Safety Test Refactor: Volkswagen MQB (#493)
* pull test_volkswagen_mqb.py from safety-test-refactor * prev_brake is now a standard test * abstract cruise enable/disable tests * unused * move * hack to get around unittest reporting skipped testsmaster
Adeeb
GitHub
parent
f07a6ee7c5
commit
6c442b4c33
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@ -80,6 +80,10 @@ class PandaSafetyTest(unittest.TestCase):
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def _gas_msg(self, speed):
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pass
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@abc.abstractmethod
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def _pcm_status_msg(self, enable):
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pass
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# ***** standard tests for all safety modes *****
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def test_relay_malfunction(self):
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@ -119,9 +123,12 @@ class PandaSafetyTest(unittest.TestCase):
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.set_controls_allowed(0)
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self.assertFalse(self.safety.get_controls_allowed())
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def test_prev_gas(self):
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self.assertFalse(self.safety.get_gas_pressed_prev())
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for pressed in [True, False]:
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self._rx(self._gas_msg(not pressed))
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self.assertEqual(not pressed, self.safety.get_gas_pressed_prev())
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self._rx(self._gas_msg(pressed))
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self.assertEqual(pressed, self.safety.get_gas_pressed_prev())
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@ -146,6 +153,25 @@ class PandaSafetyTest(unittest.TestCase):
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self._rx(self._gas_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_prev_brake(self):
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self.assertFalse(self.safety.get_brake_pressed_prev())
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for pressed in [True, False]:
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self._rx(self._brake_msg(not pressed))
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self.assertEqual(not pressed, self.safety.get_brake_pressed_prev())
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self._rx(self._brake_msg(pressed))
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self.assertEqual(pressed, self.safety.get_brake_pressed_prev())
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def test_enable_control_allowed_from_cruise(self):
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(1)
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_allow_brake_at_zero_speed(self):
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# Brake was already pressed
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self._rx(self._speed_msg(0))
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@ -3,8 +3,8 @@ import unittest
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import numpy as np
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import CANPackerPanda, PandaSafetyTest, \
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interceptor_msg, UNSAFE_MODE
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import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda, interceptor_msg, UNSAFE_MODE
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MAX_RATE_UP = 10
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MAX_RATE_DOWN = 25
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@ -22,7 +22,7 @@ RT_INTERVAL = 250000
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MAX_TORQUE_ERROR = 350
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INTERCEPTOR_THRESHOLD = 475
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class TestToyotaSafety(PandaSafetyTest):
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class TestToyotaSafety(common.PandaSafetyTest):
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TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
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[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
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@ -71,22 +71,11 @@ class TestToyotaSafety(PandaSafetyTest):
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values = {"GAS_RELEASED": not pressed, "CRUISE_ACTIVE": cruise_active}
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return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
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def _pcm_cruise_msg(self, cruise_on):
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def _pcm_status_msg(self, cruise_on):
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values = {"CRUISE_ACTIVE": cruise_on}
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values["CHECKSUM"] = 1
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return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
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def test_enable_control_allowed_from_cruise(self):
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self._rx(self._pcm_cruise_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_cruise_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(1)
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self._rx(self._pcm_cruise_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_prev_gas_interceptor(self):
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self._rx(interceptor_msg(0x0, 0x201))
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self.assertFalse(self.safety.get_gas_interceptor_prev())
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@ -237,7 +226,7 @@ class TestToyotaSafety(PandaSafetyTest):
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if msg == "trq":
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to_push = self._torque_meas_msg(0)
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if msg == "pcm":
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to_push = self._pcm_cruise_msg(1)
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to_push = self._pcm_status_msg(True)
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self.assertTrue(self._rx(to_push))
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to_push[0].RDHR = 0
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self.assertFalse(self._rx(to_push))
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@ -1,10 +1,10 @@
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#!/usr/bin/env python3
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import unittest
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import numpy as np
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import crcmod
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
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import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda, MAX_WRONG_COUNTERS
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MAX_RATE_UP = 4
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MAX_RATE_DOWN = 10
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@ -24,42 +24,7 @@ MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque
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MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume
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MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
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# Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
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TX_MSGS = [[MSG_HCA_01, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_LDW_02, 0]]
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def sign(a):
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if a > 0:
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return 1
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else:
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return -1
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# Python crcmod works differently somehow from every other CRC calculator. The
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# implied leading 1 on the polynomial isn't a problem, but to get the right
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# result for CRC-8H2F/AUTOSAR, we have to feed it initCrc 0x00 instead of 0xFF.
