317 lines
11 KiB
Python
317 lines
11 KiB
Python
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
import libpandasafety_py # pylint: disable=import-error
|
|
from panda import Panda
|
|
|
|
MAX_RATE_UP = 10
|
|
MAX_RATE_DOWN = 25
|
|
MAX_TORQUE = 1500
|
|
|
|
MAX_ACCEL = 1500
|
|
MIN_ACCEL = -3000
|
|
|
|
MAX_RT_DELTA = 375
|
|
RT_INTERVAL = 250000
|
|
|
|
MAX_TORQUE_ERROR = 350
|
|
|
|
INTERCEPTOR_THRESHOLD = 475
|
|
|
|
def twos_comp(val, bits):
|
|
if val >= 0:
|
|
return val
|
|
else:
|
|
return (2**bits) + val
|
|
|
|
def sign(a):
|
|
if a > 0:
|
|
return 1
|
|
else:
|
|
return -1
|
|
|
|
class TestToyotaSafety(unittest.TestCase):
|
|
@classmethod
|
|
def setUp(cls):
|
|
cls.safety = libpandasafety_py.libpandasafety
|
|
cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA, 100)
|
|
cls.safety.init_tests_toyota()
|
|
|
|
def _send_msg(self, bus, addr, length):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = addr << 21
|
|
to_send[0].RDTR = length
|
|
to_send[0].RDTR = bus << 4
|
|
return to_send
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_toyota_desired_torque_last(t)
|
|
self.safety.set_toyota_rt_torque_last(t)
|
|
self.safety.set_toyota_torque_meas(t, t)
|
|
|
|
def _torque_meas_msg(self, torque):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 0x260 << 21
|
|
|
|
t = twos_comp(torque, 16)
|
|
to_send[0].RDHR = t | ((t & 0xFF) << 16)
|
|
return to_send
|
|
|
|
def _torque_msg(self, torque):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 0x2E4 << 21
|
|
|
|
t = twos_comp(torque, 16)
|
|
to_send[0].RDLR = t | ((t & 0xFF) << 16)
|
|
return to_send
|
|
|
|
def _accel_msg(self, accel):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 0x343 << 21
|
|
|
|
a = twos_comp(accel, 16)
|
|
to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
|
|
return to_send
|
|
|
|
def _send_gas_msg(self, gas):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 0x2C1 << 21
|
|
to_send[0].RDHR = (gas & 0xFF) << 16
|
|
|
|
return to_send
|
|
|
|
def _send_interceptor_msg(self, gas, addr):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = addr << 21
|
|
to_send[0].RDTR = 6
|
|
gas2 = gas * 2
|
|
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
|
|
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
|
|
|
|
return to_send
|
|
|
|
def _pcm_cruise_msg(self, cruise_on):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 0x1D2 << 21
|
|
to_send[0].RDLR = cruise_on << 5
|
|
|
|
return to_send
|
|
|
|
def test_default_controls_not_allowed(self):
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_manually_enable_controls_allowed(self):
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_enable_control_allowed_from_cruise(self):
|
|
self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._pcm_cruise_msg(True))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_disable_control_allowed_from_cruise(self):
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_prev_gas(self):
|
|
for g in range(0, 256):
|
|
self.safety.safety_rx_hook(self._send_gas_msg(g))
|
|
self.assertEqual(g, self.safety.get_toyota_gas_prev())
|
|
|
|
def test_prev_gas_interceptor(self):
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
|
|
self.assertFalse(self.safety.get_gas_interceptor_prev())
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
|
|
self.assertTrue(self.safety.get_gas_interceptor_prev())
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
|
|
self.safety.set_gas_interceptor_detected(False)
|
|
|
|
def test_disengage_on_gas(self):
|
|
for long_controls_allowed in [0, 1]:
|
|
self.safety.set_long_controls_allowed(long_controls_allowed)
|
|
self.safety.safety_rx_hook(self._send_gas_msg(0))
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._send_gas_msg(1))
|
|
if long_controls_allowed:
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
else:
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.set_long_controls_allowed(True)
|
|
|
|
def test_allow_engage_with_gas_pressed(self):
|
|
self.safety.safety_rx_hook(self._send_gas_msg(1))
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._send_gas_msg(1))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._send_gas_msg(1))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_disengage_on_gas_interceptor(self):
|
|
for long_controls_allowed in [0, 1]:
|
|
for g in range(0, 0x1000):
|
|
self.safety.set_long_controls_allowed(long_controls_allowed)
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
|
self.safety.set_controls_allowed(True)
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
|
|
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
|
|
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
|
self.safety.set_gas_interceptor_detected(False)
