openpilot_comma/opendbc_repo/opendbc/safety/tests/test_tesla.py

#!/usr/bin/env python3
import unittest

from opendbc.car.tesla.values import TeslaSafetyFlags
from opendbc.car.structs import CarParams
from opendbc.can.can_define import CANDefine
from opendbc.safety.tests.libsafety import libsafety_py
import opendbc.safety.tests.common as common
from opendbc.safety.tests.common import CANPackerPanda

MSG_DAS_steeringControl = 0x488
MSG_APS_eacMonitor = 0x27d
MSG_DAS_Control = 0x2b9


class TestTeslaSafetyBase(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
  RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
  FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
  TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]

  STANDSTILL_THRESHOLD = 0.1
  GAS_PRESSED_THRESHOLD = 3

  # Angle control limits
  STEER_ANGLE_MAX = 360  # deg
  DEG_TO_CAN = 10

  ANGLE_RATE_BP = [0., 5., 25.]
  ANGLE_RATE_UP = [2.5, 1.5, 0.2]  # windup limit
  ANGLE_RATE_DOWN = [5., 2.0, 0.3]  # unwind limit

  # Long control limits
  MAX_ACCEL = 2.0
  MIN_ACCEL = -3.48
  INACTIVE_ACCEL = 0.0

  packer: CANPackerPanda

  def setUp(self):
    self.packer = CANPackerPanda("tesla_model3_party")
    self.define = CANDefine("tesla_model3_party")
    self.acc_states = {d: v for v, d in self.define.dv["DAS_control"]["DAS_accState"].items()}

  def _angle_cmd_msg(self, angle: float, enabled: bool):
    values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": 1 if enabled else 0}
    return self.packer.make_can_msg_panda("DAS_steeringControl", 0, values)

  def _angle_meas_msg(self, angle: float):
    values = {"EPAS3S_internalSAS": angle}
    return self.packer.make_can_msg_panda("EPAS3S_sysStatus", 0, values)

  def _user_brake_msg(self, brake):
    values = {"IBST_driverBrakeApply": 2 if brake else 1}
    return self.packer.make_can_msg_panda("IBST_status", 0, values)

  def _speed_msg(self, speed):
    values = {"DI_vehicleSpeed": speed * 3.6}
    return self.packer.make_can_msg_panda("DI_speed", 0, values)

  def _vehicle_moving_msg(self, speed: float):
    values = {"DI_cruiseState": 3 if speed <= self.STANDSTILL_THRESHOLD else 2}
    return self.packer.make_can_msg_panda("DI_state", 0, values)

  def _user_gas_msg(self, gas):
    values = {"DI_accelPedalPos": gas}
    return self.packer.make_can_msg_panda("DI_systemStatus", 0, values)

  def _pcm_status_msg(self, enable):
    values = {"DI_cruiseState": 2 if enable else 0}
    return self.packer.make_can_msg_panda("DI_state", 0, values)

  def _long_control_msg(self, set_speed, acc_state=0, jerk_limits=(0, 0), accel_limits=(0, 0), aeb_event=0, bus=0):
    values = {
      "DAS_setSpeed": set_speed,
      "DAS_accState": acc_state,
      "DAS_aebEvent": aeb_event,
      "DAS_jerkMin": jerk_limits[0],
      "DAS_jerkMax": jerk_limits[1],
      "DAS_accelMin": accel_limits[0],
      "DAS_accelMax": accel_limits[1],
    }
    return self.packer.make_can_msg_panda("DAS_control", bus, values)

  def _accel_msg(self, accel: float):
    # For common.LongitudinalAccelSafetyTest
    return self._long_control_msg(10, accel_limits=(accel, max(accel, 0)))

  def test_vehicle_speed_measurements(self):
    # OVERRIDDEN: 79.1667 is the max speed in m/s
    self._common_measurement_test(self._speed_msg, 0, 285 / 3.6, 1,
                                  self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)


class TestTeslaStockSafety(TestTeslaSafetyBase):

  LONGITUDINAL = False

  def setUp(self):
    super().setUp()
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
    self.safety.init_tests()

  def test_cancel(self):
    for acc_state in range(16):
      self.safety.set_controls_allowed(True)
      should_tx = acc_state == self.acc_states["ACC_CANCEL_GENERIC_SILENT"]
      self.assertFalse(self._tx(self._long_control_msg(0, acc_state=acc_state, accel_limits=(self.MIN_ACCEL, self.MAX_ACCEL))))
      self.assertEqual(should_tx, self._tx(self._long_control_msg(0, acc_state=acc_state)))

  def test_no_aeb(self):
    for aeb_event in range(4):
      self.assertEqual(self._tx(self._long_control_msg(10, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"], aeb_event=aeb_event)), aeb_event == 0)


class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
  RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control)}
  FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control]}

  def setUp(self):
    super().setUp()
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, TeslaSafetyFlags.LONG_CONTROL)
    self.safety.init_tests()

  def test_no_aeb(self):
    for aeb_event in range(4):
      self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)

  def test_stock_aeb_passthrough(self):
    no_aeb_msg = self._long_control_msg(10, aeb_event=0)
    no_aeb_msg_cam = self._long_control_msg(10, aeb_event=0, bus=2)
    aeb_msg_cam = self._long_control_msg(10, aeb_event=1, bus=2)

    # stock system sends no AEB -> no forwarding, and OP is allowed to TX
    self.assertEqual(1, self._rx(no_aeb_msg_cam))
    self.assertEqual(-1, self.safety.safety_fwd_hook(2, no_aeb_msg_cam.addr))
    self.assertTrue(self._tx(no_aeb_msg))

    # stock system sends AEB -> forwarding, and OP is not allowed to TX
    self.assertEqual(1, self._rx(aeb_msg_cam))
    self.assertEqual(0, self.safety.safety_fwd_hook(2, aeb_msg_cam.addr))
    self.assertFalse(self._tx(no_aeb_msg))

  def test_prevent_reverse(self):
    # Note: Tesla can reverse while at a standstill if both accel_min and accel_max are negative.
    self.safety.set_controls_allowed(True)

    # accel_min and accel_max are positive
    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(1.1, 0.8))))
    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(1.1, 0.8))))

    # accel_min and accel_max are both zero
    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(0, 0))))
    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0, 0))))

    # accel_min and accel_max have opposing signs
    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(-0.8, 1.3))))
    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0.8, -1.3))))
    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0, -1.3))))

    # accel_min and accel_max are negative
    self.assertFalse(self._tx(self._long_control_msg(set_speed=10, accel_limits=(-1.1, -0.6))))
    self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.6, -1.1))))
    self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))


if __name__ == "__main__":
  unittest.main()