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Standardize brake safety tests (#465) 

* WIP: improve safety test format

* Fix tests
master
rbiasini 2020-03-07 23:22:47 -08:00 committed by GitHub
parent 04809e1329
commit ceff91d3c5
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 124 additions and 247 deletions
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74
tests/safety/common.py
View File

@ -13,26 +13,58 @@ def make_msg(bus, addr, length=8):
return to_send
def test_relay_malfunction(test, addr, bus=0):
# input is a test class and the address that, if seen on specified bus, triggers
# the relay_malfunction protection logic: both tx_hook and fwd_hook are
# expected to return failure
test.assertFalse(test.safety.get_relay_malfunction())
test.safety.safety_rx_hook(make_msg(bus, addr, 8))
test.assertTrue(test.safety.get_relay_malfunction())
for a in range(1, 0x800):
for b in range(0, 3):
test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
class StdTest:
@staticmethod
def test_relay_malfunction(test, addr, bus=0):
# input is a test class and the address that, if seen on specified bus, triggers
# the relay_malfunction protection logic: both tx_hook and fwd_hook are
# expected to return failure
test.assertFalse(test.safety.get_relay_malfunction())
test.safety.safety_rx_hook(make_msg(bus, addr, 8))
test.assertTrue(test.safety.get_relay_malfunction())
for a in range(1, 0x800):
for b in range(0, 3):
test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
def test_manually_enable_controls_allowed(test):
test.safety.set_controls_allowed(1)
test.assertTrue(test.safety.get_controls_allowed())
test.safety.set_controls_allowed(0)
test.assertFalse(test.safety.get_controls_allowed())
@staticmethod
def test_manually_enable_controls_allowed(test):
test.safety.set_controls_allowed(1)
test.assertTrue(test.safety.get_controls_allowed())
test.safety.set_controls_allowed(0)
test.assertFalse(test.safety.get_controls_allowed())
def test_spam_can_buses(test, TX_MSGS):
for addr in range(1, 0x800):
for bus in range(0, 4):
if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
@staticmethod
def test_spam_can_buses(test, TX_MSGS):
for addr in range(1, 0x800):
for bus in range(0, 4):
if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
@staticmethod
def test_allow_brake_at_zero_speed(test):
# Brake was already pressed
test.safety.safety_rx_hook(test._speed_msg(0))
test.safety.safety_rx_hook(test._brake_msg(1))
test.safety.set_controls_allowed(1)
test.safety.safety_rx_hook(test._brake_msg(1))
test.assertTrue(test.safety.get_controls_allowed())
test.safety.safety_rx_hook(test._brake_msg(0))
test.assertTrue(test.safety.get_controls_allowed())
# rising edge of brake should disengage
test.safety.safety_rx_hook(test._brake_msg(1))
test.assertFalse(test.safety.get_controls_allowed())
test.safety.safety_rx_hook(test._brake_msg(0)) # reset no brakes
@staticmethod
def test_not_allow_brake_when_moving(test, standstill_threshold):
# Brake was already pressed
test.safety.safety_rx_hook(test._brake_msg(1))
test.safety.set_controls_allowed(1)
test.safety.safety_rx_hook(test._speed_msg(standstill_threshold))
test.safety.safety_rx_hook(test._brake_msg(1))
test.assertTrue(test.safety.get_controls_allowed())
test.safety.safety_rx_hook(test._speed_msg(standstill_threshold + 1))
test.safety.safety_rx_hook(test._brake_msg(1))
test.assertFalse(test.safety.get_controls_allowed())
test.safety.safety_rx_hook(test._speed_msg(0))

6
tests/safety/test_cadillac.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 make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import make_msg, StdTest
MAX_RATE_UP = 2
@ -56,13 +56,13 @@ class TestCadillacSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = make_msg(0, 0x370)

34
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 test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import StdTest, make_msg
MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
@ -107,10 +107,10 @@ class TestChryslerSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 0x292)
StdTest.test_relay_malfunction(self, 0x292)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@ -126,7 +126,7 @@ class TestChryslerSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = self._cruise_msg(True)
@ -149,29 +149,9 @@ class TestChryslerSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_brake_disable(self):
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(1))
self.safety.safety_rx_hook(self._brake_msg(False))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
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_non_realtime_limit_up(self):
self.safety.set_controls_allowed(True)

