270 lines
9.5 KiB
Python
270 lines
9.5 KiB
Python
#!/usr/bin/env python3
|
|
import unittest
|
|
from typing import Dict, List
|
|
import numpy as np
|
|
from panda import Panda
|
|
from panda.tests.safety import libpandasafety_py
|
|
import panda.tests.safety.common as common
|
|
from panda.tests.safety.common import CANPackerPanda, UNSAFE_MODE
|
|
|
|
MAX_RATE_UP = 7
|
|
MAX_RATE_DOWN = 17
|
|
MAX_STEER = 300
|
|
MAX_BRAKE = 350
|
|
MAX_GAS = 3072
|
|
MAX_REGEN = 1404
|
|
|
|
MAX_RT_DELTA = 128
|
|
RT_INTERVAL = 250000
|
|
|
|
DRIVER_TORQUE_ALLOWANCE = 50
|
|
DRIVER_TORQUE_FACTOR = 4
|
|
|
|
class TestGmSafety(common.PandaSafetyTest):
|
|
TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0], # pt bus
|
|
[161, 1], [774, 1], [776, 1], [784, 1], # obs bus
|
|
[789, 2], # ch bus
|
|
[0x104c006c, 3], [0x10400060]] # gmlan
|
|
STANDSTILL_THRESHOLD = 0
|
|
RELAY_MALFUNCTION_ADDR = 384
|
|
RELAY_MALFUNCTION_BUS = 0
|
|
FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}
|
|
FWD_BUS_LOOKUP: Dict[int, int] = {}
|
|
|
|
def setUp(self):
|
|
self.packer = CANPackerPanda("gm_global_a_powertrain")
|
|
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
|
|
self.safety = libpandasafety_py.libpandasafety
|
|
self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
|
|
self.safety.init_tests()
|
|
|
|
# override these tests from PandaSafetyTest, GM uses button enable
|
|
def test_disable_control_allowed_from_cruise(self):
|
|
pass
|
|
|
|
def test_enable_control_allowed_from_cruise(self):
|
|
pass
|
|
|
|
def test_cruise_engaged_prev(self):
|
|
pass
|
|
|
|
def _pcm_status_msg(self, enable):
|
|
raise NotImplementedError
|
|
|
|
def _speed_msg(self, speed):
|
|
values = {"%sWheelSpd" % s: speed for s in ["RL", "RR"]}
|
|
return self.packer.make_can_msg_panda("EBCMWheelSpdRear", 0, values)
|
|
|
|
def _button_msg(self, buttons):
|
|
values = {"ACCButtons": buttons}
|
|
return self.packer.make_can_msg_panda("ASCMSteeringButton", 0, values)
|
|
|
|
def _brake_msg(self, brake):
|
|
# GM safety has a brake threshold of 10
|
|
values = {"BrakePedalPosition": 10 if brake else 0}
|
|
return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values)
|
|
|
|
def _gas_msg(self, gas):
|
|
values = {"AcceleratorPedal": 1 if gas else 0}
|
|
return self.packer.make_can_msg_panda("AcceleratorPedal", 0, values)
|
|
|
|
def _send_brake_msg(self, brake):
|
|
values = {"FrictionBrakeCmd": -brake}
|
|
return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", 2, values)
|
|
|
|
def _send_gas_msg(self, gas):
|
|
values = {"GasRegenCmd": gas}
|
|
return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_desired_torque_last(t)
|
|
self.safety.set_rt_torque_last(t)
|
|
|
|
def _torque_driver_msg(self, torque):
|
|
values = {"LKADriverAppldTrq": torque}
|
|
return self.packer.make_can_msg_panda("PSCMStatus", 0, values)
|
|
|
|
def _torque_msg(self, torque):
|
|
values = {"LKASteeringCmd": torque}
|
|
return self.packer.make_can_msg_panda("ASCMLKASteeringCmd", 0, values)
|
|
|
|
def test_resume_button(self):
|
|
RESUME_BTN = 2
|
|
self.safety.set_controls_allowed(0)
|
|
self._rx(self._button_msg(RESUME_BTN))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_set_button(self):
|
|
SET_BTN = 3
|
|
self.safety.set_controls_allowed(0)
|
|
self._rx(self._button_msg(SET_BTN))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_cancel_button(self):
|
|
CANCEL_BTN = 6
|
|
self.safety.set_controls_allowed(1)
|
|
self._rx(self._button_msg(CANCEL_BTN))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_brake_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for b in range(0, 500):
|
|
self.safety.set_controls_allowed(enabled)
|
|
if abs(b) > MAX_BRAKE or (not enabled and b != 0):
|
|
self.assertFalse(self._tx(self._send_brake_msg(b)))
|
|
else:
|
|
self.assertTrue(self._tx(self._send_brake_msg(b)))
|
|
|
|
def test_gas_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for g in range(0, 2**12 - 1):
|
|
self.safety.set_controls_allowed(enabled)
|
|
if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN):
|
|
self.assertFalse(self._tx(self._send_gas_msg(g)))
|
|
else:
|
|
self.assertTrue(self._tx(self._send_gas_msg(g)))
|
|
|
|