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volkswagen_crc_8h2f = crcmod.mkCrcFun(0x12F, initCrc=0x00, rev=False, xorOut=0xFF)
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def volkswagen_mqb_crc(msg, addr, len_msg):
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# This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation of
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# this algorithm for a version with explanatory comments.
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msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
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counter = (msg.RDLR & 0xF00) >> 8
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if addr == MSG_EPS_01:
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magic_pad = b'\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5'[counter]
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elif addr == MSG_ESP_05:
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magic_pad = b'\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07'[counter]
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elif addr == MSG_TSK_06:
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magic_pad = b'\xC4\xE2\x4F\xE4\xF8\x2F\x56\x81\x9F\xE5\x83\x44\x05\x3F\x97\xDF'[counter]
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elif addr == MSG_MOTOR_20:
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magic_pad = b'\xE9\x65\xAE\x6B\x7B\x35\xE5\x5F\x4E\xC7\x86\xA2\xBB\xDD\xEB\xB4'[counter]
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elif addr == MSG_HCA_01:
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magic_pad = b'\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA'[counter]
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elif addr == MSG_GRA_ACC_01:
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magic_pad = b'\x6A\x38\xB4\x27\x22\xEF\xE1\xBB\xF8\x80\x84\x49\xC7\x9E\x1E\x2B'[counter]
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else:
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magic_pad = None
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return volkswagen_crc_8h2f(msg_bytes[1:len_msg] + magic_pad.to_bytes(1, 'little'))
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class TestVolkswagenMqbSafety(unittest.TestCase):
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class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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cnt_eps_01 = 0
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cnt_esp_05 = 0
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cnt_tsk_06 = 0
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@ -67,8 +32,18 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
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cnt_hca_01 = 0
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cnt_gra_acc_01 = 0
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# Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep
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# compatibility with gateway and camera integration
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TX_MSGS = [[MSG_HCA_01, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_LDW_02, 0]]
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STANDSTILL_THRESHOLD = 1
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RELAY_MALFUNCTION_ADDR = MSG_HCA_01
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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@classmethod
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def setUp(cls):
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cls.packer = CANPackerPanda("vw_mqb_2010")
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cls.safety = libpandasafety_py.libpandasafety
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cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
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cls.safety.init_tests_volkswagen()
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@ -79,180 +54,105 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
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# Wheel speeds _esp_19_msg
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def _speed_msg(self, speed):
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wheel_speed_scaled = int(speed / 0.0075)
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to_send = make_msg(0, MSG_ESP_19)
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to_send[0].RDLR = wheel_speed_scaled | (wheel_speed_scaled << 16)
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to_send[0].RDHR = wheel_speed_scaled | (wheel_speed_scaled << 16)
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return to_send
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values = {"ESP_%s_Radgeschw_02"%s: speed for s in ["HL", "HR", "VL", "VR"]}
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return self.packer.make_can_msg_panda("ESP_19", 0, values)
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# Brake light switch _esp_05_msg
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def _brake_msg(self, brake):
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to_send = make_msg(0, MSG_ESP_05)
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to_send[0].RDLR = (0x1 << 26) if brake else 0
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to_send[0].RDLR |= (self.cnt_esp_05 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_ESP_05, 8)
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values = {"ESP_Fahrer_bremst": brake, "COUNTER": self.cnt_esp_05 % 16}
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self.__class__.cnt_esp_05 += 1
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return to_send
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return self.packer.make_can_msg_panda("ESP_05", 0, values)
