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test_bmw.py
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test_bmw.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 make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
MS_TO_KPH = 3.6
SAMPLING_FREQ = 100 #Hz
ANGLE_MAX_BP = [5., 15., 30] #m/s
ANGLE_MAX = [200., 20., 10.] #deg
ANGLE_RATE_BP = [0., 5., 15.] # m/s
ANGLE_RATE_WINDUP = [500., 80., 15.] #deg/s windup rate limit
ANGLE_RATE_UNWIND = [500., 350., 40.] #deg/s unwind rate limit
TORQUE_RATE_BP = [0., 5., 15.] # m/s
TORQUE_RATE_MAX = [16., 8., 1.] #Nm/10ms
ENABLED_ACTUATOR = 0 # 0 -> GMLAN_HIGH 12V -> Actuator Enable
DISABLED_ACTUATOR = 1 # 1 -> GMLAN_LOW 0V -> Actuator Disable
TX_MSGS = [[0x194, 0],[0x194, 1], [0xFA, 2]]
CAN_BMW_SPEED_FAC = 0.1
CAN_BMW_ANGLE_FAC = 0.04395
CAN_ACTUATOR_POS_FAC = 0.125
CAN_ACTUATOR_TQ_FAC = 0.125
MODE_OFF = 0
MODE_TORQUE = 1
MODE_ANGLE = 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 TestBmwSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_BMW, 0)
cls.safety.init_tests_bmw()
def _angle_meas_msg(self, angle, angle_rate):
to_send = make_msg(0, 0xc4, 7)
angle_int = int(angle / CAN_BMW_ANGLE_FAC)
angle_t = twos_comp(angle_int, 16) # signed
angle_rate_int = int(angle_rate / CAN_BMW_ANGLE_FAC)
angle_rate_t = twos_comp(angle_rate_int, 16) # signed
to_send[0].RDLR = (angle_t & 0xFFFF ) | ((angle_rate_t & 0x00FF) << 24)
to_send[0].RDHR = (angle_rate_t & 0xFF00) >> 8
return to_send
def _set_prev_angle(self, t):
t = int(t * -SAMPLING_FREQ)
self.safety.set_bmw_desired_angle_last(t)
def _actuator_angle_cmd_msg(self, mode, torque_req, angle_delta):
to_send = make_msg(2, 558)
cnt = 0
steer_angle = int(twos_comp(angle_delta / CAN_ACTUATOR_POS_FAC, 16)) # signed angle_delta
steer_tq = int(twos_comp(torque_req / CAN_ACTUATOR_TQ_FAC, 11))
checksum = (cnt + mode + steer_angle + steer_tq)
checksum = checksum >> 8 + checksum & 0xFF
checksum = checksum & 0xFF
to_send[0].RDLR = (checksum & 0xFF) | ((cnt & 0xF) << 8) | ((mode & 0x3) << 12) | ((steer_angle & 0xFFFF) << 16)
to_send[0].RDHR = (steer_tq & 0xFF) << 0
return to_send
def _speed_msg(self, speed):
to_send = make_msg(0, 0x1a0)
speed = int(speed / CAN_BMW_SPEED_FAC)
to_send[0].RDLR = (speed & 0xFFF)
return to_send
def _brake_msg(self, brake):
to_send = make_msg(0, 168)
to_send[0].RDHR = (brake * 0x3) << (61-32)
return to_send
def _cruise_button_msg(self, buttons_bitwise): #todo: read creuisesate
to_send = make_msg(0, 404, 4)
const_0xFC = 0xFC
buttons_bitwise = buttons_bitwise & 0xFF
if (buttons_bitwise != 0): #if any button pressed
request_0xF = 0xF
else:
request_0xF = 0x0
if (buttons_bitwise & (1<<7 | 1<<4)): #if any cancel pressed
notCancel = 0x0
else:
notCancel = 0xF
to_send[0].RDLR = (buttons_bitwise << 16) | (request_0xF << 12) | (notCancel << 4) | (const_0xFC << 24)
return to_send
def test_spam_can_buses(self):
test_spam_can_buses(self, TX_MSGS)
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_manually_enable_controls_allowed(self):
test_manually_enable_controls_allowed(self)
def test_angle_cmd_when_enabled(self): #todo add faulty BMW angle sensor (step angle)
# when controls are allowed, angle cmd rate limit is enforced
speeds = [ 5, 10, 15, 50, 100] #kph
for s in speeds:
max_angle = np.interp(int(s/CAN_BMW_SPEED_FAC) * CAN_BMW_SPEED_FAC / MS_TO_KPH, ANGLE_MAX_BP, ANGLE_MAX) #deg
max_delta_up = np.interp(int(s/CAN_BMW_SPEED_FAC) * CAN_BMW_SPEED_FAC / MS_TO_KPH, ANGLE_RATE_BP, ANGLE_RATE_WINDUP) #deg
max_delta_down = np.interp(int(s/CAN_BMW_SPEED_FAC) * CAN_BMW_SPEED_FAC / MS_TO_KPH, ANGLE_RATE_BP, ANGLE_RATE_UNWIND) #deg
max_tq_rate = np.interp(int(s/CAN_BMW_SPEED_FAC) * CAN_BMW_SPEED_FAC / MS_TO_KPH, TORQUE_RATE_BP, TORQUE_RATE_MAX) #Nm/10ms
# use integer rounded value for interpolation ^^, same as what panda will receive
self.safety.set_controls_allowed(1)
self.safety.set_gmlan_digital_output(ENABLED_ACTUATOR)
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._speed_msg(s)) #receive speed which triggers angle limits to be updated to be later used by tx
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
# Stay within limits
# Up
self.safety.safety_rx_hook(self._angle_meas_msg(max_angle, max_delta_up))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_ANGLE, max_tq_rate, min(max_angle, max_delta_up))),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_up))
self.assertTrue(self.safety.get_controls_allowed())
# Stay within limits
# Down
self.safety.safety_rx_hook(self._angle_meas_msg(-max_angle, -max_delta_down))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_ANGLE, -max_tq_rate, -min(max_angle, max_delta_down))),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_down))
