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Safety Test Refactor: Nissan (#510) 

* start nissan

* packer
master
Adeeb 2020-04-17 13:33:36 -07:00 committed by GitHub
parent 4c7755c471
commit d77b72d169
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 50 additions and 109 deletions
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11
tests/safety/common.py
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@ -44,6 +44,7 @@ class CANPackerPanda(CANPacker):
class PandaSafetyTest(unittest.TestCase):
TX_MSGS = None
STANDSTILL_THRESHOLD = None
GAS_PRESSED_THRESHOLD = 0
RELAY_MALFUNCTION_ADDR = None
RELAY_MALFUNCTION_BUS = None
FWD_BLACKLISTED_ADDRS = {} # {bus: [addr]}
@ -119,11 +120,9 @@ class PandaSafetyTest(unittest.TestCase):
def test_prev_gas(self):
self.assertFalse(self.safety.get_gas_pressed_prev())
for pressed in [True, False]:
self._rx(self._gas_msg(not pressed))
self.assertEqual(not pressed, self.safety.get_gas_pressed_prev())
for pressed in [self.GAS_PRESSED_THRESHOLD+1, 0]:
self._rx(self._gas_msg(pressed))
self.assertEqual(pressed, self.safety.get_gas_pressed_prev())
self.assertEqual(bool(pressed), self.safety.get_gas_pressed_prev())
def test_allow_engage_with_gas_pressed(self):
self._rx(self._gas_msg(1))
@ -136,14 +135,14 @@ class PandaSafetyTest(unittest.TestCase):
def test_disengage_on_gas(self):
self._rx(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self._rx(self._gas_msg(1))
self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD+1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self._rx(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self._rx(self._gas_msg(1))
self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD+1))
self.assertTrue(self.safety.get_controls_allowed())
def test_prev_brake(self):

148
tests/safety/test_nissan.py
View File

@ -3,41 +3,37 @@ 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
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
def twos_comp(val, bits):
if val >= 0:
return val
else:
return (2**bits) + val
def sign(a):
if a > 0:
return 1
else:
return -1
return 1 if a > 0 else -1
class TestNissanSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0)
cls.safety.init_tests_nissan()
class TestNissanSafety(common.PandaSafetyTest):
TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
STANDSTILL_THRESHOLD = 0
GAS_PRESSED_THRESHOLD = 1
RELAY_MALFUNCTION_ADDR = 0x169
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {0: [0x280], 2: [0x169, 0x2b1, 0x4cc]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
def setUp(self):
self.packer = CANPackerPanda("nissan_x_trail_2017")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0)
self.safety.init_tests_nissan()
def _angle_meas_msg(self, angle):
to_send = make_msg(0, 0x2)
angle = int(angle * -10)
t = twos_comp(angle, 16)
to_send[0].RDLR = t & 0xFFFF
return to_send
values = {"STEER_ANGLE": angle}
return self.packer.make_can_msg_panda("STEER_ANGLE_SENSOR", 0, values)
def _set_prev_angle(self, t):
t = int(t * -100)
@ -47,47 +43,33 @@ class TestNissanSafety(unittest.TestCase):
for i in range(6):
self.safety.safety_rx_hook(self._angle_meas_msg(angle))
def _lkas_state_msg(self, state):
to_send = make_msg(1, 0x30f)
to_send[0].RDHR = (state & 0x1) << 3
return to_send
def _pcm_status_msg(self, enabled):
values = {"CRUISE_ENABLED": enabled}
return self.packer.make_can_msg_panda("CRUISE_STATE", 2, values)
def _lkas_control_msg(self, angle, state):
to_send = make_msg(0, 0x169)
angle = int((angle - 1310) * -100)
to_send[0].RDLR = ((angle & 0x3FC00) >> 10) | ((angle & 0x3FC) << 6) | ((angle & 0x3) << 16)
to_send[0].RDHR = ((state & 0x1) << 20)
return to_send
values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": state}
return self.packer.make_can_msg_panda("LKAS", 0, values)
def _speed_msg(self, speed):
to_send = make_msg(0, 0x285)
speed = int(speed / 0.005 * 3.6)
to_send[0].RDLR = ((speed & 0xFF) << 24) | ((speed & 0xFF00) << 8)
return to_send
# TODO: why the 3.6? m/s to kph? not in dbc
values = {"WHEEL_SPEED_%s"%s: speed*3.6 for s in ["RR", "RL"]}
return self.packer.make_can_msg_panda("WHEEL_SPEEDS_REAR", 0, values)
def _brake_msg(self, brake):
to_send = make_msg(1, 0x454)
to_send[0].RDLR = ((brake & 0x1) << 23)
values = {"USER_BRAKE_PRESSED": brake}
return self.packer.make_can_msg_panda("DOORS_LIGHTS", 1, values)
return to_send
def _gas_msg(self, gas):
values = {"GAS_PEDAL": gas}
return self.packer.make_can_msg_panda("GAS_PEDAL", 0, values)
def _send_gas_cmd(self, gas):
to_send = make_msg(0, 0x15c)
to_send[0].RDHR = ((gas & 0x3fc) << 6) | ((gas & 0x3) << 22)
return to_send
def _acc_button_cmd(self, buttons):
to_send = make_msg(2, 0x20b)
to_send[0].RDLR = (buttons << 8)
return to_send
def test_spam_can_buses(self):
StdTest.test_spam_can_buses(self, TX_MSGS)
def _acc_button_cmd(self, cancel=0, propilot=0, flw_dist=0, _set=0, res=0):
no_button = not any([cancel, propilot, flw_dist, _set, res])
values = {"CANCEL_BUTTON": cancel, "PROPILOT_BUTTON": propilot, \
"FOLLOW_DISTANCE_BUTTON": flw_dist, "SET_BUTTON": _set, \
"RES_BUTTON": res, "NO_BUTTON_PRESSED": no_button}
return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 2, values)
def test_angle_cmd_when_enabled(self):
# when controls are allowed, angle cmd rate limit is enforced
@ -145,65 +127,25 @@ 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_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)
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._send_gas_cmd(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_acc_buttons(self):
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x2)) # Cancel button
self.safety.safety_tx_hook(self._acc_button_cmd(cancel=1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_tx_hook(self._acc_button_cmd(0x1)) # ProPilot button
self.safety.safety_tx_hook(self._acc_button_cmd(propilot=1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x4)) # Follow Distance button
self.safety.safety_tx_hook(self._acc_button_cmd(flw_dist=1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x8)) # Set button
self.safety.safety_tx_hook(self._acc_button_cmd(_set=1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x10)) # Res button
self.safety.safety_tx_hook(self._acc_button_cmd(res=1))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x20)) # No button pressed
self.safety.safety_tx_hook(self._acc_button_cmd())
self.assertFalse(self.safety.get_controls_allowed())
def test_relay_malfunction(self):
StdTest.test_relay_malfunction(self, 0x169)
def test_fwd_hook(self):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
blocked_msgs = [(2, 0x169), (2, 0x2b1), (2, 0x4cc), (0, 0x280)]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = 0
if (b, m) in blocked_msgs:
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":
unittest.main()