418 lines
17 KiB
Python
418 lines
17 KiB
Python
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
import crcmod
|
|
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_WRONG_COUNTERS
|
|
|
|
MAX_RATE_UP = 4
|
|
MAX_RATE_DOWN = 10
|
|
MAX_STEER = 300
|
|
MAX_RT_DELTA = 75
|
|
RT_INTERVAL = 250000
|
|
|
|
DRIVER_TORQUE_ALLOWANCE = 80
|
|
DRIVER_TORQUE_FACTOR = 3
|
|
|
|
MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds
|
|
MSG_EPS_01 = 0x9F # RX from EPS, for driver steering torque
|
|
MSG_ESP_05 = 0x106 # RX from ABS, for brake light state
|
|
MSG_TSK_06 = 0x120 # RX from ECU, for ACC status from drivetrain coordinator
|
|
MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input
|
|
MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque
|
|
MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume
|
|
MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
|
|
|
|
# Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
|
|
TX_MSGS = [[MSG_HCA_01, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_LDW_02, 0]]
|
|
|
|
def sign(a):
|
|
if a > 0:
|
|
return 1
|
|
else:
|
|
return -1
|
|
|
|
# Python crcmod works differently somehow from every other CRC calculator. The
|
|
# implied leading 1 on the polynomial isn't a problem, but to get the right
|
|
# result for CRC-8H2F/AUTOSAR, we have to feed it initCrc 0x00 instead of 0xFF.
|
|
volkswagen_crc_8h2f = crcmod.mkCrcFun(0x12F, initCrc=0x00, rev=False, xorOut=0xFF)
|
|
|
|
def volkswagen_mqb_crc(msg, addr, len_msg):
|
|
# This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation of
|
|
# this algorithm for a version with explanatory comments.
|
|
msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
|
|
counter = (msg.RDLR & 0xF00) >> 8
|
|
if addr == MSG_EPS_01:
|
|
magic_pad = b'\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5\xF5'[counter]
|
|
elif addr == MSG_ESP_05:
|
|
magic_pad = b'\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07\x07'[counter]
|
|
elif addr == MSG_TSK_06:
|
|
magic_pad = b'\xC4\xE2\x4F\xE4\xF8\x2F\x56\x81\x9F\xE5\x83\x44\x05\x3F\x97\xDF'[counter]
|
|
elif addr == MSG_MOTOR_20:
|
|
magic_pad = b'\xE9\x65\xAE\x6B\x7B\x35\xE5\x5F\x4E\xC7\x86\xA2\xBB\xDD\xEB\xB4'[counter]
|
|
elif addr == MSG_HCA_01:
|
|
magic_pad = b'\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA\xDA'[counter]
|
|
elif addr == MSG_GRA_ACC_01:
|
|
magic_pad = b'\x6A\x38\xB4\x27\x22\xEF\xE1\xBB\xF8\x80\x84\x49\xC7\x9E\x1E\x2B'[counter]
|
|
else:
|
|
magic_pad = None
|
|
return volkswagen_crc_8h2f(msg_bytes[1:len_msg] + magic_pad.to_bytes(1, 'little'))
|
|
|
|
class TestVolkswagenMqbSafety(unittest.TestCase):
|
|
cnt_eps_01 = 0
|
|
cnt_esp_05 = 0
|
|
cnt_tsk_06 = 0
|
|
cnt_motor_20 = 0
|
|
cnt_hca_01 = 0
|
|
cnt_gra_acc_01 = 0
|
|
|
|
@classmethod
|
|
def setUp(cls):
|
|
cls.safety = libpandasafety_py.libpandasafety
|
|
cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
|
|
cls.safety.init_tests_volkswagen()
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_volkswagen_desired_torque_last(t)
|
|
self.safety.set_volkswagen_rt_torque_last(t)
|
|
|
|
# Wheel speeds
|
|
def _esp_19_msg(self, speed):
|
|
wheel_speed_scaled = int(speed / 0.0075)
|
|
to_send = make_msg(0, MSG_ESP_19)
|
|
to_send[0].RDLR = wheel_speed_scaled | (wheel_speed_scaled << 16)
|
|
to_send[0].RDHR = wheel_speed_scaled | (wheel_speed_scaled << 16)
|
|
return to_send
|
|
|
|
# Brake light switch
|
|
def _esp_05_msg(self, brake):
|
|
to_send = make_msg(0, MSG_ESP_05)
|
|
to_send[0].RDLR = (0x1 << 26) if brake else 0
|
|
to_send[0].RDLR |= (self.cnt_esp_05 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_ESP_05, 8)
|
|
self.__class__.cnt_esp_05 += 1
|
|
return to_send
|
|
|
|
# Driver steering input torque
|
|
def _eps_01_msg(self, torque):
|
|
to_send = make_msg(0, MSG_EPS_01)
|
|
t = abs(torque)
|
|
to_send[0].RDHR = ((t & 0x1FFF) << 8)
|
|
if torque < 0:
|
|
to_send[0].RDHR |= 0x1 << 23
|
|
to_send[0].RDLR |= (self.cnt_eps_01 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_EPS_01, 8)
|
|
self.__class__.cnt_eps_01 += 1
|
|
return to_send
|
|
|
|
# openpilot steering output torque
|
|
def _hca_01_msg(self, torque):
|
|
to_send = make_msg(0, MSG_HCA_01)
|
|
t = abs(torque)
|
|
to_send[0].RDLR = (t & 0xFFF) << 16
|
|
if torque < 0:
|
|
to_send[0].RDLR |= 0x1 << 31
|
|
to_send[0].RDLR |= (self.cnt_hca_01 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_HCA_01, 8)
|
|
self.__class__.cnt_hca_01 += 1
