86 lines
2.7 KiB
Python
Executable File
86 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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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
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class TestChryslerSafety(common.PandaSafetyTest, common.TorqueSteeringSafetyTest):
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TX_MSGS = [[571, 0], [658, 0], [678, 0]]
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STANDSTILL_THRESHOLD = 0
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RELAY_MALFUNCTION_ADDR = 0x292
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [658, 678]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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MAX_RATE_UP = 3
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MAX_RATE_DOWN = 3
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MAX_TORQUE = 261
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MAX_RT_DELTA = 112
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RT_INTERVAL = 250000
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MAX_TORQUE_ERROR = 80
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cnt_torque_meas = 0
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cnt_gas = 0
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cnt_cruise = 0
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cnt_brake = 0
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
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self.safety.init_tests()
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def _button_msg(self, cancel):
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values = {"ACC_CANCEL": cancel}
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return self.packer.make_can_msg_panda("WHEEL_BUTTONS", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"ACC_STATUS_2": 0x7 if enable else 0,
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"COUNTER": self.cnt_cruise % 16}
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self.__class__.cnt_cruise += 1
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return self.packer.make_can_msg_panda("ACC_2", 0, values)
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def _speed_msg(self, speed):
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values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
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return self.packer.make_can_msg_panda("SPEED_1", 0, values)
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def _gas_msg(self, gas):
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values = {"ACCEL_134": gas, "COUNTER": self.cnt_gas % 16}
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self.__class__.cnt_gas += 1
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return self.packer.make_can_msg_panda("ACCEL_GAS_134", 0, values)
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def _brake_msg(self, brake):
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values = {"BRAKE_PRESSED_2": 5 if brake else 0,
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"COUNTER": self.cnt_brake % 16}
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self.__class__.cnt_brake += 1
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return self.packer.make_can_msg_panda("BRAKE_2", 0, values)
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def _torque_meas_msg(self, torque):
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values = {"TORQUE_MOTOR": torque, "COUNTER": self.cnt_torque_meas % 16}
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self.__class__.cnt_torque_meas += 1
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return self.packer.make_can_msg_panda("EPS_STATUS", 0, values)
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def _torque_msg(self, torque):
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values = {"LKAS_STEERING_TORQUE": torque}
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return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values)
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def test_disengage_on_gas(self):
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self.safety.set_controls_allowed(1)
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self._rx(self._speed_msg(2.1))
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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(0))
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self._rx(self._speed_msg(2.2))
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self._rx(self._gas_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_cancel_button(self):
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for cancel in [True, False]:
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self.assertEqual(cancel, self._tx(self._button_msg(cancel)))
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if __name__ == "__main__":
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unittest.main()
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