|
|
self.safety.set_long_controls_allowed(True)
|
|
|
|
def test_allow_engage_with_gas_interceptor_pressed(self):
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
|
self.safety.set_gas_interceptor_detected(False)
|
|
|
|
def test_accel_actuation_limits(self):
|
|
for long_controls_allowed in [0, 1]:
|
|
self.safety.set_long_controls_allowed(long_controls_allowed)
|
|
for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
|
|
for controls_allowed in [True, False]:
|
|
self.safety.set_controls_allowed(controls_allowed)
|
|
if controls_allowed and long_controls_allowed:
|
|
send = MIN_ACCEL <= accel <= MAX_ACCEL
|
|
else:
|
|
send = accel == 0
|
|
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
|
|
self.safety.set_long_controls_allowed(True)
|
|
|
|
def test_torque_absolute_limits(self):
|
|
for controls_allowed in [True, False]:
|
|
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
|
|
self.safety.set_controls_allowed(controls_allowed)
|
|
self.safety.set_toyota_rt_torque_last(torque)
|
|
self.safety.set_toyota_torque_meas(torque, torque)
|
|
self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
|
|
|
|
if controls_allowed:
|
|
send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
|
|
else:
|
|
send = torque == 0
|
|
|
|
self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque)))
|
|
|
|
def test_non_realtime_limit_up(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
|
|
|
|
def test_non_realtime_limit_down(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
self.safety.set_toyota_rt_torque_last(1000)
|
|
self.safety.set_toyota_torque_meas(500, 500)
|
|
self.safety.set_toyota_desired_torque_last(1000)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
|
|
|
|
self.safety.set_toyota_rt_torque_last(1000)
|
|
self.safety.set_toyota_torque_meas(500, 500)
|
|
self.safety.set_toyota_desired_torque_last(1000)
|
|
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
|
|
|
|
def test_exceed_torque_sensor(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
for sign in [-1, 1]:
|
|
self._set_prev_torque(0)
|
|
for t in np.arange(0, MAX_TORQUE_ERROR + 10, 10):
|
|
t *= sign
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
|
|
|
|
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_TORQUE_ERROR + 10))))
|
|
|
|
def test_realtime_limit_up(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
for sign in [-1, 1]:
|
|
self.safety.init_tests_toyota()
|
|
self._set_prev_torque(0)
|
|
for t in np.arange(0, 380, 10):
|
|
t *= sign
|
|
self.safety.set_toyota_torque_meas(t, t)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))
|
|
|
|
self._set_prev_torque(0)
|
|
for t in np.arange(0, 370, 10):
|
|
t *= sign
|
|
self.safety.set_toyota_torque_meas(t, t)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
|
|
|
|
# Increase timer to update rt_torque_last
|
|
self.safety.set_timer(RT_INTERVAL + 1)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 370)))
|
|
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))
|
|
|
|
def test_torque_measurements(self):
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(50))
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(-50))
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
|
|
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
|
|
self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
|
|
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
|
|
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
|
|
|
|
self.safety.safety_rx_hook(self._torque_meas_msg(0))
|
|
self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
|
|
self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
|
|
|
|
def test_gas_interceptor_safety_check(self):
|
|
|
|
self.safety.set_controls_allowed(0)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200)))
|
|
self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
|
|
|
|
def test_fwd_hook(self):
|
|
|
|
buss = list(range(0x0, 0x3))
|
|
msgs = list(range(0x1, 0x800))
|
|
long_controls_allowed = [0, 1]
|
|
toyota_camera_forwarded = [0, 1]
|
|
|
|
for tcf in toyota_camera_forwarded:
|
|
self.safety.set_toyota_camera_forwarded(tcf)
|
|
for lca in long_controls_allowed:
|
|
self.safety.set_long_controls_allowed(lca)
|
|
blocked_msgs = [0x2E4, 0x412, 0x191]
|
|
if lca:
|
|
blocked_msgs += [0x343]
|
|
for b in buss:
|
|
for m in msgs:
|
|
if tcf:
|
|
if b == 0:
|
|
fwd_bus = 2
|
|
elif b == 1:
|
|
fwd_bus = -1
|
|
elif b == 2:
|
|
fwd_bus = -1 if m in blocked_msgs else 0
|
|
else:
|
|
fwd_bus = -1
|
|
|
|
# assume len 8
|
|
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
|
|
|
|
self.safety.set_long_controls_allowed(True)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|