|
|
return to_send
|
|
|
|
# ACC engagement status
|
|
def _tsk_06_msg(self, status):
|
|
to_send = make_msg(0, MSG_TSK_06)
|
|
to_send[0].RDLR = (status & 0x7) << 24
|
|
to_send[0].RDLR |= (self.cnt_tsk_06 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_TSK_06, 8)
|
|
self.__class__.cnt_tsk_06 += 1
|
|
return to_send
|
|
|
|
# Driver throttle input
|
|
def _motor_20_msg(self, gas):
|
|
to_send = make_msg(0, MSG_MOTOR_20)
|
|
to_send[0].RDLR = (gas & 0xFF) << 12
|
|
to_send[0].RDLR |= (self.cnt_motor_20 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_MOTOR_20, 8)
|
|
self.__class__.cnt_motor_20 += 1
|
|
return to_send
|
|
|
|
# Cruise control buttons
|
|
def _gra_acc_01_msg(self, bit):
|
|
to_send = make_msg(2, MSG_GRA_ACC_01)
|
|
to_send[0].RDLR = 1 << bit
|
|
to_send[0].RDLR |= (self.cnt_gra_acc_01 % 16) << 8
|
|
to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_GRA_ACC_01, 8)
|
|
self.__class__.cnt_gra_acc_01 += 1
|
|
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, MSG_HCA_01)
|
|
|
|
def test_prev_gas(self):
|
|
for g in range(0, 256):
|
|
self.safety.safety_rx_hook(self._motor_20_msg(g))
|
|
self.assertEqual(g, self.safety.get_volkswagen_gas_prev())
|
|
|
|
def test_default_controls_not_allowed(self):
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_enable_control_allowed_from_cruise(self):
|
|
self.safety.set_controls_allowed(0)
|
|
self.safety.safety_rx_hook(self._tsk_06_msg(3))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_disable_control_allowed_from_cruise(self):
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._tsk_06_msg(1))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_sample_speed(self):
|
|
# Stationary
|
|
self.safety.safety_rx_hook(self._esp_19_msg(0))
|
|
self.assertEqual(0, self.safety.get_volkswagen_moving())
|
|
# 1 km/h, just under 0.3 m/s safety grace threshold
|
|
self.safety.safety_rx_hook(self._esp_19_msg(1))
|
|
self.assertEqual(0, self.safety.get_volkswagen_moving())
|
|
# 2 km/h, just over 0.3 m/s safety grace threshold
|
|
self.safety.safety_rx_hook(self._esp_19_msg(2))
|
|
self.assertEqual(1, self.safety.get_volkswagen_moving())
|
|
# 144 km/h, openpilot V_CRUISE_MAX
|
|
self.safety.safety_rx_hook(self._esp_19_msg(144))
|
|
self.assertEqual(1, self.safety.get_volkswagen_moving())
|
|
|
|
def test_prev_brake(self):
|
|
self.assertFalse(self.safety.get_volkswagen_brake_pressed_prev())
|
|
self.safety.safety_rx_hook(self._esp_05_msg(True))
|
|
self.assertTrue(self.safety.get_volkswagen_brake_pressed_prev())
|
|
|
|
def test_disengage_on_brake(self):
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._esp_05_msg(True))
|
|
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._esp_05_msg(True))
|
|
self.safety.set_controls_allowed(1)
|
|
|
|
self.safety.safety_rx_hook(self._esp_05_msg(True))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._esp_05_msg(False)) # reset no brakes
|
|
|
|
def test_not_allow_brake_when_moving(self):
|
|
# Brake was already pressed
|
|
self.safety.safety_rx_hook(self._esp_05_msg(True))
|
|
self.safety.safety_rx_hook(self._esp_19_msg(100))
|
|
self.safety.set_controls_allowed(1)
|
|
|
|
self.safety.safety_rx_hook(self._esp_05_msg(True))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_disengage_on_gas(self):
|
|
self.safety.safety_rx_hook(self._motor_20_msg(0))
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_allow_engage_with_gas_pressed(self):
|
|
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._motor_20_msg(1))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_steer_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for t in range(-500, 500):
|
|
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._hca_01_msg(t)))
|
|
else:
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
|
|
|
def test_manually_enable_controls_allowed(self):
|
|
test_manually_enable_controls_allowed(self)
|
|
|
|
def test_spam_cancel_safety_check(self):
|
|
BIT_CANCEL = 13
|
|
BIT_RESUME = 19
|
|
BIT_SET = 16
|
|
self.safety.set_controls_allowed(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_CANCEL)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_SET)))
|
|
# do not block resume if we are engaged already
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
|
|
|
|
def test_non_realtime_limit_up(self):
|
|
self.safety.set_volkswagen_torque_driver(0, 0)
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP)))
