Add openpilot tests

selfdrive/car/tests/test_fingerprints.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+import os
+import sys
+
+from openpilot.common.basedir import BASEDIR
+
+# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
+# (addr, len)
+CAN_IGNITION_MSGS = {
+  'gm': [(0x1F1, 8), (0x160, 5)],
+  #'tesla' : [(0x348, 8)],
+}
+
+def _get_fingerprints():
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car names that which we have a fingerprint dict for
+  # - values are dicts of fingeprints for each trim
+  fingerprints = {}
+  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
+    car_name = car_folder.split('/')[-1]
+    try:
+      fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS
+    except (ImportError, OSError, AttributeError):
+      pass
+
+  return fingerprints
+
+
+def check_fingerprint_consistency(f1, f2):
+  # return false if it finds a fingerprint fully included in another
+  # max message worth checking is 1800, as above that they usually come too infrequently and not
+  # usable for fingerprinting
+
+  max_msg = 1800
+
+  is_f1_in_f2 = True
+  for k in f1:
+    if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
+      is_f1_in_f2 = False
+
+  is_f2_in_f1 = True
+  for k in f2:
+    if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
+      is_f2_in_f1 = False
+
+  return not is_f1_in_f2 and not is_f2_in_f1
+
+
+def check_can_ignition_conflicts(fingerprints, brands):
+  # loops through all the fingerprints and exits if CAN ignition dedicated messages
+  # are found in unexpected fingerprints
+
+  for brand_can, msgs_can in CAN_IGNITION_MSGS.items():
+    for i, f in enumerate(fingerprints):
+      for msg_can in msgs_can:
+        if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]:
+          print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i]))
+          print("TEST FAILED")
+          sys.exit(1)
+
+
+
+if __name__ == "__main__":
+  fingerprints = _get_fingerprints()
+
+  fingerprints_flat: list[dict] = []
+  car_names = []
+  brand_names = []
+  for brand in fingerprints:
+    for car in fingerprints[brand]:
+      fingerprints_flat += fingerprints[brand][car]
+      for _ in range(len(fingerprints[brand][car])):
+        car_names.append(car)
+        brand_names.append(brand)
+
+  # first check if CAN ignition specific messages are unexpectedly included in other fingerprints
+  check_can_ignition_conflicts(fingerprints_flat, brand_names)
+
+  valid = True
+  for idx1, f1 in enumerate(fingerprints_flat):
+    for idx2, f2 in enumerate(fingerprints_flat):
+      if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
+        valid = False
+        print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}")
+        print("")
+        print(', '.join("%d: %d" % v for v in sorted(f1.items())))
+        print("")
+        print(', '.join("%d: %d" % v for v in sorted(f2.items())))
+        print("")
+
+  print(f"Found {len(fingerprints_flat)} individual fingerprints")
+  if not valid or len(fingerprints_flat) == 0:
+    print("TEST FAILED")
+    sys.exit(1)
+  else:
+    print("TEST SUCCESSFUL")