add ipas tests

commaai · Apr 11, 2018 · e7a2b3a · e7a2b3a
1 parent 894572c
commit e7a2b3a
Show file tree

Hide file tree

Showing 2 changed files with 230 additions and 0 deletions.
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
@@ -34,6 +34,7 @@
 int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void toyota_init(int16_t param);
 void set_controls_allowed(int c);
+void reset_angle_control(void);
 int get_controls_allowed(void);
 void init_tests_toyota(void);
 void set_timer(int t);
@@ -51,6 +52,9 @@
 int get_brake_prev(void);
 int get_gas_prev(void);
 
+void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+
 """)
 
 libpandasafety = ffi.dlopen(libpandasafety_fn)
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
@@ -15,12 +15,23 @@
 
 MAX_TORQUE_ERROR = 350
 
+IPAS_OVERRIDE_THRESHOLD = 200
+
+ANGLE_DELTA_BP = [0., 5., 15.]
+ANGLE_DELTA_V = [5., .8, .15]     # windup limit
+ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+
 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 TestToyotaSafety(unittest.TestCase):
   @classmethod
@@ -42,6 +53,30 @@ def _torque_meas_msg(self, torque):
     to_send[0].RDHR = t | ((t & 0xFF) << 16)
     return to_send
 
+  def _torque_driver_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x260 << 21
+
+    t = twos_comp(torque, 16)
+    to_send[0].RDLR = t | ((t & 0xFF) << 16)
+    return to_send
+
+  def _torque_driver_msg_array(self, torque):
+    for i in range(3):
+      self.safety.toyota_ipas_rx_hook(self._torque_driver_msg(torque))
+
+  def _angle_meas_msg(self, angle):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x25 << 21
+
+    t = twos_comp(angle, 12)
+    to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
+    return to_send
+
+  def _angle_meas_msg_array(self, angle):
+    for i in range(3):
+      self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(angle))
+
   def _torque_msg(self, torque):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x2E4 << 21
@@ -50,6 +85,32 @@ def _torque_msg(self, torque):
     to_send[0].RDLR = t | ((t & 0xFF) << 16)
     return to_send
 
+  def _ipas_state_msg(self, state):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x262 << 21
+
+    to_send[0].RDLR = state & 0xF
+    return to_send
+
+  def _ipas_control_msg(self, angle, state):
+    # note: we command 2/3 of the angle due to CAN conversion
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x266 << 21
+
+    t = twos_comp(angle, 12)
+    to_send[0].RDLR = ((t & 0xF00) >> 8) | ((t & 0xFF) << 8)
+    to_send[0].RDLR |= ((state & 0xf) << 4)
+
+    return to_send
+
+  def _speed_msg(self, speed):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0xb4 << 21
+    speed = int(speed * 100 * 3.6)
+
+    to_send[0].RDHR = ((speed & 0xFF) << 16) | (speed & 0xFF00)
+    return to_send
+
   def _accel_msg(self, accel):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x343 << 21
@@ -180,6 +241,171 @@ def test_torque_measurements(self):
     self.assertEqual(-1, self.safety.get_torque_meas_max())
     self.assertEqual(-1, self.safety.get_torque_meas_min())
 
