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182 lines
6.5 KiB
182 lines
6.5 KiB
#!/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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MAX_RATE_UP = 2
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MAX_RATE_DOWN = 5
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MAX_TORQUE = 150
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MAX_RT_DELTA = 75
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 50;
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DRIVER_TORQUE_FACTOR = 4;
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IPAS_OVERRIDE_THRESHOLD = 200
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def twos_comp(val, bits):
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if val >= 0:
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return val
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else:
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return (2**bits) + val
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def sign(a):
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if a > 0:
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return 1
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else:
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return -1
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class TestCadillacSafety(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.cadillac_init(0)
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cls.safety.init_tests_cadillac()
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def _set_prev_torque(self, t):
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self.safety.set_cadillac_desired_torque_last(t)
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self.safety.set_cadillac_rt_torque_last(t)
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def _torque_driver_msg(self, torque):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x164 << 21
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t = twos_comp(torque, 11)
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to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
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return to_send
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def _torque_driver_msg_array(self, torque):
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for i in range(3):
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self.safety.cadillac_ipas_rx_hook(self._torque_driver_msg(torque))
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def _torque_msg(self, torque):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x151 << 21
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t = twos_comp(torque, 14)
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to_send[0].RDLR = ((t >> 8) & 0x3F) | ((t & 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_manually_enable_controls_allowed(self):
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.set_controls_allowed(0)
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def test_enable_control_allowed_from_cruise(self):
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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_push[0].RIR = 0x370 << 21
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to_push[0].RDLR = 0x800000
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to_push[0].RDTR = 0
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self.safety.cadillac_rx_hook(to_push)
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_push[0].RIR = 0x370 << 21
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to_push[0].RDLR = 0
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to_push[0].RDTR = 0
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self.safety.set_controls_allowed(1)
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self.safety.cadillac_rx_hook(to_push)
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self.assertFalse(self.safety.get_controls_allowed())
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def test_torque_absolute_limits(self):
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for controls_allowed in [True, False]:
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for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
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self.safety.set_controls_allowed(controls_allowed)
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self.safety.set_cadillac_rt_torque_last(torque)
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self.safety.set_cadillac_torque_driver(0, 0)
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self.safety.set_cadillac_desired_torque_last(torque - MAX_RATE_UP)
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if controls_allowed:
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send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
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else:
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send = torque == 0
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self.assertEqual(send, self.safety.cadillac_tx_hook(self._torque_msg(torque)))
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def test_non_realtime_limit_up(self):
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self.safety.set_cadillac_torque_driver(0, 0)
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(-MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
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def test_non_realtime_limit_down(self):
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self.safety.set_cadillac_torque_driver(0, 0)
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self.safety.set_controls_allowed(True)
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def test_exceed_torque_sensor(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
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t *= -sign
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self.safety.set_cadillac_torque_driver(t, t)
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self._set_prev_torque(MAX_TORQUE * sign)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(MAX_TORQUE * sign)))
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self.safety.set_cadillac_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg(-MAX_TORQUE)))
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# spot check some individual cases
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for sign in [-1, 1]:
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driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
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torque_desired = (MAX_TORQUE - 10 * DRIVER_TORQUE_FACTOR) * sign
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delta = 1 * sign
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self._set_prev_torque(torque_desired)
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self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(torque_desired)))
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self._set_prev_torque(torque_desired + delta)
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self.safety.set_cadillac_torque_driver(-driver_torque, -driver_torque)
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg(torque_desired + delta)))
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self._set_prev_torque(MAX_TORQUE * sign)
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self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN) * sign)))
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self._set_prev_torque(MAX_TORQUE * sign)
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self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(0)))
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self._set_prev_torque(MAX_TORQUE * sign)
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self.safety.set_cadillac_torque_driver(-MAX_TORQUE * sign, -MAX_TORQUE * sign)
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg((MAX_TORQUE - MAX_RATE_DOWN + 1) * sign)))
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def test_realtime_limits(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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self.safety.init_tests_cadillac()
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self._set_prev_torque(0)
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self.safety.set_cadillac_torque_driver(0, 0)
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for t in np.arange(0, MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(t)))
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self.assertFalse(self.safety.cadillac_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
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self._set_prev_torque(0)
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for t in np.arange(0, MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(t)))
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# Increase timer to update rt_torque_last
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self.safety.set_timer(RT_INTERVAL + 1)
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
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self.assertTrue(self.safety.cadillac_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
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if __name__ == "__main__":
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unittest.main()
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