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104 lines
3.6 KiB
104 lines
3.6 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.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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from opendbc.car.rivian.values import RivianSafetyFlags
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class TestRivianSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
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TX_MSGS = [[0x120, 0], [0x321, 2], [0x162, 2]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x120,)}
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FWD_BLACKLISTED_ADDRS = {0: [0x321, 0x162], 2: [0x120]}
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MAX_TORQUE = 250
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MAX_RATE_UP = 3
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MAX_RATE_DOWN = 5
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MAX_RT_DELTA = 125
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 100
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DRIVER_TORQUE_FACTOR = 2
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def _torque_driver_msg(self, torque):
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values = {"EPAS_TorsionBarTorque": torque / 100.0}
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return self.packer.make_can_msg_panda("EPAS_SystemStatus", 0, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"ACM_lkaStrToqReq": torque, "ACM_lkaActToi": steer_req}
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return self.packer.make_can_msg_panda("ACM_lkaHbaCmd", 0, values)
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def _speed_msg(self, speed):
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values = {"ESP_Status": speed * 3.6}
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return self.packer.make_can_msg_panda("ESP_Vehicle_Speed", 0, values)
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def _user_brake_msg(self, brake):
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values = {"iBESP2_BrakePedalApplied": brake}
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return self.packer.make_can_msg_panda("iBESP2", 0, values)
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def _user_gas_msg(self, gas):
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values = {"VDM_AcceleratorPedalPosition": gas}
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return self.packer.make_can_msg_panda("VDM_PropStatus", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"ACM_FeatureStatus": enable, "ACM_Unkown1": 1}
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return self.packer.make_can_msg_panda("ACM_Status", 2, values)
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def _vehicle_moving_msg(self, speed: float):
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values = {"ESP_Vehicle_Speed": speed}
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return self.packer.make_can_msg_panda("ESP_Status", 0, values)
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def _accel_msg(self, accel: float):
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values = {"ACM_AccelerationRequest": accel}
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return self.packer.make_can_msg_panda("ACM_longitudinalRequest", 0, values)
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def test_wheel_touch(self):
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# For hiding hold wheel alert on engage
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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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values = {
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"SCCM_WheelTouch_HandsOn": 1 if controls_allowed else 0,
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"SCCM_WheelTouch_CapacitiveValue": 100 if controls_allowed else 0,
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"SETME_X52": 100,
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}
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self.assertTrue(self._tx(self.packer.make_can_msg_panda("SCCM_WheelTouch", 2, values)))
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class TestRivianStockSafety(TestRivianSafetyBase):
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LONGITUDINAL = False
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def setUp(self):
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self.packer = CANPackerPanda("rivian_primary_actuator")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, 0)
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self.safety.init_tests()
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def test_adas_status(self):
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# For canceling stock ACC
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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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for interface_status in range(4):
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values = {"VDM_AdasInterfaceStatus": interface_status}
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self.assertTrue(self._tx(self.packer.make_can_msg_panda("VDM_AdasSts", 2, values)))
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class TestRivianLongitudinalSafety(TestRivianSafetyBase):
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TX_MSGS = [[0x120, 0], [0x321, 2], [0x160, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x120, 0x160)}
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FWD_BLACKLISTED_ADDRS = {0: [0x321], 2: [0x120, 0x160]}
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def setUp(self):
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self.packer = CANPackerPanda("rivian_primary_actuator")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, RivianSafetyFlags.LONG_CONTROL)
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self.safety.init_tests()
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if __name__ == "__main__":
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unittest.main()
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