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61 lines
1.9 KiB
61 lines
1.9 KiB
import unittest
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from cereal import car
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from selfdrive.can.packer import CANPacker
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from selfdrive.car.chrysler import chryslercan
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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GearShifter = car.CarState.GearShifter
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class TestChryslerCan(unittest.TestCase):
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def test_checksum(self):
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self.assertEqual(0x75, chryslercan.calc_checksum(b"\x01\x20"))
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self.assertEqual(0xcc, chryslercan.calc_checksum(b"\x14\x00\x00\x00\x20"))
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def test_hud(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0],
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chryslercan.create_lkas_hud(
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packer,
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GearShifter.park, False, False, 1, 0))
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self.assertEqual(
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[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
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chryslercan.create_lkas_hud(
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packer,
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GearShifter.park, False, False, 5*4, 0))
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self.assertEqual(
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[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
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chryslercan.create_lkas_hud(
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packer,
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GearShifter.park, False, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0],
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chryslercan.create_lkas_hud(
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packer,
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GearShifter.drive, True, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0],
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chryslercan.create_lkas_hud(
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packer,
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GearShifter.drive, True, False, 99999, 0x64))
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def test_command(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0],
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chryslercan.create_lkas_command(
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packer,
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0, True, 1))
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self.assertEqual(
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[0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0],
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chryslercan.create_lkas_command(
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packer,
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0, False, 8))
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if __name__ == '__main__':
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unittest.main()
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