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Mazda: safety tests add missing safety checks (#525)
* Mazda: add safety test
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Update mazda safety to capture more events
* gas press
* brake press
* speed - lkas on/off
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Customize safety tests
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Add RX checks
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Format
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Set lkas enable speed at 52 kph
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Test case when speed<enable_lkas_speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Be consistent with names in other places
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Add test case for lkas on when speed dips below lkas enable speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Make sure lkas disabled
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Use car's speed signal instead of wheel speed
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* Allow acc cancel msg
When gas is pressed OP disenages stock cruise doesn't get disengaged.
panda needs to know when OP engages again. OP re-enageges on cruise button
presses. This commit uses the same re-enage logic in panda.
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* rebase
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* allow acc_cancel in safety tests
Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
* rename variable, fix comment
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| #!/usr/bin/env python3 | ||
| import unittest | ||
| from panda import Panda | ||
| from panda.tests.safety import libpandasafety_py | ||
| import panda.tests.safety.common as common | ||
| from panda.tests.safety.common import CANPackerPanda | ||
|
|
||
| MAX_RATE_UP = 10 | ||
| MAX_RATE_DOWN = 25 | ||
| MAX_STEER = 2047 | ||
|
|
||
| MAX_RT_DELTA = 940 | ||
| RT_INTERVAL = 250000 | ||
|
|
||
| DRIVER_TORQUE_ALLOWANCE = 15 | ||
| DRIVER_TORQUE_FACTOR = 1 | ||
|
|
||
|
|
||
| class TestMazdaSafety(common.PandaSafetyTest): | ||
|
|
||
| TX_MSGS = [[0x243, 0], [0x09d, 0]] | ||
| STANDSTILL_THRESHOLD = .1 | ||
| RELAY_MALFUNCTION_ADDR = 0x243 | ||
| RELAY_MALFUNCTION_BUS = 0 | ||
| FWD_BLACKLISTED_ADDRS = {2: [0x243]} | ||
| FWD_BUS_LOOKUP = {0: 2, 2: 0} | ||
| LKAS_ENABLE_SPEED = 52 | ||
| LKAS_DISABLE_SPEED = 45 | ||
|
|
||
| def setUp(self): | ||
| self.packer = CANPackerPanda("mazda_cx5_gt_2017") | ||
| self.safety = libpandasafety_py.libpandasafety | ||
| self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0) | ||
| self.safety.init_tests() | ||
|
|
||
| def _torque_meas_msg(self, torque): | ||
| values = {"STEER_TORQUE_MOTOR": torque} | ||
| return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values) | ||
|
|
||
| # def _torque_driver_msg(self, torque): | ||
| # values = {"STEER_TORQUE_DRIVER": torque} | ||
| # return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values) | ||
|
|
||
| def _torque_msg(self, torque): | ||
| values = {"LKAS_REQUEST": torque} | ||
| return self.packer.make_can_msg_panda("CAM_LKAS", 0, values) | ||
|
|
||
| def _speed_msg(self, s): | ||
| values = {"SPEED": s} | ||
| return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values) | ||
|
|
||
| def _brake_msg(self, pressed): | ||
| values = {"BRAKE_ON": pressed} | ||
| return self.packer.make_can_msg_panda("PEDALS", 0, values) | ||
|
|
||
| def _gas_msg(self, pressed): | ||
| values = {"PEDAL_GAS": pressed} | ||
| return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values) | ||
|
|
||
| def _pcm_status_msg(self, cruise_on): | ||
| values = {"CRZ_ACTIVE": cruise_on} | ||
| return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values) | ||
|
|
||
| def test_enable_control_allowed_from_cruise(self): | ||
| self._rx(self._pcm_status_msg(False)) | ||
| self.assertFalse(self.safety.get_controls_allowed()) | ||
|
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||
| self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1)) | ||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1)) | ||
| self._rx(self._pcm_status_msg(True)) | ||
| self.assertFalse(self.safety.get_controls_allowed()) | ||
|
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||
| self._rx(self._pcm_status_msg(False)) | ||
|
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| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1)) | ||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1)) | ||
| self._rx(self._pcm_status_msg(True)) | ||
| self.assertTrue(self.safety.get_controls_allowed()) | ||
|
|
||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1)) | ||
| self._rx(self._pcm_status_msg(True)) | ||
| self.assertTrue(self.safety.get_controls_allowed()) | ||
|
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||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1)) | ||
| self.assertTrue(self.safety.get_controls_allowed()) | ||
|
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||
| # Enabled going down | ||
| self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED - 1)) | ||
| self.assertTrue(self.safety.get_controls_allowed()) | ||
|
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| self._rx(self._pcm_status_msg(False)) | ||
|
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| # Disabled going up | ||
| self._rx(self._speed_msg(self.LKAS_DISABLE_SPEED + 1)) | ||
| self._rx(self._pcm_status_msg(True)) | ||
| self.assertFalse(self.safety.get_controls_allowed()) | ||
|
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||
| def test_cruise_engaged_prev(self): | ||
| self._rx(self._pcm_status_msg(False)) | ||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED - 1)) | ||
| self._rx(self._pcm_status_msg(True)) | ||
| self.assertFalse(self.safety.get_cruise_engaged_prev()) | ||
|
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||
| self._rx(self._speed_msg(self.LKAS_ENABLE_SPEED + 1)) | ||
|
|
||
| for engaged in [True, False]: | ||
| self._rx(self._pcm_status_msg(engaged)) | ||
| self.assertEqual(engaged, self.safety.get_cruise_engaged_prev()) | ||
| self._rx(self._pcm_status_msg(not engaged)) | ||
| self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev()) | ||
|
|
||
| if __name__ == "__main__": | ||
| unittest.main() |