self.assertTrue(self.safety.get_controls_allowed())
# Reset to 0 angle
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertTrue(self.safety.get_controls_allowed())
# Up
# # Inject too large measured angle
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._angle_meas_msg(max_angle+1, max_delta_up))
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
# Reset to 0 angle
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertTrue(self.safety.get_controls_allowed())
# Up
# Inject too high measured rate
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._angle_meas_msg(max_angle, max_delta_up+1))
self.assertFalse(self.safety.get_controls_allowed(),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_down))
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
# Reset to 0 angle
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertTrue(self.safety.get_controls_allowed())
# Up
# Inject too high command angle rate - since last angle value is 0, sending angle value represents angle rate
self.safety.set_controls_allowed(1)
self.assertEqual(0, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_ANGLE, 0, min(max_angle, max_delta_up) + 1.)),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_up))
# Up
# Inject too high command torque rate - since last value of torque is 0, sending torque value represents torque rate
self.safety.set_controls_allowed(1)
self.assertEqual(0, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_TORQUE, max_tq_rate + 1., 0)),\
'Speed: %f, Torque: %f' % (s, max_tq_rate))
# Reset to 0 angle
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertTrue(self.safety.get_controls_allowed())
# Down
# Inject too large measured angle
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._angle_meas_msg(-max_angle-1, -max_delta_down))
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
# Reset to 0 angle
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertTrue(self.safety.get_controls_allowed())
#Down
# Inject too high measured rate
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._angle_meas_msg(-max_angle, -max_delta_down - 1))
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
#Down
# Inject too high command rate
self.safety.set_controls_allowed(1)
self.assertEqual(0, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_ANGLE, 0, -min(max_angle, max_delta_down)-1.)),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_down))
#Down
# Inject too high command torque rate - since last value of torque is 0, sending torque value represents torque rate
self.safety.set_controls_allowed(1)
self.assertEqual(0, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_TORQUE, -max_tq_rate - 1., 0)),\
'Speed: %f, Torque: %f' % (s, max_tq_rate))
# Check desired steer should be the same as steer angle when controls are off
self.safety.set_controls_allowed(0)
self.assertEqual(0, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)),\
'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_down))
def test_angle_cmd_when_disabled(self):
self.safety.set_controls_allowed(0)
self._set_prev_angle(0)
self.assertFalse(self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
self.assertFalse(self.safety.get_controls_allowed())
def test_brake_disengage(self):
self.safety.set_controls_allowed(1)
self.safety.set_gmlan_digital_output(ENABLED_ACTUATOR)
self.safety.safety_rx_hook(self._brake_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
self.safety.safety_rx_hook(self._speed_msg(10)) #ALLOW_DEBUG keeps the actuator active even at 0 speed
self.safety.safety_rx_hook(self._brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
def test_cruise_buttons(self):
self.safety.set_controls_allowed(1)
self.safety.set_gmlan_digital_output(ENABLED_ACTUATOR)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
self.safety.safety_rx_hook(self._cruise_button_msg(0x0)) # No button pressed
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), ENABLED_ACTUATOR)
self.safety.safety_rx_hook(self._speed_msg(10)) #ALLOW_DEBUG keeps the actuator active even at 0 speed
self.safety.safety_rx_hook(self._cruise_button_msg(0x10)) # Cancel button
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
self.safety.safety_rx_hook(self._cruise_button_msg(0x0)) # No button pressed
self.assertFalse(self.safety.get_controls_allowed())
self.assertEqual(self.safety.get_gmlan_digital_output(), DISABLED_ACTUATOR)
if __name__ == "__main__":
unittest.main()