You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
47 lines
1.3 KiB
47 lines
1.3 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
import numpy as np
|
|
import libpandasafety_py
|
|
from panda import Panda
|
|
|
|
MAX_BRAKE = 255
|
|
|
|
class TestHondaSafety(unittest.TestCase):
|
|
@classmethod
|
|
def setUp(cls):
|
|
cls.safety = libpandasafety_py.libpandasafety
|
|
cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
|
|
cls.safety.init_tests_honda()
|
|
|
|
def _send_msg(self, bus, addr, length):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = addr << 21
|
|
to_send[0].RDTR = length
|
|
to_send[0].RDTR = bus << 4
|
|
|
|
return to_send
|
|
|
|
def test_fwd_hook(self):
|
|
buss = list(range(0x0, 0x3))
|
|
msgs = list(range(0x1, 0x800))
|
|
is_panda_black = self.safety.get_hw_type() == 3 # black panda
|
|
bus_rdr_cam = 2 if is_panda_black else 1
|
|
bus_rdr_car = 0 if is_panda_black else 2
|
|
bus_pt = 1 if is_panda_black else 0
|
|
|
|
blocked_msgs = [0xE4, 0x33D]
|
|
for b in buss:
|
|
for m in msgs:
|
|
if b == bus_pt:
|
|
fwd_bus = -1
|
|
elif b == bus_rdr_cam:
|
|
fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
|
|
elif b == bus_rdr_car:
|
|
fwd_bus = bus_rdr_cam
|
|
|
|
# assume len 8
|
|
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|