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP)))
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP + 1)))
|
|
self.safety.set_controls_allowed(True)
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP - 1)))
|
|
|
|
def test_non_realtime_limit_down(self):
|
|
self.safety.set_volkswagen_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_volkswagen_torque_driver(t, t)
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_STEER * sign)))
|
|
|
|
self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_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_volkswagen_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired)))
|
|
self._set_prev_torque(torque_desired + delta)
|
|
self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired + delta)))
|
|
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(0)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_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_volkswagen()
|
|
self._set_prev_torque(0)
|
|
self.safety.set_volkswagen_torque_driver(0, 0)
|
|
for t in np.arange(0, MAX_RT_DELTA, 1):
|
|
t *= sign
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._hca_01_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._hca_01_msg(t)))
|
|
|
|
# Increase timer to update rt_torque_last
|
|
self.safety.set_timer(RT_INTERVAL + 1)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA - 1))))
|
|
self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
|
|
|
|
def test_torque_measurements(self):
|
|
self.safety.safety_rx_hook(self._eps_01_msg(50))
|
|
self.safety.safety_rx_hook(self._eps_01_msg(-50))
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
|
|
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
|
|
self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
|
|
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
|
|
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
|
|
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
|
|
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
|
|
|
|
def test_rx_hook(self):
|
|
# checksum checks
|
|
# TODO: Would be ideal to check ESP_19 as well, but it has no checksum
|
|
# or counter, and I'm not sure if we can easily validate Panda's simple
|
|
# temporal reception-rate check here.
|
|
for msg in [MSG_EPS_01, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]:
|
|
self.safety.set_controls_allowed(1)
|
|
if msg == MSG_EPS_01:
|
|
to_push = self._eps_01_msg(0)
|
|
if msg == MSG_ESP_05:
|
|
to_push = self._esp_05_msg(False)
|
|
if msg == MSG_TSK_06:
|
|
to_push = self._tsk_06_msg(3)
|
|
if msg == MSG_MOTOR_20:
|
|
to_push = self._motor_20_msg(0)
|
|
self.assertTrue(self.safety.safety_rx_hook(to_push))
|
|
to_push[0].RDHR ^= 0xFF
|
|
self.assertFalse(self.safety.safety_rx_hook(to_push))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
# counter
|
|
# reset wrong_counters to zero by sending valid messages
|
|
for i in range(MAX_WRONG_COUNTERS + 1):
|
|
self.__class__.cnt_eps_01 += 1
|
|
self.__class__.cnt_esp_05 += 1
|
|
self.__class__.cnt_tsk_06 += 1
|
|
self.__class__.cnt_motor_20 += 1
|
|
if i < MAX_WRONG_COUNTERS:
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.safety.safety_rx_hook(self._esp_05_msg(False))
|
|
self.safety.safety_rx_hook(self._tsk_06_msg(3))
|
|
self.safety.safety_rx_hook(self._motor_20_msg(0))
|
|
else:
|
|
self.assertFalse(self.safety.safety_rx_hook(self._eps_01_msg(0)))
|
|
self.assertFalse(self.safety.safety_rx_hook(self._esp_05_msg(False)))
|
|
self.assertFalse(self.safety.safety_rx_hook(self._tsk_06_msg(3)))
|
|
self.assertFalse(self.safety.safety_rx_hook(self._motor_20_msg(0)))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
# restore counters for future tests with a couple of good messages
|
|
for i in range(2):
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._eps_01_msg(0))
|
|
self.safety.safety_rx_hook(self._esp_05_msg(False))
|
|
self.safety.safety_rx_hook(self._tsk_06_msg(3))
|
|
self.safety.safety_rx_hook(self._motor_20_msg(0))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_fwd_hook(self):
|
|
buss = list(range(0x0, 0x3))
|
|
msgs = list(range(0x1, 0x800))
|
|
blocked_msgs_0to2 = []
|
|
blocked_msgs_2to0 = [MSG_HCA_01, MSG_LDW_02]
|
|
for b in buss:
|
|
for m in msgs:
|
|
if b == 0:
|
|
fwd_bus = -1 if m in blocked_msgs_0to2 else 2
|
|
elif b == 1:
|
|
fwd_bus = -1
|
|
elif b == 2:
|
|
fwd_bus = -1 if m in blocked_msgs_2to0 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()
|