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# Driver throttle input
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def _gas_msg(self, gas):
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values = {"MO_Fahrpedalrohwert_01": gas, "COUNTER": self.cnt_motor_20 % 16}
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self.__class__.cnt_motor_20 += 1
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return self.packer.make_can_msg_panda("Motor_20", 0, values)
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# ACC engagement status
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def _pcm_status_msg(self, enable):
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values = {"TSK_Status": 3 if enable else 1, "COUNTER": self.cnt_tsk_06 % 16}
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self.__class__.cnt_tsk_06 += 1
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return self.packer.make_can_msg_panda("TSK_06", 0, values)
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# Driver steering input torque
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def _eps_01_msg(self, torque):
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to_send = make_msg(0, MSG_EPS_01)
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t = abs(torque)
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to_send[0].RDHR = ((t & 0x1FFF) << 8)
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if torque < 0:
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to_send[0].RDHR |= 0x1 << 23
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to_send[0].RDLR |= (self.cnt_eps_01 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_EPS_01, 8)
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values = {"Driver_Strain": abs(torque), "Driver_Strain_VZ": torque < 0,
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"COUNTER": self.cnt_eps_01 % 16}
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self.__class__.cnt_eps_01 += 1
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return to_send
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return self.packer.make_can_msg_panda("EPS_01", 0, values)
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# openpilot steering output torque
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def _hca_01_msg(self, torque):
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to_send = make_msg(0, MSG_HCA_01)
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t = abs(torque)
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to_send[0].RDLR = (t & 0xFFF) << 16
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if torque < 0:
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to_send[0].RDLR |= 0x1 << 31
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to_send[0].RDLR |= (self.cnt_hca_01 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_HCA_01, 8)
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values = {"Assist_Torque": abs(torque), "Assist_VZ": torque < 0,
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"COUNTER": self.cnt_hca_01 % 16}
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self.__class__.cnt_hca_01 += 1
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return to_send
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# ACC engagement status
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def _tsk_06_msg(self, status):
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to_send = make_msg(0, MSG_TSK_06)
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to_send[0].RDLR = (status & 0x7) << 24
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to_send[0].RDLR |= (self.cnt_tsk_06 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_TSK_06, 8)
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self.__class__.cnt_tsk_06 += 1
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return to_send
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# Driver throttle input
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def _motor_20_msg(self, gas):
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to_send = make_msg(0, MSG_MOTOR_20)
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to_send[0].RDLR = (gas & 0xFF) << 12
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to_send[0].RDLR |= (self.cnt_motor_20 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_MOTOR_20, 8)
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self.__class__.cnt_motor_20 += 1
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return to_send
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return self.packer.make_can_msg_panda("HCA_01", 0, values)
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# Cruise control buttons
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def _gra_acc_01_msg(self, bit):
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to_send = make_msg(2, MSG_GRA_ACC_01)
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to_send[0].RDLR = 1 << bit
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to_send[0].RDLR |= (self.cnt_gra_acc_01 % 16) << 8
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to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_GRA_ACC_01, 8)
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def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0):
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values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set,
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"GRA_Tip_Wiederaufnahme": resume, "COUNTER": self.cnt_gra_acc_01 % 16}
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self.__class__.cnt_gra_acc_01 += 1
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return to_send
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def test_spam_can_buses(self):
