280 lines
10 KiB
Python
280 lines
10 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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import panda.tests.safety.common as common
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from panda.tests.safety.common import make_msg, MAX_WRONG_COUNTERS
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MAX_RATE_UP = 4
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MAX_RATE_DOWN = 10
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MAX_STEER = 300
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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_LENKHILFE_3 = 0x0D0 # RX from EPS, for steering angle and driver steering torque
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MSG_HCA_1 = 0x0D2 # TX by OP, Heading Control Assist steering torque
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MSG_MOTOR_2 = 0x288 # RX from ECU, for CC state and brake switch state
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MSG_MOTOR_3 = 0x380 # RX from ECU, for driver throttle input
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MSG_GRA_NEU = 0x38A # TX by OP, ACC control buttons for cancel/resume
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MSG_BREMSE_3 = 0x4A0 # RX from ABS, for wheel speeds
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MSG_LDW_1 = 0x5BE # TX by OP, Lane line recognition and text alerts
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def volkswagen_pq_checksum(msg, addr, len_msg):
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msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
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msg_bytes = msg_bytes[1:len_msg]
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checksum = 0
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for i in msg_bytes:
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checksum ^= i
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return checksum
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class TestVolkswagenPqSafety(common.PandaSafetyTest):
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cruise_engaged = False
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brake_pressed = False
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cnt_lenkhilfe_3 = 0
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cnt_hca_1 = 0
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# Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
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TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
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STANDSTILL_THRESHOLD = 1
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RELAY_MALFUNCTION_ADDR = MSG_HCA_1
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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def setUp(self):
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
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self.safety.init_tests()
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# override these inherited tests from PandaSafetyTest
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def test_cruise_engaged_prev(self):
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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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# Wheel speeds (Bremse_3)
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def _speed_msg(self, speed):
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wheel_speed_scaled = int(speed / 0.01)
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to_send = make_msg(0, MSG_BREMSE_3)
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to_send[0].RDLR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
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to_send[0].RDHR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
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return to_send
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# Brake light switch (shared message Motor_2)
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def _brake_msg(self, brake):
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to_send = make_msg(0, MSG_MOTOR_2)
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to_send[0].RDLR = (0x1 << 16) if brake else 0
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# since this siganl's used for engagement status, preserve current state
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to_send[0].RDLR |= (self.safety.get_controls_allowed() & 0x3) << 22
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return to_send
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# ACC engaged status (shared message Motor_2)
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def _pcm_status_msg(self, enable):
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self.__class__.cruise_engaged = enable
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return self._motor_2_msg()
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# Driver steering input torque
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def _lenkhilfe_3_msg(self, torque):
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to_send = make_msg(0, MSG_LENKHILFE_3, 6)
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t = abs(torque)
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to_send[0].RDLR = ((t & 0x3FF) << 16)
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if torque < 0:
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to_send[0].RDLR |= 0x1 << 26
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to_send[0].RDLR |= (self.cnt_lenkhilfe_3 % 16) << 12
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to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_LENKHILFE_3, 8)
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self.__class__.cnt_lenkhilfe_3 += 1
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return to_send
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# openpilot steering output torque
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def _hca_1_msg(self, torque):
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to_send = make_msg(0, MSG_HCA_1, 5)
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t = abs(torque) << 5 # DBC scale from centi-Nm to PQ network (approximated)
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to_send[0].RDLR = (t & 0x7FFF) << 16
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if torque < 0:
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to_send[0].RDLR |= 0x1 << 31
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to_send[0].RDLR |= (self.cnt_hca_1 % 16) << 8
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to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_HCA_1, 8)
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self.__class__.cnt_hca_1 += 1
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return to_send
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# ACC engagement and brake light switch status
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# Called indirectly for compatibility with common.py tests
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def _motor_2_msg(self):
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to_send = make_msg(0, MSG_MOTOR_2)
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to_send[0].RDLR = (0x1 << 16) if self.__class__.brake_pressed else 0
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to_send[0].RDLR |= (self.__class__.cruise_engaged & 0x3) << 22
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return to_send
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# Driver throttle input (motor_3)
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def _gas_msg(self, gas):
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to_send = make_msg(0, MSG_MOTOR_3)
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to_send[0].RDLR = (gas & 0xFF) << 16
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return to_send
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# Cruise control buttons
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def _gra_neu_msg(self, bit):
