114 lines
3.6 KiB
Python
Executable File
114 lines
3.6 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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MAX_RATE_UP = 10
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MAX_RATE_DOWN = 25
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MAX_STEER = 2047
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MAX_RT_DELTA = 940
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 15
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DRIVER_TORQUE_FACTOR = 1
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class TestMazdaSafety(common.PandaSafetyTest):
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TX_MSGS = [[0x243, 0], [0x09d, 0]]
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STANDSTILL_THRESHOLD = .1
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RELAY_MALFUNCTION_ADDR = 0x243
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [0x243]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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LKAS_ENABLE_SPEED = 52
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LKAS_DISABLE_SPEED = 45
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def setUp(self):
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self.packer = CANPackerPanda("mazda_cx5_gt_2017")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0)
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self.safety.init_tests()
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def _torque_meas_msg(self, torque):
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values = {"STEER_TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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# def _torque_driver_msg(self, torque):
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# values = {"STEER_TORQUE_DRIVER": torque}
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# return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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def _torque_msg(self, torque):
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values = {"LKAS_REQUEST": torque}
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return self.packer.make_can_msg_panda("CAM_LKAS", 0, values)
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def _speed_msg(self, speed):
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values = {"SPEED": speed}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _brake_msg(self, brake):
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values = {"BRAKE_ON": brake}
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return self.packer.make_can_msg_panda("PEDALS", 0, values)
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def _gas_msg(self, gas):
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values = {"PEDAL_GAS": gas}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"CRZ_ACTIVE": enable}
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return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
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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._speed_msg(self.LKAS_DISABLE_SPEED - 1))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self._rx(self._pcm_status_msg(True))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(False))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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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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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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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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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self.assertTrue(self.safety.get_controls_allowed())
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# Enabled going down
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self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(False))
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# Disabled going up
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self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED + 1))
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self._rx(self._pcm_status_msg(True))
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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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self._rx(self._pcm_status_msg(False))
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1))
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self._rx(self._pcm_status_msg(True))
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self.assertFalse(self.safety.get_cruise_engaged_prev())
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self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1))
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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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if __name__ == "__main__":
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unittest.main()
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