414 lines
14 KiB
Python
414 lines
14 KiB
Python
import abc
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import struct
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import unittest
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import numpy as np
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from typing import Optional, List, Dict
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from opendbc.can.packer import CANPacker # pylint: disable=import-error
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from panda.tests.safety import libpandasafety_py
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MAX_WRONG_COUNTERS = 5
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class UNSAFE_MODE:
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DEFAULT = 0
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DISABLE_DISENGAGE_ON_GAS = 1
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DISABLE_STOCK_AEB = 2
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RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
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def package_can_msg(msg):
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addr, _, dat, bus = msg
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rdlr, rdhr = struct.unpack('II', dat.ljust(8, b'\x00'))
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ret = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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if addr >= 0x800:
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ret[0].RIR = (addr << 3) | 5
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else:
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ret[0].RIR = (addr << 21) | 1
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ret[0].RDTR = len(dat) | ((bus & 0xF) << 4)
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ret[0].RDHR = rdhr
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ret[0].RDLR = rdlr
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return ret
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def make_msg(bus, addr, length=8):
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return package_can_msg([addr, 0, b'\x00' * length, bus])
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class CANPackerPanda(CANPacker):
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def make_can_msg_panda(self, name_or_addr, bus, values, counter=-1, fix_checksum=None):
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msg = self.make_can_msg(name_or_addr, bus, values, counter=-1)
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if fix_checksum is not None:
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msg = fix_checksum(msg)
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return package_can_msg(msg)
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class PandaSafetyTestBase(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "PandaSafetyTestBase":
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cls.safety = None
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raise unittest.SkipTest
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def _rx(self, msg):
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return self.safety.safety_rx_hook(msg)
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def _tx(self, msg):
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return self.safety.safety_tx_hook(msg)
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class InterceptorSafetyTest(PandaSafetyTestBase):
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INTERCEPTOR_THRESHOLD = 0
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "InterceptorSafetyTest":
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cls.safety = None
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raise unittest.SkipTest
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@abc.abstractmethod
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def _interceptor_msg(self, gas, addr):
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pass
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def test_prev_gas_interceptor(self):
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self._rx(self._interceptor_msg(0x0, 0x201))
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self.assertFalse(self.safety.get_gas_interceptor_prev())
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self._rx(self._interceptor_msg(0x1000, 0x201))
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self.assertTrue(self.safety.get_gas_interceptor_prev())
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self._rx(self._interceptor_msg(0x0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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def test_disengage_on_gas_interceptor(self):
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for g in range(0, 0x1000):
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self._rx(self._interceptor_msg(0, 0x201))
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self.safety.set_controls_allowed(True)
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self._rx(self._interceptor_msg(g, 0x201))
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remain_enabled = g <= self.INTERCEPTOR_THRESHOLD
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self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
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self._rx(self._interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
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self.safety.set_controls_allowed(True)
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self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
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for g in range(0, 0x1000):
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self._rx(self._interceptor_msg(g, 0x201))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._interceptor_msg(0, 0x201))
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self.safety.set_gas_interceptor_detected(False)
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self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
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def test_allow_engage_with_gas_interceptor_pressed(self):
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self._rx(self._interceptor_msg(0x1000, 0x201))
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self.safety.set_controls_allowed(1)
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self._rx(self._interceptor_msg(0x1000, 0x201))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._interceptor_msg(0, 0x201))
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def test_gas_interceptor_safety_check(self):
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for gas in np.arange(0, 4000, 100):
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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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if controls_allowed:
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send = True
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else:
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send = gas == 0
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self.assertEqual(send, self._tx(self._interceptor_msg(gas, 0x200)))
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class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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MAX_RATE_UP = 0
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MAX_RATE_DOWN = 0
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MAX_TORQUE = 0
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MAX_RT_DELTA = 0
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RT_INTERVAL = 0
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MAX_TORQUE_ERROR = 0
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TORQUE_MEAS_TOLERANCE = 0
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "TorqueSteeringSafetyTest":
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cls.safety = None
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raise unittest.SkipTest
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@abc.abstractmethod
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def _torque_meas_msg(self, torque):
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pass
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@abc.abstractmethod
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def _torque_msg(self, torque):
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pass
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def _set_prev_torque(self, t):
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self.safety.set_desired_torque_last(t)
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self.safety.set_rt_torque_last(t)
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self.safety.set_torque_meas(t, t)