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StdTest.test_spam_can_buses(self, TX_MSGS)
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def test_relay_malfunction(self):
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StdTest.test_relay_malfunction(self, MSG_HCA_01)
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def test_prev_gas(self):
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for g in range(0, 256):
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self.safety.safety_rx_hook(self._motor_20_msg(g))
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self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
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def test_default_controls_not_allowed(self):
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self.assertFalse(self.safety.get_controls_allowed())
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return self.packer.make_can_msg_panda("GRA_ACC_01", 0, values)
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def test_enable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(0)
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self.safety.safety_rx_hook(self._tsk_06_msg(3))
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self._rx(self._pcm_status_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(1)
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self.safety.safety_rx_hook(self._tsk_06_msg(1))
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_sample_speed(self):
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# Stationary
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self.safety.safety_rx_hook(self._speed_msg(0))
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self._rx(self._speed_msg(0))
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self.assertEqual(0, self.safety.get_volkswagen_moving())
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# 1 km/h, just under 0.3 m/s safety grace threshold
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self.safety.safety_rx_hook(self._speed_msg(1))
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self._rx(self._speed_msg(1))
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self.assertEqual(0, self.safety.get_volkswagen_moving())
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# 2 km/h, just over 0.3 m/s safety grace threshold
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self.safety.safety_rx_hook(self._speed_msg(2))
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self._rx(self._speed_msg(2))
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self.assertEqual(1, self.safety.get_volkswagen_moving())
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# 144 km/h, openpilot V_CRUISE_MAX
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self.safety.safety_rx_hook(self._speed_msg(144))
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self._rx(self._speed_msg(144))
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self.assertEqual(1, self.safety.get_volkswagen_moving())
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def test_prev_brake(self):
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self.assertFalse(self.safety.get_brake_pressed_prev())
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self.safety.safety_rx_hook(self._brake_msg(True))
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self.assertTrue(self.safety.get_brake_pressed_prev())
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def test_brake_disengage(self):
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StdTest.test_allow_brake_at_zero_speed(self)
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StdTest.test_not_allow_brake_when_moving(self, 1)
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def test_disengage_on_gas(self):
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self.safety.safety_rx_hook(self._motor_20_msg(0))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._motor_20_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_unsafe_mode_no_disengage_on_gas(self):
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self.safety.safety_rx_hook(self._motor_20_msg(0))
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self.safety.set_controls_allowed(True)
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self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
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self.safety.safety_rx_hook(self._motor_20_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._motor_20_msg(1))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
def test_steer_safety_check(self):
|
||||
for enabled in [0, 1]:
|
||||
for t in range(-500, 500):
|
||||
self.safety.set_controls_allowed(enabled)
|
||||
self._set_prev_torque(t)
|
||||
if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(t)))
|
||||
else:
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
||||
|
||||
def test_manually_enable_controls_allowed(self):
|
||||
StdTest.test_manually_enable_controls_allowed(self)
|
||||
self.assertTrue(self._tx(self._hca_01_msg(t)))
|
||||
|
||||
def test_spam_cancel_safety_check(self):
|
||||
BIT_CANCEL = 13
|
||||
BIT_RESUME = 19
|
||||
BIT_SET = 16
|
||||
self.safety.set_controls_allowed(0)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_CANCEL)))
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_SET)))
|
||||
self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
|
||||
self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1)))
|
||||
self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1)))
|
||||
# do not block resume if we are engaged already
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
|
||||
self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
|
||||
|
||||
def test_non_realtime_limit_up(self):
|
||||
self.safety.set_volkswagen_torque_driver(0, 0)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(MAX_RATE_UP)))
