v2.items():
self.assertAlmostEqual(parser.vl["CAN_FD_MESSAGE"][key], val)
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"):
Expand Down Expand Up @@ -207,42 +209,6 @@ def test_subaru(self):
self.assertAlmostEqual(parser.vl["ES_LKAS"]["COUNTER"], idx % 16)
idx += 1

def test_subaru_large_value(self):
# Subaru is little endian

dbc_file = "subaru_global_2017_generated"

signals = [
("COUNTER", "Brake_Status"),
("Signal1", "Brake_Status"),
("Brake", "Brake_Status"),
("Signal2", "Brake_Status"),
("ES_Brake", "Brake_Status"),
("Signal3", "Brake_Status"),
]
checks = [("Brake_Status", 50)]

parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)

values = {
"Signal1": 57174604644354.0,
"Brake": 0,
"Signal2": 4.0,
"ES_Brake": 0,
"Signal3": 0.0
}

msgs = packer.make_can_msg("Brake_Status", 0, values)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)

self.assertAlmostEqual(parser.vl["Brake_Status"]["Signal1"], 57174604644354)
self.assertAlmostEqual(parser.vl["Brake_Status"]["Brake"], 0)
self.assertAlmostEqual(parser.vl["Brake_Status"]["Signal2"], 4)
self.assertAlmostEqual(parser.vl["Brake_Status"]["ES_Brake"], 0)
self.assertAlmostEqual(parser.vl["Brake_Status"]["Signal3"], 0)

def test_bus_timeout(self):
"""Test CAN bus timeout detection"""
dbc_file = "honda_civic_touring_2016_can_generated"
Expand Down