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148 lines
4.7 KiB
148 lines
4.7 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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class TestHondaSafety(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.honda_init(0)
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cls.safety.init_tests_honda()
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def _speed_msg(self, speed):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x158 << 21
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to_send[0].RDLR = speed
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return to_send
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def _button_msg(self, buttons):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x1A6 << 21
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to_send[0].RDLR = buttons << 5
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return to_send
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def _brake_msg(self, brake):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x17C << 21
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to_send[0].RDHR = 0x200000 if brake else 0
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return to_send
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def _gas_msg(self, gas):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x17C << 21
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to_send[0].RDLR = 1 if gas else 0
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return to_send
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def _send_brake_msg(self, brake):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x1FA << 21
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to_send[0].RDLR = brake
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return to_send
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def _send_gas_msg(self, gas):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0x200 << 21
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to_send[0].RDLR = gas
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return to_send
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def _send_steer_msg(self, steer):
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to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
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to_send[0].RIR = 0xE4 << 21
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to_send[0].RDLR = steer
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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_resume_button(self):
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RESUME_BTN = 4
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self.safety.honda_rx_hook(self._button_msg(RESUME_BTN))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_set_button(self):
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SET_BTN = 3
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self.safety.honda_rx_hook(self._button_msg(SET_BTN))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_cancel_button(self):
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CANCEL_BTN = 2
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._button_msg(CANCEL_BTN))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_sample_speed(self):
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self.assertEqual(0, self.safety.get_ego_speed())
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self.safety.honda_rx_hook(self._speed_msg(100))
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self.assertEqual(100, self.safety.get_ego_speed())
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def test_prev_brake(self):
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self.assertFalse(self.safety.get_brake_prev())
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self.safety.honda_rx_hook(self._brake_msg(True))
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self.assertTrue(self.safety.get_brake_prev())
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def test_disengage_on_brake(self):
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._brake_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_allow_brake_at_zero_speed(self):
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# Brake was already pressed
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self.safety.honda_rx_hook(self._brake_msg(True))
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._brake_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_not_allow_brake_when_moving(self):
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# Brake was already pressed
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self.safety.honda_rx_hook(self._brake_msg(True))
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self.safety.honda_rx_hook(self._speed_msg(100))
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._brake_msg(True))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_prev_gas(self):
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self.assertFalse(self.safety.get_gas_prev())
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self.safety.honda_rx_hook(self._gas_msg(True))
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self.assertTrue(self.safety.get_gas_prev())
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def test_disengage_on_gas(self):
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._gas_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_allow_engage_with_gas_pressed(self):
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self.safety.honda_rx_hook(self._gas_msg(1))
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self.safety.set_controls_allowed(1)
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self.safety.honda_rx_hook(self._gas_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_brake_safety_check(self):
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self.assertTrue(self.safety.honda_tx_hook(self._send_brake_msg(0x0000)))
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self.assertFalse(self.safety.honda_tx_hook(self._send_brake_msg(0x1000)))
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.honda_tx_hook(self._send_brake_msg(0x1000)))
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self.assertFalse(self.safety.honda_tx_hook(self._send_brake_msg(0x00F0)))
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def test_gas_safety_check(self):
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self.assertTrue(self.safety.honda_tx_hook(self._send_brake_msg(0x0000)))
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self.assertFalse(self.safety.honda_tx_hook(self._send_brake_msg(0x1000)))
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def test_steer_safety_check(self):
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self.assertTrue(self.safety.honda_tx_hook(self._send_steer_msg(0x0000)))
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self.assertFalse(self.safety.honda_tx_hook(self._send_steer_msg(0x1000)))
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if __name__ == "__main__":
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unittest.main()
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