48 lines
1.3 KiB
Python
Executable File
48 lines
1.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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import numpy as np
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import libpandasafety_py
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from panda import Panda
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MAX_BRAKE = 255
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class TestHondaSafety(unittest.TestCase):
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@classmethod
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def setUp(cls):
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cls.safety = libpandasafety_py.libpandasafety
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cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
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cls.safety.init_tests_honda()
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def _send_msg(self, bus, addr, length):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = addr << 21
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to_send[0].RDTR = length
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to_send[0].RDTR = bus << 4
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return to_send
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def test_fwd_hook(self):
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buss = list(range(0x0, 0x3))
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msgs = list(range(0x1, 0x800))
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is_panda_black = self.safety.get_hw_type() == 3 # black panda
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bus_rdr_cam = 2 if is_panda_black else 1
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bus_rdr_car = 0 if is_panda_black else 2
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bus_pt = 1 if is_panda_black else 0
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blocked_msgs = [0xE4, 0x33D]
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for b in buss:
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for m in msgs:
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if b == bus_pt:
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fwd_bus = -1
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elif b == bus_rdr_cam:
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fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
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elif b == bus_rdr_car:
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fwd_bus = bus_rdr_cam
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# assume len 8
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self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
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if __name__ == "__main__":
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unittest.main()
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