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remove abunch of lines from safety regression tests by using common make_msg function

master
Riccardo 2019-11-19 11:29:04 -08:00
parent fb81414305
commit 4f9c879696
9 changed files with 50 additions and 139 deletions
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4
tests/safety/common.py
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@ -1,13 +1,13 @@
from panda.tests.safety import libpandasafety_py
def make_msg(bus, addr, length):
def make_msg(bus, addr, length=8):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
if addr >= 0x800:
to_send[0].RIR = (addr << 3) | 5
else:
to_send[0].RIR = (addr << 21) | 1
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
to_send[0].RDTR |= bus << 4
return to_send

20
tests/safety/test_cadillac.py
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@ -44,18 +44,13 @@ class TestCadillacSafety(unittest.TestCase):
self.safety.set_cadillac_rt_torque_last(t)
def _torque_driver_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x164 << 21
t = twos_comp(torque, 11)
to_send = make_msg(0, 0x164)
to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x151 << 21
to_send[0].RDTR = 2 << 4
to_send = make_msg(2, 0x151)
t = twos_comp(torque, 14)
to_send[0].RDLR = ((t >> 8) & 0x3F) | ((t & 0xFF) << 8)
return to_send
@ -70,20 +65,13 @@ class TestCadillacSafety(unittest.TestCase):
test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x370 << 21
to_push = make_msg(0, 0x370)
to_push[0].RDLR = 0x800000
to_push[0].RDTR = 0
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x370 << 21
to_push[0].RDLR = 0
to_push[0].RDTR = 0
to_push = make_msg(0, 0x370)
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(to_push)
self.assertFalse(self.safety.get_controls_allowed())

15
tests/safety/test_chrysler.py
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@ -24,8 +24,7 @@ class TestChryslerSafety(unittest.TestCase):
cls.safety.init_tests_chrysler()
def _button_msg(self, buttons):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 571 << 21
to_send = make_msg(0, 571)
to_send[0].RDLR = buttons
return to_send
@ -35,14 +34,12 @@ class TestChryslerSafety(unittest.TestCase):
self.safety.set_chrysler_torque_meas(t, t)
def _torque_meas_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 544 << 21
to_send = make_msg(0, 544)
to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x292 << 21
to_send = make_msg(0, 0x292)
to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
return to_send
@ -69,16 +66,14 @@ class TestChryslerSafety(unittest.TestCase):
test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x1f4 << 21
to_push = make_msg(0, 0x1F4)
to_push[0].RDLR = 0x380000
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x1f4 << 21
to_push = make_msg(0, 0x1F4)
to_push[0].RDLR = 0
self.safety.set_controls_allowed(1)

27
tests/safety/test_gm.py
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@ -43,40 +43,33 @@ class TestGmSafety(unittest.TestCase):
cls.safety.init_tests_gm()
def _speed_msg(self, speed):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 842 << 21
to_send = make_msg(0, 842)
to_send[0].RDLR = speed
return to_send
def _button_msg(self, buttons):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 481 << 21
to_send = make_msg(0, 481)
to_send[0].RDHR = buttons << 12
return to_send
def _brake_msg(self, brake):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 241 << 21
to_send = make_msg(0, 241)
to_send[0].RDLR = 0xa00 if brake else 0x900
return to_send
def _gas_msg(self, gas):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 417 << 21
to_send = make_msg(0, 417)
to_send[0].RDHR = (1 << 16) if gas else 0
return to_send
def _send_brake_msg(self, brake):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 789 << 21
to_send[0].RDTR = 2 << 4
to_send = make_msg(2, 789)
brake = (-brake) & 0xfff
to_send[0].RDLR = (brake >> 8) | ((brake &0xff) << 8)
return to_send
def _send_gas_msg(self, gas):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 715 << 21
to_send = make_msg(0, 715)
to_send[0].RDLR = ((gas & 0x1f) << 27) | ((gas & 0xfe0) << 11)
return to_send
@ -85,18 +78,14 @@ class TestGmSafety(unittest.TestCase):
self.safety.set_gm_rt_torque_last(t)
def _torque_driver_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 388 << 21
t = twos_comp(torque, 11)
to_send = make_msg(0, 388)
to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 384 << 21
t = twos_comp(torque, 11)
to_send = make_msg(0, 384)
to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
return to_send

36
tests/safety/test_honda.py
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@ -18,66 +18,48 @@ class TestHondaSafety(unittest.TestCase):
cls.safety.init_tests_honda()
def _speed_msg(self, speed):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x158 << 21
to_send = make_msg(0, 0x158)
to_send[0].RDLR = speed
return to_send
def _button_msg(self, buttons, msg):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = msg << 21
to_send[0].RDLR = buttons << 5
has_relay = self.safety.board_has_relay()
honda_bosch_hardware = self.safety.get_honda_bosch_hardware()
bus = 1 if has_relay and honda_bosch_hardware else 0
to_send[0].RDTR = bus << 4
to_send = make_msg(bus, msg)
to_send[0].RDLR = buttons << 5
return to_send
def _brake_msg(self, brake):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x17C << 21
to_send = make_msg(0, 0x17C)
to_send[0].RDHR = 0x200000 if brake else 0
return to_send
def _alt_brake_msg(self, brake):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x1BE << 21
to_send = make_msg(0, 0x1BE)
to_send[0].RDLR = 0x10 if brake else 0
return to_send
def _gas_msg(self, gas):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x17C << 21
to_send = make_msg(0, 0x17C)
to_send[0].RDLR = 1 if gas else 0
return to_send
def _send_brake_msg(self, brake):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x1FA << 21
to_send = make_msg(0, 0x1FA)
to_send[0].RDLR = ((brake & 0x3) << 14) | ((brake & 0x3FF) >> 2)
return to_send
def _send_interceptor_msg(self, gas, addr):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = 6
to_send = make_msg(0, addr, 6)
gas2 = gas * 2
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send
def _send_steer_msg(self, steer):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0xE4 << 21
to_send = make_msg(0, 0xE4, 6)
to_send[0].RDLR = steer
return to_send
def test_spam_can_buses(self):

