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69 lines
2.2 KiB
69 lines
2.2 KiB
#!/usr/bin/env python3
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import unittest
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from opendbc.car.structs import CarParams
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from opendbc.car.subaru.values import SubaruSafetyFlags
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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 TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
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FLAGS = 0
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DBC = "subaru_outback_2015_generated"
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TX_MSGS = [[0x161, 0], [0x164, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x164, 0x161)}
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FWD_BLACKLISTED_ADDRS = {2: [0x161, 0x164]}
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MAX_RATE_UP = 50
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MAX_RATE_DOWN = 70
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MAX_TORQUE_LOOKUP = [0], [2047]
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MAX_RT_DELTA = 940
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DRIVER_TORQUE_ALLOWANCE = 75
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DRIVER_TORQUE_FACTOR = 10
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def setUp(self):
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self.packer = CANPackerPanda(self.DBC)
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.subaruPreglobal, self.FLAGS)
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self.safety.init_tests()
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def _set_prev_torque(self, t):
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self.safety.set_desired_torque_last(t)
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self.safety.set_rt_torque_last(t)
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def _torque_driver_msg(self, torque):
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values = {"Steer_Torque_Sensor": torque}
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return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
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def _speed_msg(self, speed):
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# subaru safety doesn't use the scaled value, so undo the scaling
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values = {s: speed*0.0592 for s in ["FR", "FL", "RR", "RL"]}
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return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
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def _user_brake_msg(self, brake):
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values = {"Brake_Pedal": brake}
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return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"LKAS_Command": torque, "LKAS_Active": steer_req}
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return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
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def _user_gas_msg(self, gas):
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values = {"Throttle_Pedal": gas}
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return self.packer.make_can_msg_panda("Throttle", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"Cruise_Activated": enable}
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return self.packer.make_can_msg_panda("CruiseControl", 0, values)
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class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
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FLAGS = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE
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DBC = "subaru_outback_2019_generated"
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if __name__ == "__main__":
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unittest.main()
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