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124 lines
3.9 KiB
124 lines
3.9 KiB
#!/usr/bin/env python3
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import unittest
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from opendbc.car.chrysler.values import ChryslerSafetyFlags
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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 CANPackerPanda
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class TestChryslerSafety(common.PandaCarSafetyTest, common.MotorTorqueSteeringSafetyTest):
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TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x292, 0x2A6)}
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FWD_BLACKLISTED_ADDRS = {2: [0x292, 0x2A6]}
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MAX_RATE_UP = 3
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MAX_RATE_DOWN = 3
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MAX_TORQUE_LOOKUP = [0], [261]
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MAX_RT_DELTA = 112
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MAX_TORQUE_ERROR = 80
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LKAS_ACTIVE_VALUE = 1
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DAS_BUS = 0
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, 0)
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self.safety.init_tests()
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def _button_msg(self, cancel=False, resume=False):
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values = {"ACC_Cancel": cancel, "ACC_Resume": resume}
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return self.packer.make_can_msg_panda("CRUISE_BUTTONS", self.DAS_BUS, values)
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def _pcm_status_msg(self, enable):
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values = {"ACC_ACTIVE": enable}
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return self.packer.make_can_msg_panda("DAS_3", self.DAS_BUS, values)
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def _speed_msg(self, speed):
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values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
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return self.packer.make_can_msg_panda("SPEED_1", 0, values)
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def _user_gas_msg(self, gas):
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values = {"Accelerator_Position": gas}
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return self.packer.make_can_msg_panda("ECM_5", 0, values)
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def _user_brake_msg(self, brake):
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values = {"Brake_Pedal_State": 1 if brake else 0}
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return self.packer.make_can_msg_panda("ESP_1", 0, values)
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def _torque_meas_msg(self, torque):
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values = {"EPS_TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_panda("EPS_2", 0, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"STEERING_TORQUE": torque, "LKAS_CONTROL_BIT": self.LKAS_ACTIVE_VALUE if steer_req else 0}
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return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values)
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def test_buttons(self):
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for controls_allowed in (True, False):
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self.safety.set_controls_allowed(controls_allowed)
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# resume only while controls allowed
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self.assertEqual(controls_allowed, self._tx(self._button_msg(resume=True)))
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# can always cancel
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self.assertTrue(self._tx(self._button_msg(cancel=True)))
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# only one button at a time
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self.assertFalse(self._tx(self._button_msg(cancel=True, resume=True)))
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self.assertFalse(self._tx(self._button_msg(cancel=False, resume=False)))
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class TestChryslerRamDTSafety(TestChryslerSafety):
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TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0xA6, 0xFA)}
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FWD_BLACKLISTED_ADDRS = {2: [0xA6, 0xFA]}
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MAX_RATE_UP = 6
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MAX_RATE_DOWN = 6
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MAX_TORQUE_LOOKUP = [0], [350]
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DAS_BUS = 2
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LKAS_ACTIVE_VALUE = 2
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_ram_dt_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_DT)
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self.safety.init_tests()
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def _speed_msg(self, speed):
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values = {"Vehicle_Speed": speed}
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return self.packer.make_can_msg_panda("ESP_8", 0, values)
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class TestChryslerRamHDSafety(TestChryslerSafety):
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TX_MSGS = [[0x275, 0], [0x276, 0], [0x23A, 2]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x276, 0x275)}
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FWD_BLACKLISTED_ADDRS = {2: [0x275, 0x276]}
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MAX_TORQUE_LOOKUP = [0], [361]
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MAX_RATE_UP = 14
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MAX_RATE_DOWN = 14
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MAX_RT_DELTA = 182
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DAS_BUS = 2
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LKAS_ACTIVE_VALUE = 2
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_ram_hd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_HD)
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self.safety.init_tests()
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def _speed_msg(self, speed):
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values = {"Vehicle_Speed": speed}
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return self.packer.make_can_msg_panda("ESP_8", 0, values)
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if __name__ == "__main__":
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unittest.main()
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