34
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 test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import StdTest, make_msg
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@ -90,10 +90,10 @@ class TestGmSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 384)
StdTest.test_relay_malfunction(self, 384)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@ -116,29 +116,9 @@ class TestGmSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
self.assertFalse(self.safety.get_controls_allowed())
def test_disengage_on_brake(self):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False))
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False))
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)
@ -182,7 +162,7 @@ class TestGmSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
def test_manually_enable_controls_allowed(self):
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)

30
tests/safety/test_honda.py
View File

@ -3,9 +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 test_relay_malfunction, make_msg, \
test_manually_enable_controls_allowed, \
test_spam_can_buses, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
MAX_BRAKE = 255
@ -110,18 +108,18 @@ class TestHondaSafety(unittest.TestCase):
tx_msgs = BH_TX_MSGS
elif hw_type == HONDA_BG_HW:
tx_msgs = BG_TX_MSGS
test_spam_can_buses(self, tx_msgs)
StdTest.test_spam_can_buses(self, tx_msgs)
def test_relay_malfunction(self):
hw = self.safety.get_honda_hw()
bus = 2 if hw == HONDA_BG_HW else 0
test_relay_malfunction(self, 0xE4, bus=bus)
StdTest.test_relay_malfunction(self, 0xE4, bus=bus)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_resume_button(self):
RESUME_BTN = 4
@ -167,23 +165,9 @@ class TestHondaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._alt_brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False)) # reset no brakes
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
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_prev_gas(self):
self.safety.safety_rx_hook(self._gas_msg(False))

35
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 test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import StdTest, make_msg
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
@ -74,10 +74,10 @@ class TestHyundaiSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 832)
StdTest.test_relay_malfunction(self, 832)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@ -93,7 +93,7 @@ class TestHyundaiSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
to_push = make_msg(0, 1057)
@ -114,30 +114,9 @@ class TestHyundaiSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
# rising edge of brake should disengage
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(0)) # reset no brakes
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD))
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD + 1))
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(0))
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
def test_non_realtime_limit_up(self):
self.safety.set_hyundai_torque_driver(0, 0)

32
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 make_msg, test_relay_malfunction
from panda.tests.safety.common import StdTest, make_msg
ANGLE_MAX_BP = [1.3, 10., 30.]
ANGLE_MAX_V = [540., 120., 23.]
@ -72,7 +72,7 @@ class TestNissanSafety(unittest.TestCase):
return to_send
def _send_brake_cmd(self, brake):
def _brake_msg(self, brake):
to_send = make_msg(1, 0x454)
to_send[0].RDLR = ((brake & 0x1) << 23)
@ -144,29 +144,9 @@ class TestNissanSafety(unittest.TestCase):
self.assertFalse(self.safety.safety_tx_hook(self._lkas_control_msg(0, 1)))
self.assertFalse(self.safety.get_controls_allowed())
def test_brake_rising_edge(self):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._speed_msg(0))
self._set_brake_prev(True)
self.safety.safety_rx_hook(self._send_brake_cmd(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self._set_brake_prev(False)
self.safety.safety_rx_hook(self._send_brake_cmd(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._speed_msg(1))
self._set_brake_prev(True)
self.safety.safety_rx_hook(self._send_brake_cmd(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._speed_msg(1))
self._set_brake_prev(False)
self.safety.safety_rx_hook(self._send_brake_cmd(True))
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_gas_rising_edge(self):
self.safety.set_controls_allowed(1)
@ -193,7 +173,7 @@ class TestNissanSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_relay_malfunction(self):
test_relay_malfunction(self, 0x169)
StdTest.test_relay_malfunction(self, 0x169)
if __name__ == "__main__":
unittest.main()

36
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 test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import StdTest, make_msg
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
@ -131,10 +131,10 @@ class TestSubaruSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._torque_driver_msg(max_t))
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 0x122 if self.safety.get_subaru_global() else 0x164)
StdTest.test_relay_malfunction(self, 0x122 if self.safety.get_subaru_global() else 0x164)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@ -155,32 +155,10 @@ class TestSubaruSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
def test_brake_disengage(self):
if (self.safety.get_subaru_global()):
self.safety.safety_rx_hook(self._brake_msg(1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
# rising edge of brake should disengage
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(0)) # reset no brakes
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
if (self.safety.get_subaru_global()):
self.safety.safety_rx_hook(self._brake_msg(1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD))
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD + 1))
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(0))
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
def test_steer_safety_check(self):
for enabled in [0, 1]:
@ -193,7 +171,7 @@ class TestSubaruSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_non_realtime_limit_up(self):
self._set_torque_driver(0, 0)

