135 lines
4.9 KiB
Python
Executable File
135 lines
4.9 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 random
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda, make_msg, UNSAFE_MODE
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MAX_ACCEL = 1.5
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MIN_ACCEL = -3.0
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ISO_MAX_ACCEL = 2.0
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ISO_MIN_ACCEL = -3.5
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class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
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common.TorqueSteeringSafetyTest):
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TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
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[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
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[0x2E4, 0], [0x191, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0], # LKAS + ACC
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[0x200, 0], [0x750, 0]] # interceptor + blindspot monitor
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STANDSTILL_THRESHOLD = 1 # 1kph
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RELAY_MALFUNCTION_ADDR = 0x2E4
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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INTERCEPTOR_THRESHOLD = 845
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MAX_RATE_UP = 10
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MAX_RATE_DOWN = 25
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MAX_TORQUE = 1500
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MAX_RT_DELTA = 375
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RT_INTERVAL = 250000
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MAX_TORQUE_ERROR = 350
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TORQUE_MEAS_TOLERANCE = 1 # toyota safety adds one to be conversative for rounding
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def setUp(self):
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self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 73)
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self.safety.init_tests()
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def _torque_meas_msg(self, torque):
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values = {"STEER_TORQUE_EPS": torque}
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return self.packer.make_can_msg_panda("STEER_TORQUE_SENSOR", 0, values)
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def _torque_msg(self, torque):
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values = {"STEER_TORQUE_CMD": torque}
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return self.packer.make_can_msg_panda("STEERING_LKA", 0, values)
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def _lta_msg(self, req, req2, angle_cmd):
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values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd}
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return self.packer.make_can_msg_panda("STEERING_LTA", 0, values)
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def _accel_msg(self, accel):
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values = {"ACCEL_CMD": accel}
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return self.packer.make_can_msg_panda("ACC_CONTROL", 0, values)
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def _speed_msg(self, speed):
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values = {("WHEEL_SPEED_%s" % n): speed for n in ["FR", "FL", "RR", "RL"]}
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return self.packer.make_can_msg_panda("WHEEL_SPEEDS", 0, values)
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def _brake_msg(self, brake):
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values = {"BRAKE_PRESSED": brake}
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return self.packer.make_can_msg_panda("BRAKE_MODULE", 0, values)
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def _gas_msg(self, gas):
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cruise_active = self.safety.get_controls_allowed()
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values = {"GAS_RELEASED": not gas, "CRUISE_ACTIVE": cruise_active}
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return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"CRUISE_ACTIVE": enable}
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return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
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# Toyota gas gains are the same
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def _interceptor_msg(self, gas, addr):
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to_send = make_msg(0, addr, 6)
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to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
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((gas & 0xff) << 24) | ((gas & 0xff00) << 8)
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return to_send
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def test_accel_actuation_limits(self):
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limits = ((MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.DEFAULT),
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(ISO_MIN_ACCEL, ISO_MAX_ACCEL, UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
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for min_accel, max_accel, unsafe_mode in limits:
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for accel in np.arange(min_accel - 1, max_accel + 1, 0.1):
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for controls_allowed in [True, False]:
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self.safety.set_controls_allowed(controls_allowed)
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self.safety.set_unsafe_mode(unsafe_mode)
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if controls_allowed:
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should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
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else:
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should_tx = np.isclose(accel, 0, atol=0.0001)
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self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
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# Only allow LTA msgs with no actuation
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def test_lta_steer_cmd(self):
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for engaged in [True, False]:
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self.safety.set_controls_allowed(engaged)
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# good msg
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self.assertTrue(self._tx(self._lta_msg(0, 0, 0)))
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# bad msgs
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self.assertFalse(self._tx(self._lta_msg(1, 0, 0)))
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self.assertFalse(self._tx(self._lta_msg(0, 1, 0)))
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self.assertFalse(self._tx(self._lta_msg(0, 0, 1)))
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for _ in range(20):
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req = random.choice([0, 1])
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req2 = random.choice([0, 1])
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angle = random.randint(-50, 50)
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should_tx = not req and not req2 and angle == 0
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self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle)))
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def test_rx_hook(self):
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# checksum checks
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for msg in ["trq", "pcm"]:
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self.safety.set_controls_allowed(1)
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if msg == "trq":
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to_push = self._torque_meas_msg(0)
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if msg == "pcm":
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to_push = self._pcm_status_msg(True)
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self.assertTrue(self._rx(to_push))
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to_push[0].RDHR = 0
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self.assertFalse(self._rx(to_push))
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self.assertFalse(self.safety.get_controls_allowed())
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if __name__ == "__main__":
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unittest.main()
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