208 lines
7.2 KiB
Python
Executable File
208 lines
7.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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import numpy as np
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import libpandasafety_py # pylint: disable=import-error
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from panda import Panda
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MAX_RATE_UP = 3
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MAX_RATE_DOWN = 3
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MAX_STEER = 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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def twos_comp(val, bits):
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if val >= 0:
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return val
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else:
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return (2**bits) + val
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def sign(a):
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if a > 0:
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return 1
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else:
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return -1
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def swap_bytes(data_str):
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"""Accepts string with hex, returns integer with order swapped for CAN."""
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a = int(data_str, 16)
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return ((a & 0xff) << 24) + ((a & 0xff00) << 8) + ((a & 0x00ff0000) >> 8) + ((a & 0xff000000) >> 24)
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class TestChryslerSafety(unittest.TestCase):
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@classmethod
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def setUp(cls):
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cls.safety = libpandasafety_py.libpandasafety
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cls.safety.safety_set_mode(Panda.SAFETY_CHRYSLER, 0)
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cls.safety.init_tests_chrysler()
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def _send_msg(self, bus, addr, length):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = addr << 21
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to_send[0].RDTR = length
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to_send[0].RDTR = bus << 4
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return to_send
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def _button_msg(self, buttons):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 1265 << 21
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to_send[0].RDLR = buttons
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return to_send
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def _set_prev_torque(self, t):
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self.safety.set_chrysler_desired_torque_last(t)
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self.safety.set_chrysler_rt_torque_last(t)
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self.safety.set_chrysler_torque_meas(t, t)
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def _torque_meas_msg(self, torque):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 544 << 21
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to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
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return to_send
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def _torque_msg(self, torque):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x292 << 21
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to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
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return to_send
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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_steer_safety_check(self):
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for enabled in [0, 1]:
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for t in range(-MAX_STEER*2, MAX_STEER*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) > MAX_STEER or (not enabled and abs(t) > 0):
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
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else:
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
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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_enable_control_allowed_from_cruise(self):
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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_push[0].RIR = 0x1f4 << 21
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to_push[0].RDLR = 0x380000
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self.safety.safety_rx_hook(to_push)
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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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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_push[0].RIR = 0x1f4 << 21
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to_push[0].RDLR = 0
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self.safety.set_controls_allowed(1)
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self.safety.safety_rx_hook(to_push)
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self.assertFalse(self.safety.get_controls_allowed())
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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.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(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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self.safety.set_chrysler_rt_torque_last(MAX_STEER)
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torque_meas = MAX_STEER - MAX_TORQUE_ERROR - 20
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self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
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self.safety.set_chrysler_desired_torque_last(MAX_STEER)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN)))
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self.safety.set_chrysler_rt_torque_last(MAX_STEER)
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self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
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self.safety.set_chrysler_desired_torque_last(MAX_STEER)
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - 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, 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.safety.safety_tx_hook(self._torque_msg(t)))
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (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_chrysler()
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self._set_prev_torque(0)
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for t in np.arange(0, MAX_RT_DELTA+1, 1):
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t *= sign
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self.safety.set_chrysler_torque_meas(t, t)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
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self.assertFalse(self.safety.safety_tx_hook(self._torque_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, 1):
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t *= sign
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self.safety.set_chrysler_torque_meas(t, t)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_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.safety.safety_tx_hook(self._torque_msg(sign * MAX_RT_DELTA)))
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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self.safety.safety_rx_hook(self._torque_meas_msg(50))
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self.safety.safety_rx_hook(self._torque_meas_msg(-50))
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
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self.assertEqual(50, self.safety.get_chrysler_torque_meas_max())
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
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self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
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self.safety.safety_rx_hook(self._torque_meas_msg(0))
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self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
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self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())
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def test_fwd_hook(self):
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buss = list(range(0x0, 0x3))
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msgs = list(range(0x1, 0x800))
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chrysler_camera_detected = [0, 1]
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for ccd in chrysler_camera_detected:
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self.safety.set_chrysler_camera_detected(ccd)
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blocked_msgs = [658, 678]
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for b in buss:
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for m in msgs:
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if not ccd:
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if b == 0:
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fwd_bus = 2
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elif b == 1:
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fwd_bus = -1
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elif b == 2:
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fwd_bus = -1 if m in blocked_msgs else 0
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else:
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fwd_bus = -1
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# assume len 8
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self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
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if __name__ == "__main__":
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unittest.main()
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