retropilot
/
panda
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

separate between bosch giraffe and harness hooks. Make tests more thorough

master
Riccardo 2019-12-20 23:18:20 -08:00
parent 38fc1d39ff
commit c08b480cea
6 changed files with 85 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
board/safety.h
View File

@ -79,8 +79,8 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_hooks}, // TODO: distinguish from above
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_SUBARU, &subaru_hooks},

64
board/safety/safety_honda.h
View File

@ -14,9 +14,10 @@ int honda_brake = 0;
int honda_gas_prev = 0;
bool honda_brake_pressed_prev = false;
bool honda_moving = false;
bool honda_bosch_hardware = false;
bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@ -102,10 +103,10 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// if steering controls messages are received on the destination bus, it's an indication
// that the relay might be malfunctioning
int bus_rdr_car = (board_has_relay()) ? 0 : 2; // radar bus, car side
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
if ((honda_bosch_hardware && (bus == bus_rdr_car)) ||
(!honda_bosch_hardware && (bus == 0))) {
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
((honda_hw == HONDA_N_HW) && (bus == 0))) {
relay_malfunction = true;
}
}
@ -123,16 +124,16 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
if (honda_bosch_hardware) {
if (board_has_relay() && !msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]))) {
tx = 0;
}
if (!board_has_relay() && !msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]))) {
tx = 0;
}
}
if (!honda_bosch_hardware && !msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]))) {
tx = 0;
switch (honda_hw) {
case HONDA_BG_HW:
tx = msg_allowed(addr, bus, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
break;
case HONDA_BH_HW:
tx = msg_allowed(addr, bus, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
break;
default: // nidec
tx = msg_allowed(addr, bus, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
break;
}
if (relay_malfunction) {
@ -183,9 +184,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
// This avoids unintended engagements while still allowing resume spam
int bus_pt = ((board_has_relay()) && honda_bosch_hardware)? 1 : 0;
if ((addr == 0x296) && honda_bosch_hardware &&
!current_controls_allowed && (bus == bus_pt)) {
int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
if ((addr == 0x296) && !current_controls_allowed && (bus == bus_pt)) {
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
tx = 0;
}
@ -199,14 +199,22 @@ static void honda_nidec_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
honda_bosch_hardware = false;
honda_hw = HONDA_N_HW;
honda_alt_brake_msg = false;
}
static void honda_bosch_init(int16_t param) {
static void honda_bosch_giraffe_init(int16_t param) {
controls_allowed = false;
relay_malfunction = false;
honda_bosch_hardware = true;
honda_hw = HONDA_BG_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = (param == 1) ? true : false;
}
static void honda_bosch_harness_init(int16_t param) {
controls_allowed = false;
relay_malfunction = false;
honda_hw = HONDA_BH_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = (param == 1) ? true : false;
}
@ -239,8 +247,8 @@ static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
int bus_rdr_cam = (board_has_relay()) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (board_has_relay()) ? 0 : 2; // radar bus, car side
int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1; // radar bus, camera side
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
if (!relay_malfunction) {
if (bus_num == bus_rdr_car) {
@ -265,8 +273,16 @@ const safety_hooks honda_nidec_hooks = {
.fwd = honda_nidec_fwd_hook,
};
const safety_hooks honda_bosch_hooks = {
.init = honda_bosch_init,
const safety_hooks honda_bosch_giraffe_hooks = {
.init = honda_bosch_giraffe_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = honda_bosch_fwd_hook,
};
const safety_hooks honda_bosch_harness_hooks = {
.init = honda_bosch_harness_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,

6
tests/safety/libpandasafety_py.py
View File

@ -30,8 +30,6 @@ typedef struct
uint32_t CNT;
} TIM_TypeDef;
bool board_has_relay(void);
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
void set_relay_malfunction(bool c);
@ -62,8 +60,8 @@ bool get_honda_brake_pressed_prev(void);
int get_honda_gas_prev(void);
void set_honda_fwd_brake(bool);
void set_honda_alt_brake_msg(bool);
void set_honda_bosch_hardware(bool);
int get_honda_bosch_hardware(void);
void set_honda_hw(int);
int get_honda_hw(void);
void init_tests_cadillac(void);
void set_cadillac_desired_torque_last(int t);

