#!/usr/bin/env python2 import unittest import numpy as np import libpandasafety_py MAX_RATE_UP = 3 MAX_RATE_DOWN = 7 MAX_STEER = 250 MAX_RT_DELTA = 112 RT_INTERVAL = 250000 DRIVER_TORQUE_ALLOWANCE = 50; DRIVER_TORQUE_FACTOR = 2; 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 TestHyundaiSafety(unittest.TestCase): @classmethod def setUp(cls): cls.safety = libpandasafety_py.libpandasafety cls.safety.nooutput_init(0) cls.safety.init_tests_hyundai() def _button_msg(self, buttons): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = 1265 << 21 to_send[0].RDLR = buttons return to_send def _set_prev_torque(self, t): self.safety.set_hyundai_desired_torque_last(t) self.safety.set_hyundai_rt_torque_last(t) def _torque_driver_msg(self, torque): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = 897 << 21 to_send[0].RDLR = (torque + 2048) << 11 return to_send def _torque_msg(self, torque): to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_send[0].RIR = 832 << 21 to_send[0].RDLR = (torque + 1024) << 16 return to_send 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(-0x200, 0x200): 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.hyundai_tx_hook(self._torque_msg(t))) else: self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t))) def test_manually_enable_controls_allowed(self): self.safety.set_controls_allowed(1) self.assertTrue(self.safety.get_controls_allowed()) self.safety.set_controls_allowed(0) self.assertFalse(self.safety.get_controls_allowed()) def test_enable_control_allowed_from_cruise(self): to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_push[0].RIR = 1057 << 21 to_push[0].RDLR = 1 << 13 self.safety.hyundai_rx_hook(to_push) self.assertTrue(self.safety.get_controls_allowed()) def test_disable_control_allowed_from_cruise(self): to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *') to_push[0].RIR = 1057 << 21 to_push[0].RDLR = 0 self.safety.set_controls_allowed(1) self.safety.hyundai_rx_hook(to_push) self.assertFalse(self.safety.get_controls_allowed()) def test_non_realtime_limit_up(self): self.safety.set_hyundai_torque_driver(0, 0) self.safety.set_controls_allowed(True) self._set_prev_torque(0) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP))) self._set_prev_torque(0) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP))) self._set_prev_torque(0) self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1))) self.safety.set_controls_allowed(True) self._set_prev_torque(0) self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1))) def test_non_realtime_limit_down(self): self.safety.set_hyundai_torque_driver(0, 0) self.safety.set_controls_allowed(True) def test_against_torque_driver(self): self.safety.set_controls_allowed(True) for sign in [-1, 1]: for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1): t *= -sign self.safety.set_hyundai_torque_driver(t, t) self._set_prev_torque(MAX_STEER * sign) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign))) self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1) self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER))) # spot check some individual cases for sign in [-1, 1]: driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign delta = 1 * sign self._set_prev_torque(torque_desired) self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired))) self._set_prev_torque(torque_desired + delta) self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque) self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0))) self._set_prev_torque(MAX_STEER * sign) self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign) self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign))) def test_realtime_limits(self): self.safety.set_controls_allowed(True) for sign in [-1, 1]: self.safety.init_tests_hyundai() self._set_prev_torque(0) self.safety.set_hyundai_torque_driver(0, 0) for t in np.arange(0, MAX_RT_DELTA, 1): t *= sign self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t))) self.assertFalse(self.safety.hyundai_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): t *= sign self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t))) # Increase timer to update rt_torque_last self.safety.set_timer(RT_INTERVAL + 1) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1)))) self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1)))) def test_spam_cancel_safety_check(self): RESUME_BTN = 1 SET_BTN = 2 CANCEL_BTN = 4 BUTTON_MSG = 1265 self.safety.set_controls_allowed(0) self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN))) self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN))) self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN))) # do not block resume if we are engaged already self.safety.set_controls_allowed(1) self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN))) if __name__ == "__main__": unittest.main()