You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
186 lines
6.7 KiB
186 lines
6.7 KiB
#!/usr/bin/env python2
|
|
import unittest
|
|
import numpy as np
|
|
import libpandasafety_py
|
|
|
|
MAX_RATE_UP = 3
|
|
MAX_RATE_DOWN = 7
|
|
MAX_STEER = 250
|
|
|
|
MAX_RT_DELTA = 112
|
|
RT_INTERVAL = 250000
|
|
|
|
DRIVER_TORQUE_ALLOWANCE = 50;
|
|
DRIVER_TORQUE_FACTOR = 2;
|
|
|
|
def twos_comp(val, bits):
|
|
if val >= 0:
|
|
return val
|
|
else:
|
|
return (2**bits) + val
|
|
|
|
def sign(a):
|
|
if a > 0:
|
|
return 1
|
|
else:
|
|
return -1
|
|
|
|
class TestHyundaiSafety(unittest.TestCase):
|
|
@classmethod
|
|
def setUp(cls):
|
|
cls.safety = libpandasafety_py.libpandasafety
|
|
cls.safety.nooutput_init(0)
|
|
cls.safety.init_tests_hyundai()
|
|
|
|
def _button_msg(self, buttons):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 1265 << 21
|
|
to_send[0].RDLR = buttons
|
|
return to_send
|
|
|
|
def _set_prev_torque(self, t):
|
|
self.safety.set_hyundai_desired_torque_last(t)
|
|
self.safety.set_hyundai_rt_torque_last(t)
|
|
|
|
def _torque_driver_msg(self, torque):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 897 << 21
|
|
to_send[0].RDLR = (torque + 2048) << 11
|
|
return to_send
|
|
|
|
def _torque_msg(self, torque):
|
|
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_send[0].RIR = 832 << 21
|
|
to_send[0].RDLR = (torque + 1024) << 16
|
|
return to_send
|
|
|
|
def test_default_controls_not_allowed(self):
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_steer_safety_check(self):
|
|
for enabled in [0, 1]:
|
|
for t in range(-0x200, 0x200):
|
|
self.safety.set_controls_allowed(enabled)
|
|
self._set_prev_torque(t)
|
|
if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
|
else:
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
|
|
|
def test_manually_enable_controls_allowed(self):
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
self.safety.set_controls_allowed(0)
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_enable_control_allowed_from_cruise(self):
|
|
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_push[0].RIR = 1057 << 21
|
|
to_push[0].RDLR = 1 << 13
|
|
|
|
self.safety.hyundai_rx_hook(to_push)
|
|
self.assertTrue(self.safety.get_controls_allowed())
|
|
|
|
def test_disable_control_allowed_from_cruise(self):
|
|
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
|
to_push[0].RIR = 1057 << 21
|
|
to_push[0].RDLR = 0
|
|
|
|
self.safety.set_controls_allowed(1)
|
|
self.safety.hyundai_rx_hook(to_push)
|
|
self.assertFalse(self.safety.get_controls_allowed())
|
|
|
|
def test_non_realtime_limit_up(self):
|
|
self.safety.set_hyundai_torque_driver(0, 0)
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
|
|
self._set_prev_torque(0)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
|
|
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
|
|
self.safety.set_controls_allowed(True)
|
|
self._set_prev_torque(0)
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
|
|
|
|
def test_non_realtime_limit_down(self):
|
|
self.safety.set_hyundai_torque_driver(0, 0)
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
def test_against_torque_driver(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
for sign in [-1, 1]:
|
|
for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
|
|
t *= -sign
|
|
self.safety.set_hyundai_torque_driver(t, t)
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
|
|
|
|
self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
|
|
|
|
# spot check some individual cases
|
|
for sign in [-1, 1]:
|
|
driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
|
|
torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
|
|
delta = 1 * sign
|
|
self._set_prev_torque(torque_desired)
|
|
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
|
|
self._set_prev_torque(torque_desired + delta)
|
|
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
|
|
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
|
|
self._set_prev_torque(MAX_STEER * sign)
|
|
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
|
|
|
|
|
|
def test_realtime_limits(self):
|
|
self.safety.set_controls_allowed(True)
|
|
|
|
for sign in [-1, 1]:
|
|
self.safety.init_tests_hyundai()
|
|
self._set_prev_torque(0)
|
|
self.safety.set_hyundai_torque_driver(0, 0)
|
|
for t in np.arange(0, MAX_RT_DELTA, 1):
|
|
t *= sign
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
|
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
|
|
|
self._set_prev_torque(0)
|
|
for t in np.arange(0, MAX_RT_DELTA, 1):
|
|
t *= sign
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
|
|
|
# Increase timer to update rt_torque_last
|
|
self.safety.set_timer(RT_INTERVAL + 1)
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
|
|
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
|
|
|
|
|
#def test_spam_cancel_safety_check(self):
|
|
# RESUME_BTN = 1
|
|
# SET_BTN = 2
|
|
# CANCEL_BTN = 4
|
|
# BUTTON_MSG = 1265
|
|
# self.safety.set_controls_allowed(0)
|
|
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
|
|
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
|
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
|
|
# # do not block resume if we are engaged already
|
|
# self.safety.set_controls_allowed(1)
|
|
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|