91 lines
2.7 KiB
Python
91 lines
2.7 KiB
Python
#!/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 CANPackerSafety
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LANE_KEEP_ASSIST = 0x3F2
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class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
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RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
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FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
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TX_MSGS = [[1010, 0]]
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MAIN_BUS = 0
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ADAS_BUS = 1
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CAM_BUS = 2
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STEER_ANGLE_MAX = 390
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DEG_TO_CAN = 10
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ANGLE_RATE_BP = [0., 5., 25.]
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ANGLE_RATE_UP = [2.5, 1.5, .2]
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ANGLE_RATE_DOWN = [5., 2., .3]
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def setUp(self):
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self.packer = CANPackerSafety("psa_aee2010_r3")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
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self.safety.init_tests()
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def _angle_cmd_msg(self, angle: float, enabled: bool):
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values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
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return self.packer.make_can_msg_safety("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
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def _angle_meas_msg(self, angle: float):
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values = {"ANGLE": angle}
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return self.packer.make_can_msg_safety("STEERING_ALT", self.MAIN_BUS, values)
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def _pcm_status_msg(self, enable):
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values = {"RVV_ACC_ACTIVATION_REQ": enable}
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return self.packer.make_can_msg_safety("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
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def _speed_msg(self, speed):
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values = {"VITESSE_VEHICULE_ROUES": speed * 3.6}
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return self.packer.make_can_msg_safety("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
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def _user_brake_msg(self, brake):
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values = {"P013_MainBrake": brake}
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return self.packer.make_can_msg_safety("Dat_BSI", self.CAM_BUS, values)
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def _user_gas_msg(self, gas):
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values = {"P002_Com_rAPP": int(gas * 100)}
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return self.packer.make_can_msg_safety("Dyn_CMM", self.MAIN_BUS, values)
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def test_rx_hook(self):
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# speed
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for _ in range(10):
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self.assertTrue(self._rx(self._speed_msg(0)))
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msg = self._speed_msg(0)
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# invalidate checksum
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msg[0].data[5] = 0x00
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self.assertFalse(self._rx(msg))
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# cruise
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for _ in range(10):
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self.assertTrue(self._rx(self._pcm_status_msg(0)))
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msg = self._pcm_status_msg(0)
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# invalidate checksum
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msg[0].data[5] = 0x00
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self.assertFalse(self._rx(msg))
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msg = self._pcm_status_msg(0)
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# write to unused payload byte
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msg[0].data[6] = 0xAB
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self.assertTrue(self._rx(msg))
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class TestPsaStockSafety(TestPsaSafetyBase):
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def setUp(self):
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self.packer = CANPackerSafety("psa_aee2010_r3")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
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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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