253 lines
8.8 KiB
Python
253 lines
8.8 KiB
Python
#!/usr/bin/env python3
|
|
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_RATE_UP = 3
|
|
MAX_RATE_DOWN = 7
|
|
MAX_STEER = 255
|
|
|
|
MAX_RT_DELTA = 112
|
|
RT_INTERVAL = 250000
|
|
|
|
DRIVER_TORQUE_ALLOWANCE = 50;
|
|
DRIVER_TORQUE_FACTOR = 2;
|
|
|
|
SPEED_THRESHOLD = 30 # ~1kph
|
|
|
|
TX_MSGS = [[832, 0], [1265, 0]]
|
|
|
|
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 TestHyundaiSafety(unittest.TestCase):
|
|
@classmethod
|
|
def setUp(cls):
|
|
cls.safety = libpandasafety_py.libpandasafety
|
|
cls.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
|
|
cls.safety.init_tests_hyundai()
|
|
|
|
def _button_msg(self, buttons):
|
|
to_send = make_msg(0, 1265)
|
|
to_send[0].RDLR = buttons
|
|
return to_send
|
|
|
|
def _gas_msg(self, val):
|
|
to_send = make_msg(0, 608)
|
|
to_send[0].RDHR = (val & 0x3) << 30;
|
|
return to_send
|
|
|
|
def _brake_msg(self, brake):
|
|
to_send = make_msg(0, 916)
|
|
to_send[0].RDHR = brake << 23;
|
|
return to_send
|
|
|
|
def _speed_msg(self, speed):
|
|
to_send = make_msg(0, 902)
|
|
to_send[0].RDLR = speed & 0x3FFF;
|
|
to_send[0].RDHR = (speed & 0x3FFF) << 16;
|
|
return to_send
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_hyundai_desired_torque_last(t)
|
|
self.safety.set_hyundai_rt_torque_last(t)
|
|
|
|
def _torque_driver_msg(self, torque):
|
|
to_send = make_msg(0, 897)
|
|
to_send[0].RDLR = (torque + 2048) << 11
|
|
return to_send
|
|
|
|
def _torque_msg(self, torque):
|
|
to_send = make_msg(0, 832)
|
|
to_send[0].RDLR = (torque + 1024) << 16
|
|
return to_send
|
|
|
|
def test_spam_can_buses(self):
|
|
test_spam_can_buses(self, TX_MSGS)
|
|
|
|
def test_relay_malfunction(self):
|
|
test_relay_malfunction(self, 832)
|
|
|
|
def test_default_controls_not_allowed(self):
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_steer_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for t in range(-0x200, 0x200):
|
|
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):
|
|
test_manually_enable_controls_allowed(self)
|
|
|
|
def test_enable_control_allowed_from_cruise(self):
|
|
to_push = make_msg(0, 1057)
|
|
to_push[0].RDLR = 1 << 13
|
|
self.safety.safety_rx_hook(to_push)
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_disable_control_allowed_from_cruise(self):
|
|
to_push = make_msg(0, 1057)
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(to_push)
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_disengage_on_gas(self):
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._gas_msg(0))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
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_non_realtime_limit_up(self):
|
|
self.safety.set_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai_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_hyundai()
|
|
self._set_prev_torque(0)
|
|
self.safety.set_hyundai_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_spam_cancel_safety_check(self):
|
|
RESUME_BTN = 1
|
|
SET_BTN = 2
|
|
CANCEL_BTN = 4
|
|
self.safety.set_controls_allowed(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN)))
|
|
# 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)))
|
|
|
|
def test_fwd_hook(self):
|
|
|
|
buss = list(range(0x0, 0x3))
|
|
msgs = list(range(0x1, 0x800))
|
|
|
|
blocked_msgs = [832]
|
|
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, make_msg(b, m, 8)))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|