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test_gm.py
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/
test_gm.py
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#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
MAX_STEER = 300
MAX_BRAKE = 350
MAX_GAS = 3072
MAX_REGEN = 1404
MAX_RT_DELTA = 128
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 50;
DRIVER_TORQUE_FACTOR = 4;
TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0], # pt bus
[161, 1], [774, 1], [776, 1], [784, 1], # obs bus
[789, 2], # ch bus
[0x104c006c, 3], [0x10400060]] # gmlan
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 TestGmSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
cls.safety.init_tests_gm()
def _speed_msg(self, speed):
to_send = make_msg(0, 842)
to_send[0].RDLR = speed
return to_send
def _button_msg(self, buttons):
to_send = make_msg(0, 481)
to_send[0].RDHR = buttons << 12
return to_send
def _brake_msg(self, brake):
to_send = make_msg(0, 241)
to_send[0].RDLR = 0xa00 if brake else 0x900
return to_send
def _gas_msg(self, gas):
to_send = make_msg(0, 417)
to_send[0].RDHR = (1 << 16) if gas else 0
return to_send
def _send_brake_msg(self, brake):
to_send = make_msg(2, 789)
brake = (-brake) & 0xfff
to_send[0].RDLR = (brake >> 8) | ((brake &0xff) << 8)
return to_send
def _send_gas_msg(self, gas):
to_send = make_msg(0, 715)
to_send[0].RDLR = ((gas & 0x1f) << 27) | ((gas & 0xfe0) << 11)
return to_send
def _set_prev_torque(self, t):
self.safety.set_gm_desired_torque_last(t)
self.safety.set_gm_rt_torque_last(t)
def _torque_driver_msg(self, torque):
t = twos_comp(torque, 11)
to_send = make_msg(0, 388)
to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
return to_send
def _torque_msg(self, torque):
t = twos_comp(torque, 11)
to_send = make_msg(0, 384)
to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
test_relay_malfunction(self, 384)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_resume_button(self):
RESUME_BTN = 2
self.safety.set_controls_allowed(0)
self.safety.safety_rx_hook(self._button_msg(RESUME_BTN))
self.assertTrue(self.safety.get_controls_allowed())
def test_set_button(self):
SET_BTN = 3
self.safety.set_controls_allowed(0)
self.safety.safety_rx_hook(self._button_msg(SET_BTN))
self.assertTrue(self.safety.get_controls_allowed())
def test_cancel_button(self):
CANCEL_BTN = 6
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
self.assertFalse(self.safety.get_controls_allowed())
def test_disengage_on_brake(self):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_brake_at_zero_speed(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False))
def test_not_allow_brake_when_moving(self):
# Brake was already pressed
self.safety.safety_rx_hook(self._brake_msg(True))
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._brake_msg(False))
def test_disengage_on_gas(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(True))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(True))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
def test_brake_safety_check(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for enabled in [0, 1]:
for b in range(0, 500):
self.safety.set_controls_allowed(enabled)
if abs(b) > MAX_BRAKE or ((not enabled or not long_controls_allowed) and b != 0):
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(b)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_brake_msg(b)))
self.safety.set_long_controls_allowed(True)
def test_gas_safety_check(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for enabled in [0, 1]:
for g in range(0, 2**12-1):
self.safety.set_controls_allowed(enabled)
if abs(g) > MAX_GAS or ((not enabled or not long_controls_allowed) and g != MAX_REGEN):
self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(g)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_gas_msg(g)))
self.safety.set_long_controls_allowed(True)
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.safety_tx_hook(self._torque_msg(t)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
def test_non_realtime_limit_up(self):
self.safety.set_gm_torque_driver(0, 0)
self.safety.set_controls_allowed(True)
self._set_prev_torque(0)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
self._set_prev_torque(0)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP)))
self._set_prev_torque(0)
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
self.safety.set_controls_allowed(True)
self._set_prev_torque(0)
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
def test_non_realtime_limit_down(self):
self.safety.set_gm_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_gm_torque_driver(t, t)
self._set_prev_torque(MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_STEER * sign)))
self.safety.set_gm_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
self.assertFalse(self.safety.safety_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_gm_torque_driver(-driver_torque, -driver_torque)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(torque_desired)))
self._set_prev_torque(torque_desired + delta)
self.safety.set_gm_torque_driver(-driver_torque, -driver_torque)
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(torque_desired + delta)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(0)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_gm_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertFalse(self.safety.safety_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_gm()
self._set_prev_torque(0)
self.safety.set_gm_torque_driver(0, 0)
for t in np.arange(0, MAX_RT_DELTA, 1):
t *= sign
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
self.assertFalse(self.safety.safety_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.safety_tx_hook(self._torque_msg(t)))
# Increase timer to update rt_torque_last
self.safety.set_timer(RT_INTERVAL + 1)
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
def test_fwd_hook(self):
# nothing allowed
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
for b in buss:
for m in msgs:
# assume len 8
self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":
unittest.main()