171 lines
6.5 KiB
Python
171 lines
6.5 KiB
Python
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
from panda import Panda
|
|
from panda.tests.safety import libpandasafety_py
|
|
import panda.tests.safety.common as common
|
|
from panda.tests.safety.common import CANPackerPanda
|
|
|
|
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
|
|
|
|
|
|
class TestHyundaiSafety(common.PandaSafetyTest):
|
|
TX_MSGS = [[832, 0], [1265, 0], [1157, 0]]
|
|
STANDSTILL_THRESHOLD = 30 # ~1kph
|
|
RELAY_MALFUNCTION_ADDR = 832
|
|
RELAY_MALFUNCTION_BUS = 0
|
|
FWD_BLACKLISTED_ADDRS = {2: [832, 1157]}
|
|
FWD_BUS_LOOKUP = {0: 2, 2: 0}
|
|
|
|
def setUp(self):
|
|
self.packer = CANPackerPanda("hyundai_kia_generic")
|
|
self.safety = libpandasafety_py.libpandasafety
|
|
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
|
|
self.safety.init_tests_hyundai()
|
|
|
|
def _button_msg(self, buttons):
|
|
values = {"CF_Clu_CruiseSwState": buttons}
|
|
return self.packer.make_can_msg_panda("CLU11", 0, values)
|
|
|
|
def _gas_msg(self, val):
|
|
values = {"CF_Ems_AclAct": val}
|
|
return self.packer.make_can_msg_panda("EMS16", 0, values)
|
|
|
|
def _brake_msg(self, brake):
|
|
values = {"DriverBraking": brake}
|
|
return self.packer.make_can_msg_panda("TCS13", 0, values)
|
|
|
|
def _speed_msg(self, speed):
|
|
# panda safety doesn't scale, so undo the scaling
|
|
values = {"WHL_SPD_%s"%s: speed*0.03125 for s in ["FL", "FR", "RL", "RR"]}
|
|
return self.packer.make_can_msg_panda("WHL_SPD11", 0, values)
|
|
|
|
def _pcm_status_msg(self, enabled):
|
|
values = {"ACCMode": enabled}
|
|
return self.packer.make_can_msg_panda("SCC12", 0, values)
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_hyundai_desired_torque_last(t)
|
|
self.safety.set_hyundai_rt_torque_last(t)
|
|
|
|
# TODO: this is unused
|
|
def _torque_driver_msg(self, torque):
|
|
values = {"CR_Mdps_StrColTq": torque}
|
|
return self.packer.make_can_msg_panda("MDPS12", 0, values)
|
|
|
|
def _torque_msg(self, torque):
|
|
values = {"CR_Lkas_StrToqReq": torque}
|
|
return self.packer.make_can_msg_panda("LKAS11", 0, values)
|
|
|
|
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_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)))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|