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118 lines
4.0 KiB
118 lines
4.0 KiB
#!/usr/bin/env python3
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import unittest
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from opendbc.car.nissan.values import NissanSafetyFlags
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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 CANPackerSafety
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class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
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TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
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GAS_PRESSED_THRESHOLD = 3
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RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc), 2: (0x280,)}
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FWD_BLACKLISTED_ADDRS = {0: [0x280], 2: [0x169, 0x2b1, 0x4cc]}
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EPS_BUS = 0
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CRUISE_BUS = 2
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# Angle control limits
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STEER_ANGLE_MAX = 600 # deg, reasonable limit
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DEG_TO_CAN = 100
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ANGLE_RATE_BP = [0., 5., 15.]
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ANGLE_RATE_UP = [5., .8, .15] # windup limit
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ANGLE_RATE_DOWN = [5., 3.5, .4] # unwind limit
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def setUp(self):
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self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
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self.safety.init_tests()
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def _angle_cmd_msg(self, angle: float, enabled: bool):
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values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": 1 if enabled else 0}
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return self.packer.make_can_msg_safety("LKAS", 0, values)
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def _angle_meas_msg(self, angle: float):
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values = {"STEER_ANGLE": angle}
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return self.packer.make_can_msg_safety("STEER_ANGLE_SENSOR", self.EPS_BUS, values)
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def _pcm_status_msg(self, enable):
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values = {"CRUISE_ENABLED": enable}
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return self.packer.make_can_msg_safety("CRUISE_STATE", self.CRUISE_BUS, values)
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def _speed_msg(self, speed):
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values = {"WHEEL_SPEED_%s" % s: speed * 3.6 for s in ["RR", "RL"]}
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return self.packer.make_can_msg_safety("WHEEL_SPEEDS_REAR", self.EPS_BUS, values)
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def _user_brake_msg(self, brake):
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values = {"USER_BRAKE_PRESSED": brake}
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return self.packer.make_can_msg_safety("DOORS_LIGHTS", self.EPS_BUS, values)
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def _user_gas_msg(self, gas):
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values = {"GAS_PEDAL": gas}
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return self.packer.make_can_msg_safety("GAS_PEDAL", self.EPS_BUS, values)
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def _acc_button_cmd(self, cancel=0, propilot=0, flw_dist=0, _set=0, res=0):
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no_button = not any([cancel, propilot, flw_dist, _set, res])
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values = {"CANCEL_BUTTON": cancel, "PROPILOT_BUTTON": propilot,
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"FOLLOW_DISTANCE_BUTTON": flw_dist, "SET_BUTTON": _set,
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"RES_BUTTON": res, "NO_BUTTON_PRESSED": no_button}
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return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 2, values)
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def test_acc_buttons(self):
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btns = [
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("cancel", True),
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("propilot", False),
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("flw_dist", False),
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("_set", False),
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("res", False),
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(None, False),
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]
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for controls_allowed in (True, False):
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for btn, should_tx in btns:
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self.safety.set_controls_allowed(controls_allowed)
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args = {} if btn is None else {btn: 1}
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tx = self._tx(self._acc_button_cmd(**args))
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self.assertEqual(tx, should_tx)
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class TestNissanSafetyAltEpsBus(TestNissanSafety):
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"""Altima uses different buses"""
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EPS_BUS = 1
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CRUISE_BUS = 1
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def setUp(self):
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self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, NissanSafetyFlags.ALT_EPS_BUS)
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self.safety.init_tests()
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class TestNissanLeafSafety(TestNissanSafety):
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def setUp(self):
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self.packer = CANPackerSafety("nissan_leaf_2018_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
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self.safety.init_tests()
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def _user_brake_msg(self, brake):
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values = {"USER_BRAKE_PRESSED": brake}
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return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 0, values)
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def _user_gas_msg(self, gas):
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values = {"GAS_PEDAL": gas}
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return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 0, values)
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# TODO: leaf should use its own safety param
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def test_acc_buttons(self):
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pass
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if __name__ == "__main__":
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unittest.main()
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