wip

selfdrive/test/process_replay/test_fuzzy.py

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+#!/usr/bin/env python3
+import copy
+from hypothesis import given, HealthCheck, Phase, settings
+import hypothesis.strategies as st
+from parameterized import parameterized
+import unittest
+
+from cereal import log
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
+import openpilot.selfdrive.test.process_replay.process_replay as pr
+
+# These processes currently fail because of unrealistic data breaking assumptions
+# that openpilot makes causing error with NaN, inf, int size, array indexing ...
+# TODO: Make each one testable
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
+
+TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
+
+class TestFuzzProcesses(unittest.TestCase):
+
+  # TODO: make this faster and increase examples
+  @parameterized.expand(TEST_CASES)
+  @given(st.data())
+  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  def test_fuzz_process(self, proc_name, cfg, data):
+    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
+    cfg.timeout = 5
+    pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
+
+if __name__ == "__main__":
+  unittest.main()