+  def test_ipas_override(self):
+
+    ## angle control is not active
+    self.safety.set_controls_allowed(1)
+
+    # 3 consecutive msgs where driver exceeds threshold but angle_control isn't active
+    self.safety.set_controls_allowed(1)
+    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD + 1)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD - 1)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    # ipas state is override
+    self.safety.toyota_ipas_rx_hook(self._ipas_state_msg(5))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    ## now angle control is active
+    self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(0, 0))
+    self.safety.toyota_ipas_rx_hook(self._ipas_state_msg(0))
+
+    # 3 consecutive msgs where driver does exceed threshold
+    self.safety.set_controls_allowed(1)
+    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD + 1)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    self.safety.set_controls_allowed(1)
+    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD - 1)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    # ipas state is override and torque isn't overriding any more
+    self.safety.set_controls_allowed(1)
+    self._torque_driver_msg_array(0)
+    self.safety.toyota_ipas_rx_hook(self._ipas_state_msg(5))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    # 3 consecutive msgs where driver does not exceed threshold and
+    # ipas state is not override
+    self.safety.set_controls_allowed(1)
+    self.safety.toyota_ipas_rx_hook(self._ipas_state_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self._torque_driver_msg_array(IPAS_OVERRIDE_THRESHOLD)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self._torque_driver_msg_array(-IPAS_OVERRIDE_THRESHOLD)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
+  def test_angle_cmd_when_disabled(self):
+
+    self.safety.set_controls_allowed(0)
+
+    # test angle cmd too far from actual
+    angle_refs = [-10, 10]
+    deltas = range(-2, 3)
+    expected_results = [False, True, True, True, False]
+
+    for a in angle_refs:
+      self._angle_meas_msg_array(a)
+      for i, d in enumerate(deltas):
+        self.assertEqual(expected_results[i], self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + d, 1)))
+
+    # test ipas state cmd enabled
+    self._angle_meas_msg_array(0)
+    self.assertEqual(0, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(0, 3)))
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
+  def test_angle_cmd_when_enabled(self):
+
+    # ipas angle cmd should pass through when controls are enabled
+
+    self.safety.set_controls_allowed(1)
+    self._angle_meas_msg_array(0)
+    self.safety.toyota_ipas_rx_hook(self._speed_msg(0.1))
+
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(0, 1)))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(4, 1)))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(0, 3)))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(-4, 3)))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(-8, 3)))
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
+
+  def test_angle_cmd_rate_when_disabled(self):
+
+    # as long as the command is close to the measured, no rate limit is enforced when
+    # controls are disabled
+    self.safety.set_controls_allowed(0)
+    self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(0))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(0, 1)))
+    self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(100))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(100, 1)))
+    self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(-100))
+    self.assertEqual(1, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(-100, 1)))
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
+  def test_angle_cmd_rate_when_enabled(self):
+
+    # when controls are allowed, angle cmd rate limit is enforced
+    # test 1: no limitations if we stay within limits
+    speeds = [0., 1., 5., 10., 15., 100.]
+    angles = [-300, -100, -10, 0, 10, 100, 300]
+    for a in angles:
+      for s in speeds:
+
+        # first test against false positives
+        self._angle_meas_msg_array(a)
+        self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1))
+        self.safety.set_controls_allowed(1)
+        self.safety.toyota_ipas_rx_hook(self._speed_msg(s))
+        max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
+        max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
+        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * max_delta_up, 1)))
+        self.assertTrue(self.safety.get_controls_allowed())
+        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1)))
+        self.assertTrue(self.safety.get_controls_allowed())
+        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) * max_delta_down, 1)))
+        self.assertTrue(self.safety.get_controls_allowed())
+
+        # now inject too high rates
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * 
+                                                                                  (max_delta_up + 1), 1)))
+        self.assertFalse(self.safety.get_controls_allowed())
+        self.safety.set_controls_allowed(1)
+        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * max_delta_up, 1)))
+        self.assertTrue(self.safety.get_controls_allowed())
+        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1)))
+        self.assertTrue(self.safety.get_controls_allowed())
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) * 
+                                                                                  (max_delta_down + 1), 1)))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
+  def test_angle_measured_rate(self):
+
+    speeds = [0., 1., 5., 10., 15., 100.]
+    angles = [-300, -100, -10, 0, 10, 100, 300]
+    angles = [10]
+    for a in angles:
+      for s in speeds:
+        self._angle_meas_msg_array(a)
+        self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1))
+        self.safety.set_controls_allowed(1)
+        self.safety.toyota_ipas_rx_hook(self._speed_msg(s))
+        max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
+        max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
+        self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(a))
+        self.assertTrue(self.safety.get_controls_allowed())
+        self.safety.toyota_ipas_rx_hook(self._angle_meas_msg(a + 150))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+    # reset no angle control at the end of the test
+    self.safety.reset_angle_control()
+
 
 if __name__ == "__main__":
   unittest.main()