diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py index 7ed0d5c..4ca8ae7 100644 --- a/tests/safety/test_gm.py +++ b/tests/safety/test_gm.py @@ -3,7 +3,8 @@ 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, UNSAFE_MODE +import panda.tests.safety.common as common +from panda.tests.safety.common import CANPackerPanda, UNSAFE_MODE MAX_RATE_UP = 7 MAX_RATE_DOWN = 17 @@ -15,88 +16,67 @@ MAX_REGEN = 1404 MAX_RT_DELTA = 128 RT_INTERVAL = 250000 -DRIVER_TORQUE_ALLOWANCE = 50; -DRIVER_TORQUE_FACTOR = 4; +DRIVER_TORQUE_ALLOWANCE = 50 +DRIVER_TORQUE_FACTOR = 4 -TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0], # pt bus - [161, 1], [774, 1], [776, 1], [784, 1], # obs bus - [789, 2], # ch bus - [0x104c006c, 3], [0x10400060]] # gmlan +class TestGmSafety(common.PandaSafetyTest): + TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0], # pt bus + [161, 1], [774, 1], [776, 1], [784, 1], # obs bus + [789, 2], # ch bus + [0x104c006c, 3], [0x10400060]] # gmlan + STANDSTILL_THRESHOLD = 0 + RELAY_MALFUNCTION_ADDR = 384 + RELAY_MALFUNCTION_BUS = 0 + FWD_BLACKLISTED_ADDRS = {} + FWD_BUS_LOOKUP = {} -def twos_comp(val, bits): - if val >= 0: - return val - else: - return (2**bits) + val + def setUp(self): + self.packer = CANPackerPanda("gm_global_a_powertrain") + self.packer_chassis = CANPackerPanda("gm_global_a_chassis") + self.safety = libpandasafety_py.libpandasafety + self.safety.set_safety_hooks(Panda.SAFETY_GM, 0) + self.safety.init_tests_gm() -def sign(a): - if a > 0: - return 1 - else: - return -1 - -class TestGmSafety(unittest.TestCase): - @classmethod - def setUp(cls): - cls.safety = libpandasafety_py.libpandasafety - cls.safety.set_safety_hooks(Panda.SAFETY_GM, 0) - cls.safety.init_tests_gm() + # override these tests from PandaSafetyTest, GM uses button enable + def test_disable_control_allowed_from_cruise(self): pass + def test_enable_control_allowed_from_cruise(self): pass def _speed_msg(self, speed): - to_send = make_msg(0, 842) - to_send[0].RDLR = speed - return to_send + values = {"%sWheelSpd"%s: speed for s in ["RL", "RR"]} + return self.packer.make_can_msg_panda("EBCMWheelSpdRear", 0, values) def _button_msg(self, buttons): - to_send = make_msg(0, 481) - to_send[0].RDHR = buttons << 12 - return to_send + values = {"ACCButtons": buttons} + return self.packer.make_can_msg_panda("ASCMSteeringButton", 0, values) def _brake_msg(self, brake): - to_send = make_msg(0, 241) - to_send[0].RDLR = 0xa00 if brake else 0x900 - return to_send + # GM safety has a brake threshold of 10 + values = {"BrakePedalPosition": 10 if brake else 0} + return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values) def _gas_msg(self, gas): - to_send = make_msg(0, 417) - to_send[0].RDHR = (1 << 16) if gas else 0 - return to_send + values = {"AcceleratorPedal": 1 if gas else 0} + return self.packer.make_can_msg_panda("AcceleratorPedal", 0, values) def _send_brake_msg(self, brake): - to_send = make_msg(2, 789) - brake = (-brake) & 0xfff - to_send[0].RDLR = (brake >> 8) | ((brake &0xff) << 8) - return to_send + values = {"FrictionBrakeCmd": -brake} + return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", 2, values) def _send_gas_msg(self, gas): - to_send = make_msg(0, 715) - to_send[0].RDLR = ((gas & 0x1f) << 27) | ((gas & 0xfe0) << 11) - return to_send + values = {"GasRegenCmd": gas} + return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values) def _set_prev_torque(self, t): self.safety.set_gm_desired_torque_last(t) self.safety.set_gm_rt_torque_last(t) def _torque_driver_msg(self, torque): - 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 + values = {"LKADriverAppldTrq": torque} + return self.packer.make_can_msg_panda("PSCMStatus", 0, values) def _torque_msg(self, torque): - t = twos_comp(torque, 11) - to_send = make_msg(0, 384) - to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8) - return to_send - - def test_spam_can_buses(self): - StdTest.test_spam_can_buses(self, TX_MSGS) - - def test_relay_malfunction(self): - StdTest.test_relay_malfunction(self, 384) - - def test_default_controls_not_allowed(self): - self.assertFalse(self.safety.get_controls_allowed()) + values = {"LKASteeringCmd": torque} + return self.packer.make_can_msg_panda("ASCMLKASteeringCmd", 0, values) def test_resume_button(self): RESUME_BTN = 2 @@ -116,31 +96,6 @@ class TestGmSafety(unittest.TestCase): self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN)) self.assertFalse(self.safety.get_controls_allowed()) - def test_brake_disengage(self): - StdTest.test_allow_brake_at_zero_speed(self) - StdTest.test_not_allow_brake_when_moving(self, 0) - - def test_disengage_on_gas(self): - self.safety.set_controls_allowed(1) - self.safety.safety_rx_hook(self._gas_msg(True)) - 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) - self.safety.safety_rx_hook(self._gas_msg(True)) - self.assertTrue(self.safety.get_controls_allowed()) - self.safety.safety_rx_hook(self._gas_msg(False)) - def test_brake_safety_check(self): for enabled in [0, 1]: for b in range(0, 500): @@ -169,9 +124,6 @@ class TestGmSafety(unittest.TestCase): else: self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t))) - def test_manually_enable_controls_allowed(self): - StdTest.test_manually_enable_controls_allowed(self) - def test_non_realtime_limit_up(self): self.safety.set_gm_torque_driver(0, 0) self.safety.set_controls_allowed(True) @@ -250,16 +202,6 @@ class TestGmSafety(unittest.TestCase): self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) - def test_fwd_hook(self): - # nothing allowed - buss = list(range(0x0, 0x3)) - msgs = list(range(0x1, 0x800)) - - for b in buss: - for m in msgs: - # 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':