16
tests/safety/test_subaru.py
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@ -41,17 +41,13 @@ class TestSubaruSafety(unittest.TestCase):
self.safety.set_subaru_rt_torque_last(t)
def _torque_driver_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x119 << 21
t = twos_comp(torque, 11)
to_send = make_msg(0, 0x119)
to_send[0].RDLR = ((t & 0x7FF) << 16)
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x122 << 21
to_send = make_msg(0, 0x122)
t = twos_comp(torque, 13)
to_send[0].RDLR = (t << 16)
return to_send
@ -66,18 +62,14 @@ class TestSubaruSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_enable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x240 << 21
to_push = make_msg(0, 0x240)
to_push[0].RDHR = 1 << 9
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x240 << 21
to_push = make_msg(0, 0x240)
to_push[0].RDHR = 0
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(to_push)
self.assertFalse(self.safety.get_controls_allowed())

25
tests/safety/test_toyota.py
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@ -49,51 +49,38 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.set_toyota_torque_meas(t, t)
def _torque_meas_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x260 << 21
t = twos_comp(torque, 16)
to_send = make_msg(0, 0x260)
to_send[0].RDHR = t | ((t & 0xFF) << 16)
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x2E4 << 21
t = twos_comp(torque, 16)
to_send = make_msg(0, 0x2E4)
to_send[0].RDLR = t | ((t & 0xFF) << 16)
return to_send
def _accel_msg(self, accel):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x343 << 21
to_send = make_msg(0, 0x343)
a = twos_comp(accel, 16)
to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
return to_send
def _send_gas_msg(self, gas):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x2C1 << 21
to_send = make_msg(0, 0x2C1)
to_send[0].RDHR = (gas & 0xFF) << 16
return to_send
def _send_interceptor_msg(self, gas, addr):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = 6
gas2 = gas * 2
to_send = make_msg(0, addr, 6)
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send
def _pcm_cruise_msg(self, cruise_on):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x1D2 << 21
to_send = make_msg(0, 0x1D2)
to_send[0].RDLR = cruise_on << 5
return to_send
def test_spam_can_buses(self):

20
tests/safety/test_toyota_ipas.py
View File

@ -3,6 +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 make_msg
IPAS_OVERRIDE_THRESHOLD = 200
@ -30,9 +31,7 @@ class TestToyotaSafety(unittest.TestCase):
cls.safety.init_tests_toyota()
def _torque_driver_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x260 << 21
to_send = make_msg(0, 0x260)
t = twos_comp(torque, 16)
to_send[0].RDLR = t | ((t & 0xFF) << 16)
return to_send
@ -42,9 +41,7 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._torque_driver_msg(torque))
def _angle_meas_msg(self, angle):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x25 << 21
to_send = make_msg(0, 0x25)
t = twos_comp(angle, 12)
to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
return to_send
@ -54,17 +51,13 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._angle_meas_msg(angle))
def _ipas_state_msg(self, state):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x262 << 21
to_send = make_msg(0, 0x262)
to_send[0].RDLR = state & 0xF
return to_send
def _ipas_control_msg(self, angle, state):
# note: we command 2/3 of the angle due to CAN conversion
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x266 << 21
to_send = make_msg(0, 0x266)
t = twos_comp(angle, 12)
to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
to_send[0].RDLR |= ((state & 0xf) << 4)
@ -72,8 +65,7 @@ class TestToyotaSafety(unittest.TestCase):
return to_send
def _speed_msg(self, speed):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0xb4 << 21
to_send = make_msg(0, 0xB4)
speed = int(speed * 100 * 3.6)
to_send[0].RDHR = ((speed & 0xFF) << 16) | (speed & 0xFF00)

26
tests/safety/test_volkswagen.py
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@ -35,9 +35,7 @@ class TestVolkswagenSafety(unittest.TestCase):
self.safety.set_volkswagen_rt_torque_last(t)
def _torque_driver_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x9F << 21
to_send = make_msg(0, 0x9F)
t = abs(torque)
to_send[0].RDHR = ((t & 0x1FFF) << 8)
if torque < 0:
@ -45,9 +43,7 @@ class TestVolkswagenSafety(unittest.TestCase):
return to_send
def _torque_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x126 << 21
to_send = make_msg(0, 0x126)
t = abs(torque)
to_send[0].RDLR = (t & 0xFFF) << 16
if torque < 0:
@ -55,18 +51,13 @@ class TestVolkswagenSafety(unittest.TestCase):
return to_send
def _gas_msg(self, gas):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x121 << 21
to_send = make_msg(0, 0x121)
to_send[0].RDLR = (gas & 0xFF) << 12
return to_send
def _button_msg(self, bit):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x12B << 21
to_send = make_msg(2, 0x12B)
to_send[0].RDLR = 1 << bit
to_send[0].RDTR = 2 << 4
return to_send
def test_spam_can_buses(self):
@ -84,18 +75,13 @@ class TestVolkswagenSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_enable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x122 << 21
to_push = make_msg(0, 0x122)
to_push[0].RDHR = 0x30000000
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_push[0].RIR = 0x122 << 21
to_push[0].RDHR = 0
to_push = make_msg(0, 0x122)
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(to_push)
self.assertFalse(self.safety.get_controls_allowed())