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Abstract gas interceptor tests (#517)
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* abstract interceptor tests

* honda
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@adeebshihadeh
adeebshihadeh committed Apr 28, 2020
1 parent 1dbed65 commit e5a586e
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Showing 4 changed files with 85 additions and 111 deletions.
1 change: 1 addition & 0 deletions board/safety/safety_honda.h
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Original file line number Diff line number Diff line change
Expand Up @@ -266,6 +266,7 @@ static void honda_nidec_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
gas_interceptor_detected = 0;
honda_hw = HONDA_N_HW;
honda_alt_brake_msg = false;
}
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61 changes: 61 additions & 0 deletions tests/safety/common.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
import abc
import struct
import unittest
import numpy as np
from opendbc.can.packer import CANPacker # pylint: disable=import-error
from panda.tests.safety import libpandasafety_py

Expand Down Expand Up @@ -54,6 +55,66 @@ def _rx(self, msg):
def _tx(self, msg):
return self.safety.safety_tx_hook(msg)

class InterceptorSafetyTest(PandaSafetyTestBase):

INTERCEPTOR_THRESHOLD = 0

@classmethod
def setUpClass(cls):
if cls.__name__ == "InterceptorSafetyTest":
cls.safety = None
raise unittest.SkipTest

@abc.abstractmethod
def _interceptor_msg(self, gas, addr):
pass

def test_prev_gas_interceptor(self):
self._rx(self._interceptor_msg(0x0, 0x201))
self.assertFalse(self.safety.get_gas_interceptor_prev())
self._rx(self._interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_gas_interceptor_prev())
self._rx(self._interceptor_msg(0x0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_disengage_on_gas_interceptor(self):
for g in range(0, 0x1000):
self._rx(self._interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self._rx(self._interceptor_msg(g, 0x201))
remain_enabled = g <= self.INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self._rx(self._interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self._rx(self._interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)

def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(self._interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
self._rx(self._interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._interceptor_msg(0, 0x201))

def test_gas_interceptor_safety_check(self):
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(send, self._tx(self._interceptor_msg(gas, 0x200)))


class PandaSafetyTest(PandaSafetyTestBase):
TX_MSGS = None
STANDSTILL_THRESHOLD = None
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77 changes: 15 additions & 62 deletions tests/safety/test_honda.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@

MAX_BRAKE = 255

INTERCEPTOR_THRESHOLD = 344

class Btn:
CANCEL = 2
SET = 3
Expand All @@ -20,14 +18,6 @@ class Btn:
HONDA_BG_HW = 1
HONDA_BH_HW = 2

# Honda gas gains are the different
def honda_interceptor_msg(gas, addr):
to_send = make_msg(0, addr, 6)
gas2 = gas * 2
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send


class TestHondaSafety(common.PandaSafetyTest):
cnt_speed = 0
Expand Down Expand Up @@ -102,43 +92,6 @@ def test_disengage_on_brake(self):
self._rx(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())

def test_prev_gas_interceptor(self):
self._rx(honda_interceptor_msg(0x0, 0x201))
self.assertFalse(self.safety.get_gas_interceptor_prev())
self._rx(honda_interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_gas_interceptor_prev())
self._rx(honda_interceptor_msg(0x0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_disengage_on_gas_interceptor(self):
for g in range(0, 0x1000):
self._rx(honda_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self._rx(honda_interceptor_msg(g, 0x201))
remain_enabled = g <= INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self._rx(honda_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self._rx(honda_interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(honda_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_controls_allowed(False)

def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(honda_interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
self._rx(honda_interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(honda_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_steer_safety_check(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(self._send_steer_msg(0x0000)))
Expand Down Expand Up @@ -223,7 +176,7 @@ def test_tx_hook_on_pedal_pressed(self):
self._rx(self._gas_msg(0))


class TestHondaNidecSafety(TestHondaSafety):
class TestHondaNidecSafety(TestHondaSafety, common.InterceptorSafetyTest):

TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
STANDSTILL_THRESHOLD = 0
Expand All @@ -232,12 +185,22 @@ class TestHondaNidecSafety(TestHondaSafety):
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}

INTERCEPTOR_THRESHOLD = 344

def setUp(self):
self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
self.safety.init_tests_honda()

