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89 lines
3.7 KiB
89 lines
3.7 KiB
7 years ago
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#!/usr/bin/env python2
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import unittest
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import numpy as np
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import libpandasafety_py
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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.chrysler_init(0)
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cls.safety.init_tests_chrysler()
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def _acc_msg(self, active):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x1f4 << 21
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to_send[0].RDLR = 0xfe3fff1f if active else 0xfe0fff1f
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return to_send
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def _brake_msg(self, brake):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x140 << 21
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to_send[0].RDLR = 0x485 if brake else 0x480
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return to_send
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def _steer_msg(self, angle):
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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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c_angle = (1024 + angle)
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to_send[0].RDLR = 0x10 | ((c_angle & 0xf00) >> 8) | ((c_angle & 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_acc_enables_controls(self):
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self.safety.set_controls_allowed(0)
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self.safety.chrysler_rx_hook(self._acc_msg(0))
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self.assertFalse(self.safety.get_controls_allowed())
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self.safety.chrysler_rx_hook(self._acc_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.chrysler_rx_hook(self._acc_msg(0))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_disengage_on_brake(self):
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self.safety.set_controls_allowed(1)
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self.safety.chrysler_rx_hook(self._brake_msg(0))
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.chrysler_rx_hook(self._brake_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_steer_calculation(self):
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self.assertEqual(0x14, self._steer_msg(0)[0].RDLR) # straight, no steering
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def test_steer_tx(self):
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
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self.safety.set_chrysler_desired_torque_last(227)
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(230)))
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(231)))
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self.safety.set_chrysler_desired_torque_last(-227)
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-231)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-230)))
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# verify max change
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self.safety.set_chrysler_desired_torque_last(0)
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(230)))
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self.safety.set_controls_allowed(0)
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self.safety.set_chrysler_desired_torque_last(0)
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(3)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
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# verify when controls not allowed we can still go back towards 0
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self.safety.set_chrysler_desired_torque_last(10)
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(10)))
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(11)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(7)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(4)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
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self.safety.set_chrysler_desired_torque_last(-10)
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-10)))
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self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-11)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-7)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-4)))
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self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
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if __name__ == "__main__":
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unittest.main()
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