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87 lines
2.6 KiB
87 lines
2.6 KiB
2 months ago
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#!/usr/bin/env python3
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import unittest
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from opendbc.car.structs import CarParams
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from opendbc.safety.tests.libsafety import libsafety_py
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import opendbc.safety.tests.common as common
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from opendbc.safety.tests.common import CANPackerPanda
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class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
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TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]]
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STANDSTILL_THRESHOLD = .1
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RELAY_MALFUNCTION_ADDRS = {0: (0x243,)}
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FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]}
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MAX_RATE_UP = 10
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MAX_RATE_DOWN = 25
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MAX_TORQUE = 800
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MAX_RT_DELTA = 300
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 15
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DRIVER_TORQUE_FACTOR = 1
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# Mazda actually does not set any bit when requesting torque
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NO_STEER_REQ_BIT = True
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def setUp(self):
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self.packer = CANPackerPanda("mazda_2017")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.mazda, 0)
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self.safety.init_tests()
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def _torque_meas_msg(self, torque):
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values = {"STEER_TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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def _torque_driver_msg(self, torque):
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values = {"STEER_TORQUE_SENSOR": torque}
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return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"LKAS_REQUEST": torque}
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return self.packer.make_can_msg_panda("CAM_LKAS", 0, values)
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def _speed_msg(self, speed):
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values = {"SPEED": speed}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _user_brake_msg(self, brake):
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values = {"BRAKE_ON": brake}
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return self.packer.make_can_msg_panda("PEDALS", 0, values)
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def _user_gas_msg(self, gas):
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values = {"PEDAL_GAS": gas}
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return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"CRZ_ACTIVE": enable}
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return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
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def _button_msg(self, resume=False, cancel=False):
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values = {
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"CAN_OFF": cancel,
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"CAN_OFF_INV": (cancel + 1) % 2,
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"RES": resume,
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"RES_INV": (resume + 1) % 2,
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}
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return self.packer.make_can_msg_panda("CRZ_BTNS", 0, values)
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def test_buttons(self):
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# only cancel allows while controls not allowed
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self.safety.set_controls_allowed(0)
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self.assertTrue(self._tx(self._button_msg(cancel=True)))
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self.assertFalse(self._tx(self._button_msg(resume=True)))
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# do not block resume if we are engaged already
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self.safety.set_controls_allowed(1)
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self.assertTrue(self._tx(self._button_msg(cancel=True)))
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self.assertTrue(self._tx(self._button_msg(resume=True)))
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if __name__ == "__main__":
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unittest.main()
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