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Apply unsafe allow gas mode to all cars. (#480) 

Apply unsafe iso accel/decel limit to toyota.
master
eFini 2020-04-07 01:56:36 +10:00 committed by GitHub
parent 0c2c149490
commit 4e98bbe8c9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
15 changed files with 275 additions and 24 deletions
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4
board/safety/safety_chrysler.h
View File

@ -74,6 +74,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -107,7 +109,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 308) {
bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

9
board/safety/safety_ford.h
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@ -13,6 +13,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
int bus = GET_BUS(to_push);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (addr == 0x217) {
// wheel speeds are 14 bits every 16
@ -47,7 +48,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@ -72,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
int pedal_pressed = brake_pressed_prev && ford_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
if (relay_malfunction) {

10
board/safety/safety_gm.h
View File

@ -44,6 +44,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -91,7 +93,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 417) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@ -138,7 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
int pedal_pressed = brake_pressed_prev && gm_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !pedal_pressed;
// BRAKE: safety check

15
board/safety/safety_honda.h
View File

@ -72,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
honda_get_checksum, honda_compute_checksum, honda_get_counter);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@ -121,7 +123,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 0;
}
@ -132,13 +134,13 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
}
// disable stock Honda AEB in unsafe mode
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
if ((bus == 2) && (addr == 0x1FA)) {
@ -196,8 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(brake_pressed_prev && honda_moving);
int pedal_pressed = brake_pressed_prev && honda_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check

4
board/safety/safety_hyundai.h
View File

@ -30,6 +30,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && GET_BUS(to_push) == 0) {
int addr = GET_ADDR(to_push);
@ -55,7 +57,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 608) {
bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

4
board/safety/safety_nissan.h
View File

@ -36,6 +36,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
@ -68,7 +70,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gas_pressed = GET_BYTE(to_push, 0) > 3;
}
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

4
board/safety/safety_subaru.h
View File

@ -67,6 +67,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
NULL, NULL, NULL);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
if (((addr == 0x119) && subaru_global) ||
@ -116,7 +118,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
((addr == 0x140) && !subaru_global)) {
int byte = subaru_global ? 4 : 0;
bool gas_pressed = GET_BYTE(to_push, byte) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

16
board/safety/safety_toyota.h
View File

@ -14,7 +14,10 @@ const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // -3.0 m/s2
const int TOYOTA_ISO_MAX_ACCEL = 2000; // 2.0 m/s2
const int TOYOTA_ISO_MIN_ACCEL = -3500; // -3.5 m/s2
const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475; // ratio between offset and gain from dbc file
@ -63,6 +66,8 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
toyota_get_checksum, toyota_compute_checksum, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@ -121,7 +126,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
controls_allowed = 0;
}
@ -131,7 +136,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@ -180,7 +185,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
}
bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
if (violation) {
tx = 0;
}

10
tests/safety/test_chrysler.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
@ -149,6 +149,14 @@ class TestChryslerSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, 0)

63
tests/safety/test_gm.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@ -126,6 +126,14 @@ class TestGmSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(False))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(True))
self.safety.set_controls_allowed(1)
@ -252,6 +260,59 @@ class TestGmSafety(unittest.TestCase):
# assume len 8
self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas']:
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
self.safety.set_controls_allowed(1)
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._torque_msg(0))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
for pedal in ['brake', 'gas']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
allow_ctrl = False
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
allow_ctrl = True
self.safety.set_controls_allowed(1)
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._torque_msg(0))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
if __name__ == "__main__":
unittest.main()

94
tests/safety/test_honda.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_BRAKE = 255
@ -189,6 +189,14 @@ class TestHondaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(1))
self.safety.set_controls_allowed(1)
@ -205,6 +213,17 @@ class TestHondaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_controls_allowed(False)
def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
@ -335,6 +354,79 @@ class TestHondaSafety(unittest.TestCase):
self.safety.set_honda_fwd_brake(False)
def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas', 'interceptor']:
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
for pedal in ['brake', 'gas', 'interceptor']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
allow_ctrl = False
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
allow_ctrl = True
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
allow_ctrl = True
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
class TestHondaBoschGiraffeSafety(TestHondaSafety):
@classmethod

10
tests/safety/test_hyundai.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
@ -114,6 +114,14 @@ class TestHyundaiSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)

10
tests/safety/test_nissan.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
@ -154,6 +154,14 @@ class TestNissanSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._send_gas_cmd(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_acc_buttons(self):
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x2)) # Cancel button

10
tests/safety/test_subaru.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
@ -155,6 +155,14 @@ class TestSubaruSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
if (self.safety.get_subaru_global()):
StdTest.test_allow_brake_at_zero_speed(self)

36
tests/safety/test_toyota.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
@ -12,6 +12,9 @@ MAX_TORQUE = 1500
MAX_ACCEL = 1500
MIN_ACCEL = -3000
ISO_MAX_ACCEL = 2000
ISO_MIN_ACCEL = -3500
MAX_RT_DELTA = 375
RT_INTERVAL = 250000
@ -154,6 +157,14 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._send_gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.safety.set_controls_allowed(True)
@ -172,6 +183,17 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_controls_allowed(False)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)
@ -194,6 +216,18 @@ class TestToyotaSafety(unittest.TestCase):
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
def test_unsafe_iso_accel_actuation_limits(self):
for accel in np.arange(ISO_MIN_ACCEL - 1000, ISO_MAX_ACCEL + 1000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_unsafe_mode(UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)
if controls_allowed:
send = ISO_MIN_ACCEL <= accel <= ISO_MAX_ACCEL
else:
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_torque_absolute_limits(self):
for controls_allowed in [True, False]:
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):