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 |
|---|---|---|---|
| selfdrive/locationd/test/test_locationd.py |
unit
|
python | This Python unit test verifies locationd process functionality, GPS message handling, and sensor data integration in openpilot. |
| selfdrive/locationd/test/test_locationd_scenarios.py |
unit
|
python | This Python unit test verifies locationd sensor processing and Kalman filter stability in OpenPilot’s autonomous driving system. |
| selfdrive/modeld/tests/snpe_benchmark/benchmark.cc |
unit
|
cpp | This C++ performance test verifies SNPE model execution speed and reliability across different runtime processors in the OpenPilot system. |
| selfdrive/modeld/tests/test_modeld.py |
unit
|
python | This Python unit test verifies the modeld process functionality including frame processing, timestamps, and frame dropping scenarios in the openpilot system. |
| selfdrive/monitoring/test_monitoring.py |
unit
|
python | This Python unit test verifies OpenPilot’s driver monitoring system behavior across various attention states and vehicle conditions. |
| selfdrive/pandad/tests/test_pandad.py |
unit
|
python | This pytest unit test verifies Panda device initialization, recovery, and protocol compatibility in the OpenPilot system. |
| selfdrive/pandad/tests/test_pandad_loopback.py |
unit
|
python | This pytest unit test verifies CAN bus message loopback functionality between multiple panda devices in the OpenPilot system. |
| selfdrive/pandad/tests/test_pandad_spi.py |
unit
|
python | This pytest unit test verifies SPI communication integrity and CAN message handling between the Openpilot system and panda device. |
| selfdrive/pandad/tests/test_pandad_usbprotocol.cc |
unit
|
cpp | This C++ unit test verifies USB protocol implementation for CAN communication in Panda devices, including both CAN 2.0 and CAN FD protocols. |
| selfdrive/selfdrived/tests/test_alertmanager.py |
unit
|
python | This Python unit test verifies alert duration handling and state management in the OpenPilot AlertManager component. |