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(-MAX_RATE_UP)))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP + 1)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(MAX_RATE_UP + 1)))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP - 1)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(-MAX_RATE_UP - 1)))
|
||||
|
||||
def test_non_realtime_limit_down(self):
|
||||
self.safety.set_volkswagen_torque_driver(0, 0)
|
||||
|
|
@ -266,10 +166,10 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
|
|||
t *= -sign
|
||||
self.safety.set_volkswagen_torque_driver(t, t)
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_STEER * sign)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(MAX_STEER * sign)))
|
||||
|
||||
self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_STEER)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(-MAX_STEER)))
|
||||
|
||||
# spot check some individual cases
|
||||
for sign in [-1, 1]:
|
||||
|
|
@ -278,20 +178,20 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
|
|||
delta = 1 * sign
|
||||
self._set_prev_torque(torque_desired)
|
||||
self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(torque_desired)))
|
||||
self._set_prev_torque(torque_desired + delta)
|
||||
self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired + delta)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(torque_desired + delta)))
|
||||
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(0)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(0)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
|
||||
|
||||
def test_realtime_limits(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
|
@ -302,35 +202,35 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
|
|||
self.safety.set_volkswagen_torque_driver(0, 0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
||||
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(t)))
|
||||
self.assertFalse(self._tx(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(t)))
|
||||
|
||||
# Increase timer to update rt_torque_last
|
||||
self.safety.set_timer(RT_INTERVAL + 1)
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA - 1))))
|
||||
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(sign * (MAX_RT_DELTA - 1))))
|
||||
self.assertTrue(self._tx(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
def test_torque_measurements(self):
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(50))
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(-50))
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(50))
|
||||
self._rx(self._eps_01_msg(-50))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
|
||||
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
|
||||
self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
|
||||
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
|
||||
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
|
||||
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
|
||||
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
|
||||
|
||||
|
|
@ -346,12 +246,12 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
|
|||
if msg == MSG_ESP_05:
|
||||
to_push = self._brake_msg(False)
|
||||
if msg == MSG_TSK_06:
|
||||
to_push = self._tsk_06_msg(3)
|
||||
to_push = self._pcm_status_msg(True)
|
||||
if msg == MSG_MOTOR_20:
|
||||
to_push = self._motor_20_msg(0)
|
||||
self.assertTrue(self.safety.safety_rx_hook(to_push))
|
||||
to_push = self._gas_msg(0)
|
||||
self.assertTrue(self._rx(to_push))
|
||||
to_push[0].RDHR ^= 0xFF
|
||||
self.assertFalse(self.safety.safety_rx_hook(to_push))
|
||||
self.assertFalse(self._rx(to_push))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
# counter
|
||||
|
|
@ -363,43 +263,26 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
|
|||
self.__class__.cnt_motor_20 += 1
|
||||
if i < MAX_WRONG_COUNTERS:
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self.safety.safety_rx_hook(self._brake_msg(False))
|
||||
self.safety.safety_rx_hook(self._tsk_06_msg(3))
|
||||
self.safety.safety_rx_hook(self._motor_20_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self._rx(self._brake_msg(False))
|
||||
self._rx(self._pcm_status_msg(True))
|
||||
self._rx(self._gas_msg(0))
|
||||
else:
|
||||
self.assertFalse(self.safety.safety_rx_hook(self._eps_01_msg(0)))
|
||||
self.assertFalse(self.safety.safety_rx_hook(self._brake_msg(False)))
|
||||
self.assertFalse(self.safety.safety_rx_hook(self._tsk_06_msg(3)))
|
||||
self.assertFalse(self.safety.safety_rx_hook(self._motor_20_msg(0)))
|
||||
self.assertFalse(self._rx(self._eps_01_msg(0)))
|
||||
self.assertFalse(self._rx(self._brake_msg(False)))
|
||||
self.assertFalse(self._rx(self._pcm_status_msg(True)))
|
||||
self.assertFalse(self._rx(self._gas_msg(0)))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
# restore counters for future tests with a couple of good messages
|
||||
for i in range(2):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
||||
self.safety.safety_rx_hook(self._brake_msg(False))
|
||||
self.safety.safety_rx_hook(self._tsk_06_msg(3))
|
||||
self.safety.safety_rx_hook(self._motor_20_msg(0))
|
||||
self._rx(self._eps_01_msg(0))
|
||||
self._rx(self._brake_msg(False))
|
||||
self._rx(self._pcm_status_msg(True))
|
||||
self._rx(self._gas_msg(0))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
def test_fwd_hook(self):
|
||||
buss = list(range(0x0, 0x3))
|
||||
msgs = list(range(0x1, 0x800))
|
||||
blocked_msgs_0to2 = []
|
||||
blocked_msgs_2to0 = [MSG_HCA_01, MSG_LDW_02]
|
||||
for b in buss:
|
||||
for m in msgs:
|
||||
if b == 0:
|
||||
fwd_bus = -1 if m in blocked_msgs_0to2 else 2
|
||||
elif b == 1:
|
||||
fwd_bus = -1
|
||||
elif b == 2:
|
||||
fwd_bus = -1 if m in blocked_msgs_2to0 else 0
|
||||
|
||||
# assume len 8
|
||||
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
|
|||
Loading…
Reference in New Issue