196 lines
6.7 KiB
Python
196 lines
6.7 KiB
Python
#!/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 = 50
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MAX_RATE_DOWN = 70
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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 = 60;
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DRIVER_TORQUE_FACTOR = 10;
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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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class TestSubaruSafety(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_SUBARU, 0)
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cls.safety.init_tests_subaru()
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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 _set_prev_torque(self, t):
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self.safety.set_subaru_desired_torque_last(t)
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self.safety.set_subaru_rt_torque_last(t)
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def _torque_driver_msg(self, torque):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x119 << 21
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t = twos_comp(torque, 11)
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to_send[0].RDLR = ((t & 0x7FF) << 16)
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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 = 0x122 << 21
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t = twos_comp(torque, 13)
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to_send[0].RDLR = (t << 16)
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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_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 = 0x240 << 21
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to_push[0].RDHR = 1 << 9
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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 = 0x240 << 21
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to_push[0].RDHR = 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_steer_safety_check(self):
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for enabled in [0, 1]:
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for t in range(-3000, 3000):
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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_non_realtime_limit_up(self):
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self.safety.set_subaru_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.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
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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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self.safety.set_controls_allowed(True)
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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_subaru_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_subaru_torque_driver(t, t)
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self._set_prev_torque(MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
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self.safety.set_subaru_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
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self.assertFalse(self.safety.safety_tx_hook(self._torque_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_subaru_torque_driver(-driver_torque, -driver_torque)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
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self._set_prev_torque(torque_desired + delta)
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self.safety.set_subaru_torque_driver(-driver_torque, -driver_torque)
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_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_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
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self._set_prev_torque(MAX_STEER * sign)
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self.safety.set_subaru_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
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self.assertFalse(self.safety.safety_tx_hook(self._torque_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_subaru()
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self._set_prev_torque(0)
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self.safety.set_subaru_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.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):
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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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# 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 - 1))))
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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_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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blocked_msgs = [290, 356, 545, 802]
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for b in buss:
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for m in msgs:
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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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# 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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