260 lines
9.7 KiB
Python
260 lines
9.7 KiB
Python
#!/usr/bin/env python3
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import unittest
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import numpy as np
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import test_relay_malfunction, make_msg, \
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test_manually_enable_controls_allowed, test_spam_can_buses
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MAX_RATE_UP = 4
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MAX_RATE_DOWN = 10
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MAX_STEER = 250
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MAX_RT_DELTA = 75
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 80
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DRIVER_TORQUE_FACTOR = 3
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MSG_EPS_01 = 0x9F # RX from EPS, for driver steering torque
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MSG_ACC_06 = 0x122 # RX from ACC radar, for status and engagement
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MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input
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MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque
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MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume
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MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
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# Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
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TX_MSGS = [[MSG_HCA_01, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_LDW_02, 0]]
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def sign(a):
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if a > 0:
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return 1
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else:
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return -1
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class TestVolkswagenMqbSafety(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.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
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cls.safety.init_tests_volkswagen()
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def _set_prev_torque(self, t):
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self.safety.set_volkswagen_desired_torque_last(t)
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self.safety.set_volkswagen_rt_torque_last(t)
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# Driver steering input torque
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def _eps_01_msg(self, torque):
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to_send = make_msg(0, MSG_EPS_01)
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t = abs(torque)
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to_send[0].RDHR = ((t & 0x1FFF) << 8)
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if torque < 0:
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to_send[0].RDHR |= 0x1 << 23
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return to_send
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# openpilot steering output torque
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def _hca_01_msg(self, torque):
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to_send = make_msg(0, MSG_HCA_01)
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t = abs(torque)
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to_send[0].RDLR = (t & 0xFFF) << 16
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if torque < 0:
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to_send[0].RDLR |= 0x1 << 31
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return to_send
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# ACC engagement status
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def _acc_06_msg(self, status):
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to_send = make_msg(0, MSG_ACC_06)
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to_send[0].RDHR = (status & 0x7) << 28
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return to_send
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# Driver throttle input
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def _motor_20_msg(self, gas):
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to_send = make_msg(0, MSG_MOTOR_20)
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to_send[0].RDLR = (gas & 0xFF) << 12
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return to_send
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# Cruise control buttons
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def _gra_acc_01_msg(self, bit):
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to_send = make_msg(2, MSG_GRA_ACC_01)
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to_send[0].RDLR = 1 << bit
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return to_send
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def test_spam_can_buses(self):
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test_spam_can_buses(self, TX_MSGS)
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def test_relay_malfunction(self):
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test_relay_malfunction(self, MSG_HCA_01)
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def test_prev_gas(self):
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for g in range(0, 256):
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self.safety.safety_rx_hook(self._motor_20_msg(g))
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self.assertEqual(g, self.safety.get_volkswagen_gas_prev())
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def test_default_controls_not_allowed(self):
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self.assertFalse(self.safety.get_controls_allowed())
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def test_enable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(0)
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self.safety.safety_rx_hook(self._acc_06_msg(3))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(1)
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self.safety.safety_rx_hook(self._acc_06_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_disengage_on_gas(self):
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self.safety.safety_rx_hook(self._motor_20_msg(0))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._motor_20_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_allow_engage_with_gas_pressed(self):
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self.safety.safety_rx_hook(self._motor_20_msg(1))
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._motor_20_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._motor_20_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_steer_safety_check(self):
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for enabled in [0, 1]:
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for t in range(-500, 500):
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self.safety.set_controls_allowed(enabled)
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self._set_prev_torque(t)
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if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(t)))
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else:
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
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def test_manually_enable_controls_allowed(self):
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test_manually_enable_controls_allowed(self)
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def test_spam_cancel_safety_check(self):
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BIT_CANCEL = 13
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BIT_RESUME = 19
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BIT_SET = 16
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self.safety.set_controls_allowed(0)
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self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_CANCEL)))
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self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
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self.assertFalse(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_SET)))
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# do not block resume if we are engaged already
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.safety_tx_hook(self._gra_acc_01_msg(BIT_RESUME)))
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def test_non_realtime_limit_up(self):
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self.safety.set_volkswagen_torque_driver(0, 0)
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(MAX_RATE_UP + 1)))
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_RATE_UP - 1)))
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def test_non_realtime_limit_down(self):
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self.safety.set_volkswagen_torque_driver(0, 0)
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self.safety.set_controls_allowed(True)
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def test_against_torque_driver(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
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t *= -sign
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self.safety.set_volkswagen_torque_driver(t, t)
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self._set_prev_torque(MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(MAX_STEER * sign)))
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self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(-MAX_STEER)))
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# spot check some individual cases
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for sign in [-1, 1]:
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driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
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torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
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delta = 1 * sign
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self._set_prev_torque(torque_desired)
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self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired)))
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self._set_prev_torque(torque_desired + delta)
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self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(torque_desired + delta)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(0)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
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def test_realtime_limits(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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self.safety.init_tests_volkswagen()
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self._set_prev_torque(0)
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self.safety.set_volkswagen_torque_driver(0, 0)
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for t in np.arange(0, MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
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self.assertFalse(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
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self._set_prev_torque(0)
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for t in np.arange(0, MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
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# Increase timer to update rt_torque_last
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self.safety.set_timer(RT_INTERVAL + 1)
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA - 1))))
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self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(sign * (MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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self.safety.safety_rx_hook(self._eps_01_msg(50))
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self.safety.safety_rx_hook(self._eps_01_msg(-50))
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
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self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
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self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
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self.safety.safety_rx_hook(self._eps_01_msg(0))
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self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
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self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
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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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blocked_msgs_0to2 = []
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blocked_msgs_2to0 = [MSG_HCA_01, MSG_LDW_02]
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for b in buss:
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for m in msgs:
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if b == 0:
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fwd_bus = -1 if m in blocked_msgs_0to2 else 2
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elif b == 1:
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fwd_bus = -1
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elif b == 2:
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fwd_bus = -1 if m in blocked_msgs_2to0 else 0
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# assume len 8
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self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
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if __name__ == "__main__":
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unittest.main()
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