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to_send = make_msg(2, MSG_GRA_NEU, 4)
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to_send[0].RDLR = 1 << bit
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to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_GRA_NEU, 8)
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return to_send
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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._tx(self._hca_1_msg(t)))
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else:
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self.assertTrue(self._tx(self._hca_1_msg(t)))
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def test_spam_cancel_safety_check(self):
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BIT_CANCEL = 9
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BIT_SET = 16
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BIT_RESUME = 17
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self.safety.set_controls_allowed(0)
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self.assertTrue(self._tx(self._gra_neu_msg(BIT_CANCEL)))
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self.assertFalse(self._tx(self._gra_neu_msg(BIT_RESUME)))
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self.assertFalse(self._tx(self._gra_neu_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._tx(self._gra_neu_msg(BIT_RESUME)))
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def test_non_realtime_limit_up(self):
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self.safety.set_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._tx(self._hca_1_msg(MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertTrue(self._tx(self._hca_1_msg(-MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self._tx(self._hca_1_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._tx(self._hca_1_msg(-MAX_RATE_UP - 1)))
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def test_non_realtime_limit_down(self):
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self.safety.set_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_torque_driver(t, t)
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self._set_prev_torque(MAX_STEER * sign)
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self.assertTrue(self._tx(self._hca_1_msg(MAX_STEER * sign)))
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self.safety.set_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
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self.assertFalse(self._tx(self._hca_1_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_torque_driver(-driver_torque, -driver_torque)
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self.assertTrue(self._tx(self._hca_1_msg(torque_desired)))
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self._set_prev_torque(torque_desired + delta)
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self.safety.set_torque_driver(-driver_torque, -driver_torque)
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self.assertFalse(self._tx(self._hca_1_msg(torque_desired + delta)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self._tx(self._hca_1_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_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self._tx(self._hca_1_msg(0)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertFalse(self._tx(self._hca_1_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()
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self._set_prev_torque(0)
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self.safety.set_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._tx(self._hca_1_msg(t)))
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self.assertFalse(self._tx(self._hca_1_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._tx(self._hca_1_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._tx(self._hca_1_msg(sign * (MAX_RT_DELTA - 1))))
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self.assertTrue(self._tx(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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self._rx(self._lenkhilfe_3_msg(50))
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self._rx(self._lenkhilfe_3_msg(-50))
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self._rx(self._lenkhilfe_3_msg(0))
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self._rx(self._lenkhilfe_3_msg(0))
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self._rx(self._lenkhilfe_3_msg(0))
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self._rx(self._lenkhilfe_3_msg(0))
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self.assertEqual(-50, self.safety.get_torque_driver_min())
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self.assertEqual(50, self.safety.get_torque_driver_max())
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self._rx(self._lenkhilfe_3_msg(0))
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self.assertEqual(0, self.safety.get_torque_driver_max())
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self.assertEqual(-50, self.safety.get_torque_driver_min())
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self._rx(self._lenkhilfe_3_msg(0))
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self.assertEqual(0, self.safety.get_torque_driver_max())
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self.assertEqual(0, self.safety.get_torque_driver_min())
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def test_rx_hook(self):
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# checksum checks
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# TODO: Would be ideal to check non-checksum non-counter messages as well,
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# but I'm not sure if we can easily validate Panda's simple temporal
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# reception-rate check here.
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for msg in [MSG_LENKHILFE_3]:
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self.safety.set_controls_allowed(1)
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if msg == MSG_LENKHILFE_3:
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to_push = self._lenkhilfe_3_msg(0)
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self.assertTrue(self._rx(to_push))
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to_push[0].RDHR ^= 0xFF
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self.assertFalse(self._rx(to_push))
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self.assertFalse(self.safety.get_controls_allowed())
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# counter
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# reset wrong_counters to zero by sending valid messages
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for i in range(MAX_WRONG_COUNTERS + 1):
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self.__class__.cnt_lenkhilfe_3 += 1
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if i < MAX_WRONG_COUNTERS:
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self.safety.set_controls_allowed(1)
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self._rx(self._lenkhilfe_3_msg(0))
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else:
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self.assertFalse(self._rx(self._lenkhilfe_3_msg(0)))
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self.assertFalse(self.safety.get_controls_allowed())
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# restore counters for future tests with a couple of good messages
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for i in range(2):
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self.safety.set_controls_allowed(1)
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self._rx(self._lenkhilfe_3_msg(0))
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self.assertTrue(self.safety.get_controls_allowed())
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if __name__ == "__main__":
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unittest.main()
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