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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(-self.MAX_TORQUE * 2, self.MAX_TORQUE * 2):
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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) > self.MAX_TORQUE or (not enabled and abs(t) > 0):
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self.assertFalse(self._tx(self._torque_msg(t)))
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else:
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self.assertTrue(self._tx(self._torque_msg(t)))
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def test_torque_absolute_limits(self):
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for controls_allowed in [True, False]:
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for torque in np.arange(-self.MAX_TORQUE - 1000, self.MAX_TORQUE + 1000, self.MAX_RATE_UP):
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self.safety.set_controls_allowed(controls_allowed)
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self.safety.set_rt_torque_last(torque)
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self.safety.set_torque_meas(torque, torque)
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self.safety.set_desired_torque_last(torque - self.MAX_RATE_UP)
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if controls_allowed:
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send = (-self.MAX_TORQUE <= torque <= self.MAX_TORQUE)
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else:
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send = torque == 0
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self.assertEqual(send, self._tx(self._torque_msg(torque)))
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def test_non_realtime_limit_up(self):
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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._tx(self._torque_msg(self.MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self._tx(self._torque_msg(self.MAX_RATE_UP + 1)))
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def test_non_realtime_limit_down(self):
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self.safety.set_controls_allowed(True)
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torque_meas = self.MAX_TORQUE - self.MAX_TORQUE_ERROR - 50
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self.safety.set_rt_torque_last(self.MAX_TORQUE)
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self.safety.set_torque_meas(torque_meas, torque_meas)
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self.safety.set_desired_torque_last(self.MAX_TORQUE)
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self.assertTrue(self._tx(self._torque_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN)))
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self.safety.set_rt_torque_last(self.MAX_TORQUE)
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self.safety.set_torque_meas(torque_meas, torque_meas)
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self.safety.set_desired_torque_last(self.MAX_TORQUE)
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self.assertFalse(self._tx(self._torque_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN + 1)))
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def test_exceed_torque_sensor(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._set_prev_torque(0)
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for t in np.arange(0, self.MAX_TORQUE_ERROR + 2, 2): # step needs to be smaller than MAX_TORQUE_ERROR
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t *= sign
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self.assertTrue(self._tx(self._torque_msg(t)))
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self.assertFalse(self._tx(self._torque_msg(sign * (self.MAX_TORQUE_ERROR + 2))))
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def test_realtime_limit_up(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()
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self._set_prev_torque(0)
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for t in np.arange(0, self.MAX_RT_DELTA + 1, 1):
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t *= sign
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self.safety.set_torque_meas(t, t)
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self.assertTrue(self._tx(self._torque_msg(t)))
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self.assertFalse(self._tx(self._torque_msg(sign * (self.MAX_RT_DELTA + 1))))
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self._set_prev_torque(0)
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for t in np.arange(0, self.MAX_RT_DELTA + 1, 1):
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t *= sign
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self.safety.set_torque_meas(t, t)
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self.assertTrue(self._tx(self._torque_msg(t)))
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# Increase timer to update rt_torque_last
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self.safety.set_timer(self.RT_INTERVAL + 1)
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self.assertTrue(self._tx(self._torque_msg(sign * self.MAX_RT_DELTA)))
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self.assertTrue(self._tx(self._torque_msg(sign * (self.MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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trq = 50
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for t in [trq, -trq, 0, 0, 0, 0]:
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self._rx(self._torque_meas_msg(t))
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max_range = range(trq, trq + self.TORQUE_MEAS_TOLERANCE + 1)
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min_range = range(-(trq + self.TORQUE_MEAS_TOLERANCE), -trq + 1)
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self.assertTrue(self.safety.get_torque_meas_min() in min_range)
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self.assertTrue(self.safety.get_torque_meas_max() in max_range)
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max_range = range(0, self.TORQUE_MEAS_TOLERANCE + 1)
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min_range = range(-(trq + self.TORQUE_MEAS_TOLERANCE), -trq + 1)
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self._rx(self._torque_meas_msg(0))
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self.assertTrue(self.safety.get_torque_meas_min() in min_range)
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self.assertTrue(self.safety.get_torque_meas_max() in max_range)
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max_range = range(0, self.TORQUE_MEAS_TOLERANCE + 1)
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min_range = range(-self.TORQUE_MEAS_TOLERANCE, 0 + 1)
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self._rx(self._torque_meas_msg(0))
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self.assertTrue(self.safety.get_torque_meas_min() in min_range)
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self.assertTrue(self.safety.get_torque_meas_max() in max_range)
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class PandaSafetyTest(PandaSafetyTestBase):
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TX_MSGS: Optional[List[List[int]]] = None
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STANDSTILL_THRESHOLD: Optional[float] = None
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GAS_PRESSED_THRESHOLD = 0
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RELAY_MALFUNCTION_ADDR: Optional[int] = None
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RELAY_MALFUNCTION_BUS: Optional[int] = None
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FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {} # {bus: [addr]}
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FWD_BUS_LOOKUP: Dict[int, int] = {}
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "PandaSafetyTest":
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cls.safety = None
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raise unittest.SkipTest
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@abc.abstractmethod
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def _brake_msg(self, brake):
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pass
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@abc.abstractmethod
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def _speed_msg(self, speed):
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pass
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@abc.abstractmethod
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def _gas_msg(self, gas):
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pass
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@abc.abstractmethod
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def _pcm_status_msg(self, enable):