# Honda gas gains are the different
def _interceptor_msg(self, gas, addr):
to_send = make_msg(0, addr, 6)
gas2 = gas * 2
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send

def test_fwd_hook(self):
# normal operation, not forwarding AEB
self.FWD_BLACKLISTED_ADDRS[2].append(0x1FA)
Expand Down Expand Up @@ -265,36 +228,26 @@ def test_brake_safety_check(self):
self.assertEqual(send, self._tx(self._send_brake_msg(brake)))
self.safety.set_honda_fwd_brake(False)

def test_gas_interceptor_safety_check(self):
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(send, self._tx(honda_interceptor_msg(gas, 0x200)))

def test_tx_hook_on_interceptor_pressed(self):
for mode in [UNSAFE_MODE.DEFAULT, UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS]:
self.safety.set_unsafe_mode(mode)
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self._rx(honda_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self._rx(honda_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self._rx(self._interceptor_msg(self.INTERCEPTOR_THRESHOLD+1, 0x201))
self._rx(self._interceptor_msg(self.INTERCEPTOR_THRESHOLD+1, 0x201))
allow_ctrl = mode == UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS

self.safety.set_controls_allowed(1)
self.safety.set_honda_fwd_brake(False)
self.assertEqual(allow_ctrl, self._tx(self._send_brake_msg(MAX_BRAKE)))
self.assertEqual(allow_ctrl, self._tx(honda_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertEqual(allow_ctrl, self._tx(self._interceptor_msg(self.INTERCEPTOR_THRESHOLD, 0x200)))
self.assertEqual(allow_ctrl, self._tx(self._send_steer_msg(0x1000)))

# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self._tx(self._send_brake_msg(0))
self._tx(self._send_steer_msg(0))
self._tx(honda_interceptor_msg(0, 0x200))
self._tx(self._interceptor_msg(0, 0x200))
self.safety.set_gas_interceptor_detected(False)


Expand Down
57 changes: 8 additions & 49 deletions tests/safety/test_toyota.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,16 +20,8 @@
RT_INTERVAL = 250000

MAX_TORQUE_ERROR = 350
INTERCEPTOR_THRESHOLD = 845

# Toyota gas gains are the same
def toyota_interceptor_msg(gas, addr):
to_send = make_msg(0, addr, 6)
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas & 0xff) << 24) | ((gas & 0xff00) << 8)
return to_send

class TestToyotaSafety(common.PandaSafetyTest):
class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest):

TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
Expand All @@ -40,6 +32,7 @@ class TestToyotaSafety(common.PandaSafetyTest):
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
INTERCEPTOR_THRESHOLD = 845

@classmethod
def setUp(self):
Expand Down Expand Up @@ -83,39 +76,12 @@ def _pcm_status_msg(self, cruise_on):
values["CHECKSUM"] = 1
return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)

def test_prev_gas_interceptor(self):
self._rx(toyota_interceptor_msg(0x0, 0x201))
self.assertFalse(self.safety.get_gas_interceptor_prev())
self._rx(toyota_interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_gas_interceptor_prev())
self._rx(toyota_interceptor_msg(0x0, 0x201))

def test_disengage_on_gas_interceptor(self):
for g in range(0, 0x1000):
self._rx(toyota_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self._rx(toyota_interceptor_msg(g, 0x201))
remain_enabled = g <= INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self._rx(toyota_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)

def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self._rx(toyota_interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(toyota_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)

def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(toyota_interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
self._rx(toyota_interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(toyota_interceptor_msg(0, 0x201))
# Toyota gas gains are the same
def _interceptor_msg(self, gas, addr):
to_send = make_msg(0, addr, 6)
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas & 0xff) << 24) | ((gas & 0xff00) << 8)
return to_send

def test_accel_actuation_limits(self):
limits = ((MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.DEFAULT),
Expand Down Expand Up @@ -219,13 +185,6 @@ def test_torque_measurements(self):
self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())

def test_gas_interceptor_safety_check(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(toyota_interceptor_msg(0, 0x200)))
self.assertFalse(self._tx(toyota_interceptor_msg(0x1000, 0x200)))
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(toyota_interceptor_msg(0x1000, 0x200)))

def test_rx_hook(self):
# checksum checks
for msg in ["trq", "pcm"]:
Expand Down

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