OpenPilot Testing: Autonomous Vehicle System Validation Framework
The openpilot testing framework implements a comprehensive approach to quality assurance, leveraging both unittest and pytest for robust unit testing. With 96 test cases covering critical components like LogReader, Tici amplifier controls, system updates, and the Athena daemon, openpilot's testing infrastructure ensures reliable functionality across its autonomous driving platform. The test suite emphasizes thorough validation of core features including file handling, hardware interactions, and network communications. Qodo Tests Hub provides developers with detailed insights into openpilot's testing patterns, offering an organized view of test implementations across different system components. Through interactive exploration of real test cases, developers can understand how openpilot handles complex scenarios like corrupt log files, hardware initialization, and remote procedure calls. This practical exposure to production-grade tests helps teams learn and adopt effective testing strategies for their own autonomous vehicle software projects.
| Path | Test Type | Language | Description |
|---|---|---|---|
| common/tests/test_util.cc |
unit
|
cpp | This C++ unit test suite verifies core utility functions for file operations and directory management in the OpenPilot system. |
| common/transformations/tests/test_coordinates.py |
unit
|
python | This Python unit test verifies coordinate system transformations between ECEF, NED, and geodetic coordinates in the OpenPilot system. |
| selfdrive/car/tests/test_car_interfaces.py |
unit
|
python | This Python unit test verifies car interface implementations and control systems across multiple vehicle models in the OpenPilot system. |
| selfdrive/car/tests/test_docs.py |
unit
|
python | This Python unit test verifies the generation and consistency of car compatibility documentation in the OpenPilot system. |
| selfdrive/car/tests/test_cruise_speed.py |
unit
|
python | This pytest unit test verifies cruise control speed behavior and initialization in the openpilot system. |
| selfdrive/car/tests/test_models.py |
unit
|
python | This pytest unit test suite verifies vehicle model implementations and safety systems in the openpilot platform through CAN message validation and state tracking. |
| selfdrive/controls/lib/tests/test_vehicle_model.py |
unit
|
python | This pytest unit test verifies vehicle dynamics calculations and state space modeling in the OpenPilot control system’s VehicleModel class. |
| selfdrive/controls/tests/test_following_distance.py |
unit
|
python | This pytest unit test verifies following distance calculations in OpenPilot’s longitudinal control system across different driving personalities and speeds. |
| selfdrive/controls/tests/test_lateral_mpc.py |
unit
|
python | This pytest unit test verifies the lateral control algorithms in OpenPilot’s Model Predictive Control system through symmetry and convergence validation. |
| selfdrive/debug/test_fw_query_on_routes.py |
unit
|
python | This Python unit test verifies firmware fingerprinting and matching functionality across different vehicle routes in the openpilot system. |