openpilot_comma/tests/safety/test_chrysler.py

#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses

MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
MAX_STEER = 261

MAX_RT_DELTA = 112
RT_INTERVAL = 250000

MAX_TORQUE_ERROR = 80

TX_MSGS = [[571, 0], [658, 0], [678, 0]]

class TestChryslerSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
    cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
    cls.safety.init_tests_chrysler()

  def _button_msg(self, buttons):
    to_send = make_msg(0, 571)
    to_send[0].RDLR = buttons
    return to_send

  def _set_prev_torque(self, t):
    self.safety.set_chrysler_desired_torque_last(t)
    self.safety.set_chrysler_rt_torque_last(t)
    self.safety.set_chrysler_torque_meas(t, t)

  def _torque_meas_msg(self, torque):
    to_send = make_msg(0, 544)
    to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
    return to_send

  def _torque_msg(self, torque):
    to_send = make_msg(0, 0x292)
    to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
    return to_send

  def test_spam_can_buses(self):
    test_spam_can_buses(self, TX_MSGS)

  def test_relay_malfunction(self):
    test_relay_malfunction(self, 0x292)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())

  def test_steer_safety_check(self):
    for enabled in [0, 1]:
      for t in range(-MAX_STEER*2, MAX_STEER*2):
        self.safety.set_controls_allowed(enabled)
        self._set_prev_torque(t)
        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
          self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
        else:
          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

  def test_manually_enable_controls_allowed(self):
    test_manually_enable_controls_allowed(self)

  def test_enable_control_allowed_from_cruise(self):
    to_push = make_msg(0, 0x1F4)
    to_push[0].RDLR = 0x380000

    self.safety.safety_rx_hook(to_push)
    self.assertTrue(self.safety.get_controls_allowed())

  def test_disable_control_allowed_from_cruise(self):
    to_push = make_msg(0, 0x1F4)
    to_push[0].RDLR = 0

    self.safety.set_controls_allowed(1)
    self.safety.safety_rx_hook(to_push)
    self.assertFalse(self.safety.get_controls_allowed())

  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_chrysler_rt_torque_last(MAX_STEER)
    torque_meas = MAX_STEER - MAX_TORQUE_ERROR - 20
    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN)))

    self.safety.set_chrysler_rt_torque_last(MAX_STEER)
    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER - 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 + 2, 2):  # step needs to be smaller than MAX_TORQUE_ERROR
        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 + 2))))

  def test_realtime_limit_up(self):
    self.safety.set_controls_allowed(True)

    for sign in [-1, 1]:
      self.safety.init_tests_chrysler()
      self._set_prev_torque(0)
      for t in np.arange(0, MAX_RT_DELTA+1, 1):
        t *= sign
        self.safety.set_chrysler_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 * (MAX_RT_DELTA + 1))))

      self._set_prev_torque(0)
      for t in np.arange(0, MAX_RT_DELTA+1, 1):
        t *= sign
        self.safety.set_chrysler_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 * MAX_RT_DELTA)))
      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))

  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(-50, self.safety.get_chrysler_torque_meas_min())
    self.assertEqual(50, self.safety.get_chrysler_torque_meas_max())

    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
    self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())

    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
    self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())

  def test_cancel_button(self):
    CANCEL = 1
    for b in range(0, 0xff):
      if b == CANCEL:
        self.assertTrue(self.safety.safety_tx_hook(self._button_msg(b)))
      else:
        self.assertFalse(self.safety.safety_tx_hook(self._button_msg(b)))

  def test_fwd_hook(self):
    buss = list(range(0x0, 0x3))
    msgs = list(range(0x1, 0x800))

    blocked_msgs = [658, 678]
    for b in buss:
      for m in msgs:
        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

        # assume len 8
        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))


if __name__ == "__main__":
  unittest.main()