Add openpilot tests

panda/tests/safety_replay/replay_drive.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from collections import Counter
+
+from panda.tests.libpanda import libpanda_py
+from panda.tests.safety_replay.helpers import package_can_msg, init_segment
+
+# replay a drive to check for safety violations
+def replay_drive(lr, safety_mode, param, alternative_experience, segment=False):
+  safety = libpanda_py.libpanda
+
+  err = safety.set_safety_hooks(safety_mode, param)
+  assert err == 0, "invalid safety mode: %d" % safety_mode
+  safety.set_alternative_experience(alternative_experience)
+
+  if segment:
+    init_segment(safety, lr, safety_mode, param)
+    lr.reset()
+
+  rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0
+  safety_tick_rx_invalid = False
+  blocked_addrs = Counter()
+  invalid_addrs = set()
+
+  can_msgs = [m for m in lr if m.which() in ('can', 'sendcan')]
+  start_t = can_msgs[0].logMonoTime
+  end_t = can_msgs[-1].logMonoTime
+  for msg in can_msgs:
+    safety.set_timer((msg.logMonoTime // 1000) % 0xFFFFFFFF)
+
+    # skip start and end of route, warm up/down period
+    if msg.logMonoTime - start_t > 1e9 and end_t - msg.logMonoTime > 1e9:
+      safety.safety_tick_current_safety_config()
+      safety_tick_rx_invalid |= not safety.safety_config_valid() or safety_tick_rx_invalid
+
+    if msg.which() == 'sendcan':
+      for canmsg in msg.sendcan:
+        to_send = package_can_msg(canmsg)
+        sent = safety.safety_tx_hook(to_send)
+        if not sent:
+          tx_blocked += 1
+          tx_controls_blocked += safety.get_controls_allowed()
+          blocked_addrs[canmsg.address] += 1
+
+          if "DEBUG" in os.environ:
+            print("blocked bus %d msg %d at %f" % (canmsg.src, canmsg.address, (msg.logMonoTime - start_t) / 1e9))
+        tx_controls += safety.get_controls_allowed()
+        tx_tot += 1
+    elif msg.which() == 'can':
+      # ignore msgs we sent
+      for canmsg in filter(lambda m: m.src < 128, msg.can):
+        to_push = package_can_msg(canmsg)
+        recv = safety.safety_rx_hook(to_push)
+        if not recv:
+          rx_invalid += 1
+          invalid_addrs.add(canmsg.address)
+        rx_tot += 1
+
+  print("\nRX")
+  print("total rx msgs:", rx_tot)
+  print("invalid rx msgs:", rx_invalid)
+  print("safety tick rx invalid:", safety_tick_rx_invalid)
+  print("invalid addrs:", invalid_addrs)
+  print("\nTX")
+  print("total openpilot msgs:", tx_tot)
+  print("total msgs with controls allowed:", tx_controls)
+  print("blocked msgs:", tx_blocked)
+  print("blocked with controls allowed:", tx_controls_blocked)
+  print("blocked addrs:", blocked_addrs)
+
+  return tx_controls_blocked == 0 and rx_invalid == 0 and not safety_tick_rx_invalid
+
+if __name__ == "__main__":
+  from openpilot.tools.lib.logreader import LogReader
+
+  parser = argparse.ArgumentParser(description="Replay CAN messages from a route or segment through a safety mode",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route_or_segment_name", nargs='+')
+  parser.add_argument("--mode", type=int, help="Override the safety mode from the log")
+  parser.add_argument("--param", type=int, help="Override the safety param from the log")
+  parser.add_argument("--alternative-experience", type=int, help="Override the alternative experience from the log")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route_or_segment_name[0])
+
+  if None in (args.mode, args.param, args.alternative_experience):
+    for msg in lr:
+      if msg.which() == 'carParams':
+        if args.mode is None:
+          args.mode = msg.carParams.safetyConfigs[-1].safetyModel.raw
+        if args.param is None:
+          args.param = msg.carParams.safetyConfigs[-1].safetyParam
+        if args.alternative_experience is None:
+          args.alternative_experience = msg.carParams.alternativeExperience
+        break
+    else:
+      raise Exception("carParams not found in log. Set safety mode and param manually.")
+
+    lr.reset()
+
+  print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}")
+  replay_drive(lr, args.mode, args.param, args.alternative_experience, segment=len(lr.logreader_identifiers) == 1)