30
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 test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
from panda.tests.safety.common import StdTest, make_msg
MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
@ -112,16 +112,16 @@ class TestToyotaSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 0x2E4)
StdTest.test_relay_malfunction(self, 0x2E4)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_enable_control_allowed_from_cruise(self):
self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
@ -171,24 +171,9 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False)) # reset no brakes
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(STANDSTILL_THRESHOLD + 1))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
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, STANDSTILL_THRESHOLD)
def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
@ -339,6 +324,5 @@ class TestToyotaSafety(unittest.TestCase):
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":
unittest.main()

60
tests/safety/test_volkswagen_mqb.py
View File

@ -4,8 +4,7 @@ import numpy as np
import crcmod
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg, \
test_manually_enable_controls_allowed, test_spam_can_buses, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
@ -78,16 +77,16 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
self.safety.set_volkswagen_desired_torque_last(t)
self.safety.set_volkswagen_rt_torque_last(t)
# Wheel speeds
def _esp_19_msg(self, speed):
# Wheel speeds _esp_19_msg
def _speed_msg(self, speed):
wheel_speed_scaled = int(speed / 0.0075)
to_send = make_msg(0, MSG_ESP_19)
to_send[0].RDLR = wheel_speed_scaled | (wheel_speed_scaled << 16)
to_send[0].RDHR = wheel_speed_scaled | (wheel_speed_scaled << 16)
return to_send
# Brake light switch
def _esp_05_msg(self, brake):
# Brake light switch _esp_05_msg
def _brake_msg(self, brake):
to_send = make_msg(0, MSG_ESP_05)
to_send[0].RDLR = (0x1 << 26) if brake else 0
to_send[0].RDLR |= (self.cnt_esp_05 % 16) << 8
@ -147,10 +146,10 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, MSG_HCA_01)
StdTest.test_relay_malfunction(self, MSG_HCA_01)
def test_prev_gas(self):
for g in range(0, 256):
@ -172,45 +171,26 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
def test_sample_speed(self):
# Stationary
self.safety.safety_rx_hook(self._esp_19_msg(0))
self.safety.safety_rx_hook(self._speed_msg(0))
self.assertEqual(0, self.safety.get_volkswagen_moving())
# 1 km/h, just under 0.3 m/s safety grace threshold
self.safety.safety_rx_hook(self._esp_19_msg(1))
self.safety.safety_rx_hook(self._speed_msg(1))
self.assertEqual(0, self.safety.get_volkswagen_moving())
# 2 km/h, just over 0.3 m/s safety grace threshold
self.safety.safety_rx_hook(self._esp_19_msg(2))
self.safety.safety_rx_hook(self._speed_msg(2))
self.assertEqual(1, self.safety.get_volkswagen_moving())
# 144 km/h, openpilot V_CRUISE_MAX
self.safety.safety_rx_hook(self._esp_19_msg(144))
self.safety.safety_rx_hook(self._speed_msg(144))
self.assertEqual(1, self.safety.get_volkswagen_moving())
def test_prev_brake(self):
self.assertFalse(self.safety.get_volkswagen_brake_pressed_prev())
self.safety.safety_rx_hook(self._esp_05_msg(True))
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_volkswagen_brake_pressed_prev())
def test_disengage_on_brake(self):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._esp_05_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._esp_05_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._esp_05_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._esp_05_msg(False)) # reset no brakes
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._esp_05_msg(True))
self.safety.safety_rx_hook(self._esp_19_msg(100))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._esp_05_msg(True))
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, 1)
def test_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_20_msg(0))
@ -237,7 +217,7 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
StdTest.test_manually_enable_controls_allowed(self)
def test_spam_cancel_safety_check(self):
BIT_CANCEL = 13
@ -356,7 +336,7 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
if msg == MSG_EPS_01:
to_push = self._eps_01_msg(0)
if msg == MSG_ESP_05:
to_push = self._esp_05_msg(False)
to_push = self._brake_msg(False)
if msg == MSG_TSK_06:
to_push = self._tsk_06_msg(3)
if msg == MSG_MOTOR_20:
@ -376,12 +356,12 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
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._esp_05_msg(False))
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))
else:
self.assertFalse(self.safety.safety_rx_hook(self._eps_01_msg(0)))
self.assertFalse(self.safety.safety_rx_hook(self._esp_05_msg(False)))
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.safety.get_controls_allowed())
@ -390,7 +370,7 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
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._esp_05_msg(False))
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.assertTrue(self.safety.get_controls_allowed())