def test_steer_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for t in range(-0x200, 0x200):
|
|
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._tx(self._torque_msg(t)))
|
|
else:
|
|
self.assertTrue(self._tx(self._torque_msg(t)))
|
|
|
|
def test_non_realtime_limit_up(self):
|
|
self.safety.set_torque_driver(0, 0)
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self._tx(self._torque_msg(MAX_RATE_UP)))
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self._tx(self._torque_msg(-MAX_RATE_UP)))
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self._tx(self._torque_msg(MAX_RATE_UP + 1)))
|
|
self.safety.set_controls_allowed(True)
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self._tx(self._torque_msg(-MAX_RATE_UP - 1)))
|
|
|
|
def test_non_realtime_limit_down(self):
|
|
self.safety.set_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_torque_driver(t, t)
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.assertTrue(self._tx(self._torque_msg(MAX_STEER * sign)))
|
|
|
|
self.safety.set_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
|
self.assertFalse(self._tx(self._torque_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_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertTrue(self._tx(self._torque_msg(torque_desired)))
|
|
self._set_prev_torque(torque_desired + delta)
|
|
self.safety.set_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertFalse(self._tx(self._torque_msg(torque_desired + delta)))
|
|
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self._tx(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self._tx(self._torque_msg(0)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertFalse(self._tx(self._torque_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()
|
|
self._set_prev_torque(0)
|
|
self.safety.set_torque_driver(0, 0)
|
|
for t in np.arange(0, MAX_RT_DELTA, 1):
|
|
t *= sign
|
|
self.assertTrue(self._tx(self._torque_msg(t)))
|
|
self.assertFalse(self._tx(self._torque_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._tx(self._torque_msg(t)))
|
|
|
|
# Increase timer to update rt_torque_last
|
|
self.safety.set_timer(RT_INTERVAL + 1)
|
|
self.assertTrue(self._tx(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
|
|
self.assertTrue(self._tx(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
|
|
|
def test_tx_hook_on_pedal_pressed(self):
|
|
for pedal in ['brake', 'gas']:
|
|
if pedal == 'brake':
|
|
# brake_pressed_prev and vehicle_moving
|
|
self._rx(self._speed_msg(100))
|
|
self._rx(self._brake_msg(MAX_BRAKE))
|
|
elif pedal == 'gas':
|
|
# gas_pressed_prev
|
|
self._rx(self._gas_msg(MAX_GAS))
|
|
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertFalse(self._tx(self._send_brake_msg(MAX_BRAKE)))
|
|
self.assertFalse(self._tx(self._torque_msg(MAX_RATE_UP)))
|
|
self.assertFalse(self._tx(self._send_gas_msg(MAX_GAS)))
|
|
|
|
# reset status
|
|
self.safety.set_controls_allowed(0)
|
|
self._tx(self._send_brake_msg(0))
|
|
self._tx(self._torque_msg(0))
|
|
if pedal == 'brake':
|
|
self._rx(self._speed_msg(0))
|
|
self._rx(self._brake_msg(0))
|
|
elif pedal == 'gas':
|
|
self._rx(self._gas_msg(0))
|
|
|
|
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
|
|
for pedal in ['brake', 'gas']:
|
|
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
|
|
if pedal == 'brake':
|
|
# brake_pressed_prev and vehicle_moving
|
|
self._rx(self._speed_msg(100))
|
|
self._rx(self._brake_msg(MAX_BRAKE))
|
|
allow_ctrl = False
|
|
elif pedal == 'gas':
|
|
# gas_pressed_prev
|
|
self._rx(self._gas_msg(MAX_GAS))
|
|
allow_ctrl = True
|
|
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertEqual(allow_ctrl, self._tx(self._send_brake_msg(MAX_BRAKE)))
|
|
self.assertEqual(allow_ctrl, self._tx(self._torque_msg(MAX_RATE_UP)))
|
|
self.assertEqual(allow_ctrl, self._tx(self._send_gas_msg(MAX_GAS)))
|
|
|
|
# reset status
|
|
self.safety.set_controls_allowed(0)
|
|
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
|
|
self._tx(self._send_brake_msg(0))
|
|
self._tx(self._torque_msg(0))
|
|
if pedal == 'brake':
|
|
self._rx(self._speed_msg(0))
|
|
self._rx(self._brake_msg(0))
|
|
elif pedal == 'gas':
|
|
self._rx(self._gas_msg(0))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|