13
tests/safety/test.c
View File

@ -47,11 +47,6 @@ TIM_TypeDef *TIM2 = &timer;
// from main_declarations.h
uint8_t hw_type = HW_TYPE_UNKNOWN;
// from board.h
bool board_has_relay(void) {
return hw_type == HW_TYPE_BLACK_PANDA || hw_type == HW_TYPE_UNO;
}
// from config.h
#define MIN(a,b) \
({ __typeof__ (a) _a = (a); \
@ -249,12 +244,12 @@ void set_honda_alt_brake_msg(bool c){
honda_alt_brake_msg = c;
}
void set_honda_bosch_hardware(bool c){
honda_bosch_hardware = c;
void set_honda_hw(int c){
honda_hw = c;
}
int get_honda_bosch_hardware(void) {
return honda_bosch_hardware;
int get_honda_hw(void) {
return honda_hw;
}
void set_honda_fwd_brake(bool c){

29
tests/safety/test_honda.py
View File

@ -10,6 +10,10 @@ MAX_BRAKE = 255
INTERCEPTOR_THRESHOLD = 328
TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]]
HONDA_N_HW = 0
HONDA_BG_HW = 1
HONDA_BH_HW = 2
class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
@ -23,9 +27,8 @@ class TestHondaSafety(unittest.TestCase):
return to_send
def _button_msg(self, buttons, msg):
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
honda_hw = self.safety.get_honda_hw()
bus = 1 if honda_hw == HONDA_BH_HW else 0
to_send = make_msg(bus, msg)
to_send[0].RDLR = buttons << 5
return to_send
@ -63,6 +66,7 @@ class TestHondaSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
self.safety.set_honda_hw(HONDA_N_HW)
test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
@ -215,21 +219,22 @@ class TestHondaSafety(unittest.TestCase):
SET_BTN = 3
CANCEL_BTN = 2
BUTTON_MSG = 0x296
self.safety.set_honda_bosch_hardware(1)
self.safety.set_controls_allowed(0)
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN, BUTTON_MSG)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
for hw in [HONDA_BG_HW, HONDA_BH_HW]:
self.safety.set_honda_hw(hw)
self.safety.set_controls_allowed(0)
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN, BUTTON_MSG)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
def test_fwd_hook(self):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
fwd_brake = [False, True]
self.safety.set_honda_bosch_hardware(0)
self.safety.set_honda_hw(HONDA_N_HW)
for f in fwd_brake:
self.safety.set_honda_fwd_brake(f)

39
tests/safety/test_honda_bosch.py
View File

@ -3,6 +3,7 @@ import unittest
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import make_msg, test_spam_can_buses
from panda.tests.safety.test_honda import HONDA_BG_HW, HONDA_BH_HW
MAX_BRAKE = 255
@ -18,31 +19,31 @@ class TestHondaSafety(unittest.TestCase):
cls.safety.init_tests_honda()
def test_spam_can_buses(self):
if self.safety.board_has_relay():
test_spam_can_buses(self, H_TX_MSGS)
else:
test_spam_can_buses(self, G_TX_MSGS)
for hw in [HONDA_BG_HW, HONDA_BH_HW]:
self.safety.set_honda_hw(hw)
test_spam_can_buses(self, H_TX_MSGS if hw == HONDA_BH_HW else G_TX_MSGS)
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
has_relay = self.safety.board_has_relay()
bus_rdr_cam = 2 if has_relay else 1
bus_rdr_car = 0 if has_relay else 2
bus_pt = 1 if has_relay else 0
for hw in [HONDA_BG_HW, HONDA_BH_HW]:
self.safety.set_honda_hw(hw)
bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
bus_pt = 1 if hw == HONDA_BH_HW else 0
blocked_msgs = [0xE4, 0x33D]
for b in buss:
for m in msgs:
if b == bus_pt:
fwd_bus = -1
elif b == bus_rdr_cam:
fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
elif b == bus_rdr_car:
fwd_bus = bus_rdr_cam
blocked_msgs = [0xE4, 0x33D]
for b in buss:
for m in msgs:
if b == bus_pt:
fwd_bus = -1
elif b == bus_rdr_cam:
fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
elif b == bus_rdr_car:
fwd_bus = bus_rdr_cam
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":