#!/usr/bin/env python3 import unittest import numpy as np import libpandasafety_py # pylint: disable=import-error from panda import Panda MAX_RATE_UP = 50 MAX_RATE_DOWN = 70 MAX_STEER = 2047 MAX_RT_DELTA = 940 RT_INTERVAL = 250000 DRIVER_TORQUE_ALLOWANCE = 60; DRIVER_TORQUE_FACTOR = 10; 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 class TestSubaruSafety(unittest.TestCase): @classmethod def setUp(cls): cls.safety = libpandasafety_py.libpandasafety cls.safety.safety_set_mode(Panda.SAFETY_SUBARU, 0) cls.safety.init_tests_subaru() def _send_msg(self, bus, addr, length): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = addr << 21 to_send[0].RDTR = length to_send[0].RDTR = bus << 4 return to_send def _set_prev_torque(self, t): self.safety.set_subaru_desired_torque_last(t) self.safety.set_subaru_rt_torque_last(t) def _torque_driver_msg(self, torque): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = 0x119 << 21 t = twos_comp(torque, 11) to_send[0].RDLR = ((t & 0x7FF) << 16) return to_send def _torque_msg(self, torque): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = 0x122 << 21 t = twos_comp(torque, 13) to_send[0].RDLR = (t << 16) return to_send def test_default_controls_not_allowed(self): self.assertFalse(self.safety.get_controls_allowed()) def test_enable_control_allowed_from_cruise(self): to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_push[0].RIR = 0x240 << 21 to_push[0].RDHR = 1 << 9 self.safety.safety_rx_hook(to_push) self.assertTrue(self.safety.get_controls_allowed()) def test_disable_control_allowed_from_cruise(self): to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_push[0].RIR = 0x240 << 21 to_push[0].RDHR = 0 self.safety.set_controls_allowed(1) self.safety.safety_rx_hook(to_push) self.assertFalse(self.safety.get_controls_allowed()) def test_steer_safety_check(self): for enabled in [0, 1]: for t in range(-3000, 3000): 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._torque_msg(t))) else: self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t))) def test_manually_enable_controls_allowed(self): self.safety.set_controls_allowed(1) self.assertTrue(self.safety.get_controls_allowed()) self.safety.set_controls_allowed(0) self.assertFalse(self.safety.get_controls_allowed()) def test_non_realtime_limit_up(self): self.safety.set_subaru_torque_driver(0, 0) self.safety.set_controls_allowed(True) self._set_prev_torque(0) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP))) self._set_prev_torque(0) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP))) self._set_prev_torque(0) self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1))) self.safety.set_controls_allowed(True) self._set_prev_torque(0) self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1))) def test_non_realtime_limit_down(self): self.safety.set_subaru_torque_driver(0, 0) self.safety.set_controls_allowed(True) def test_against_torque_driver(self): self.safety.set_controls_allowed(True) for sign in [-1, 1]: for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1): t *= -sign self.safety.set_subaru_torque_driver(t, t) self._set_prev_torque(MAX_STEER * sign) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign))) self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1) self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_STEER))) # spot check some individual cases for sign in [-1, 1]: driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign delta = 1 * sign self._set_prev_torque(torque_desired) self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired))) self._set_prev_torque(torque_desired + delta) self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque) self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertFalse(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign))) def test_realtime_limits(self): self.safety.set_controls_allowed(True) for sign in [-1, 1]: self.safety.init_tests_subaru() self._set_prev_torque(0) self.safety.set_subaru_torque_driver(0, 0) for t in np.arange(0, MAX_RT_DELTA, 1): t *= sign self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t))) self.assertFalse(self.safety.safety_tx_hook(self._torque_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._torque_msg(t))) # Increase timer to update rt_torque_last self.safety.set_timer(RT_INTERVAL + 1) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1)))) self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) def test_fwd_hook(self): buss = list(range(0x0, 0x3)) msgs = list(range(0x1, 0x800)) blocked_msgs = [290, 356, 545, 802] 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 = -1 if m in blocked_msgs else 0 # assume len 8 self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8))) if __name__ == "__main__": unittest.main()