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pass
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# ***** standard tests for all safety modes *****
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def test_relay_malfunction(self):
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# each car has an addr that is used to detect relay malfunction
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# if that addr is seen on specified bus, triggers the relay malfunction
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# protection logic: both tx_hook and fwd_hook are expected to return failure
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self.assertFalse(self.safety.get_relay_malfunction())
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self._rx(make_msg(self.RELAY_MALFUNCTION_BUS, self.RELAY_MALFUNCTION_ADDR, 8))
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self.assertTrue(self.safety.get_relay_malfunction())
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for a in range(1, 0x800):
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for b in range(0, 3):
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self.assertFalse(self._tx(make_msg(b, a, 8)))
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self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
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def test_fwd_hook(self):
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# some safety modes don't forward anything, while others blacklist msgs
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for bus in range(0x0, 0x3):
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for addr in range(0x1, 0x800):
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# assume len 8
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msg = make_msg(bus, addr, 8)
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fwd_bus = self.FWD_BUS_LOOKUP.get(bus, -1)
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if bus in self.FWD_BLACKLISTED_ADDRS and addr in self.FWD_BLACKLISTED_ADDRS[bus]:
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fwd_bus = -1
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self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, msg))
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def test_spam_can_buses(self):
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for addr in range(1, 0x800):
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for bus in range(0, 4):
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if all(addr != m[0] or bus != m[1] for m in self.TX_MSGS):
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self.assertFalse(self._tx(make_msg(bus, addr, 8)))
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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_manually_enable_controls_allowed(self):
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.set_controls_allowed(0)
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self.assertFalse(self.safety.get_controls_allowed())
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def test_prev_gas(self):
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self.assertFalse(self.safety.get_gas_pressed_prev())
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for pressed in [self.GAS_PRESSED_THRESHOLD + 1, 0]:
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self._rx(self._gas_msg(pressed))
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self.assertEqual(bool(pressed), self.safety.get_gas_pressed_prev())
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def test_allow_engage_with_gas_pressed(self):
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self._rx(self._gas_msg(1))
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self.safety.set_controls_allowed(True)
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self._rx(self._gas_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._gas_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disengage_on_gas(self):
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self._rx(self._gas_msg(0))
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self.safety.set_controls_allowed(True)
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self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_unsafe_mode_no_disengage_on_gas(self):
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self._rx(self._gas_msg(0))
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self.safety.set_controls_allowed(True)
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self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
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self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_prev_brake(self):
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self.assertFalse(self.safety.get_brake_pressed_prev())
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for pressed in [True, False]:
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self._rx(self._brake_msg(not pressed))
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self.assertEqual(not pressed, self.safety.get_brake_pressed_prev())
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self._rx(self._brake_msg(pressed))
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self.assertEqual(pressed, self.safety.get_brake_pressed_prev())
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def test_enable_control_allowed_from_cruise(self):
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(True))
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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._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_cruise_engaged_prev(self):
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for engaged in [True, False]:
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self._rx(self._pcm_status_msg(engaged))
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self.assertEqual(engaged, self.safety.get_cruise_engaged_prev())
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self._rx(self._pcm_status_msg(not engaged))
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self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev())
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def test_allow_brake_at_zero_speed(self):
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# Brake was already pressed
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self._rx(self._speed_msg(0))
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self._rx(self._brake_msg(1))
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self.safety.set_controls_allowed(1)
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self._rx(self._brake_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._brake_msg(0))
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self.assertTrue(self.safety.get_controls_allowed())
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# rising edge of brake should disengage
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self._rx(self._brake_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._brake_msg(0)) # reset no brakes
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def test_not_allow_brake_when_moving(self):
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# Brake was already pressed
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self._rx(self._brake_msg(1))
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self.safety.set_controls_allowed(1)
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self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD))
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self._rx(self._brake_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
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self._rx(self._brake_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._speed_msg(0))
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def test_sample_speed(self):
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self.assertFalse(self.safety.get_vehicle_moving())
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# not moving
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self.safety.safety_rx_hook(self._speed_msg(0))
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self.assertFalse(self.safety.get_vehicle_moving())
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# speed is at threshold
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self.safety.safety_rx_hook(self._speed_msg(self.STANDSTILL_THRESHOLD))
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self.assertFalse(self.safety.get_vehicle_moving())
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# past threshold
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self.safety.safety_rx_hook(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
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self.assertTrue(self.safety.get_vehicle_moving())
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