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Safety Test Refactor: GM (commaai#504)
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* start GM refactor

* use packer
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@adeebshihadeh
adeebshihadeh authored Apr 15, 2020
1 parent dd01c3b commit 57cc954
Showing 1 changed file with 43 additions and 101 deletions.
144 changes: 43 additions & 101 deletions tests/safety/test_gm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,8 @@
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, UNSAFE_MODE

MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
Expand All @@ -15,88 +16,67 @@
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()
DRIVER_TORQUE_ALLOWANCE = 50
DRIVER_TORQUE_FACTOR = 4

class TestGmSafety(common.PandaSafetyTest):
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
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDR = 384
RELAY_MALFUNCTION_BUS = 0
FWD_BLACKLISTED_ADDRS = {}
FWD_BUS_LOOKUP = {}

def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
self.safety.init_tests_gm()

# override these tests from PandaSafetyTest, GM uses button enable
def test_disable_control_allowed_from_cruise(self): pass
def test_enable_control_allowed_from_cruise(self): pass

def _speed_msg(self, speed):
to_send = make_msg(0, 842)
to_send[0].RDLR = speed
return to_send
values = {"%sWheelSpd"%s: speed for s in ["RL", "RR"]}
return self.packer.make_can_msg_panda("EBCMWheelSpdRear", 0, values)

def _button_msg(self, buttons):
to_send = make_msg(0, 481)
to_send[0].RDHR = buttons << 12
return to_send
values = {"ACCButtons": buttons}
return self.packer.make_can_msg_panda("ASCMSteeringButton", 0, values)

def _brake_msg(self, brake):
to_send = make_msg(0, 241)
to_send[0].RDLR = 0xa00 if brake else 0x900
return to_send
# GM safety has a brake threshold of 10
values = {"BrakePedalPosition": 10 if brake else 0}
return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values)

def _gas_msg(self, gas):
to_send = make_msg(0, 417)
to_send[0].RDHR = (1 << 16) if gas else 0
return to_send
values = {"AcceleratorPedal": 1 if gas else 0}
return self.packer.make_can_msg_panda("AcceleratorPedal", 0, values)

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
values = {"FrictionBrakeCmd": -brake}
return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", 2, values)

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
values = {"GasRegenCmd": gas}
return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values)

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
values = {"LKADriverAppldTrq": torque}
return self.packer.make_can_msg_panda("PSCMStatus", 0, values)

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):
StdTest.test_spam_can_buses(self, TX_MSGS)

def test_relay_malfunction(self):
StdTest.test_relay_malfunction(self, 384)

def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
values = {"LKASteeringCmd": torque}
return self.packer.make_can_msg_panda("ASCMLKASteeringCmd", 0, values)

def test_resume_button(self):
RESUME_BTN = 2
Expand All @@ -116,31 +96,6 @@ def test_cancel_button(self):
self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
self.assertFalse(self.safety.get_controls_allowed())

def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, 0)

def test_disengage_on_gas(self):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))

def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(False))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)

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 enabled in [0, 1]:
for b in range(0, 500):
Expand Down Expand Up @@ -169,9 +124,6 @@ def test_steer_safety_check(self):
else:
self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

def test_manually_enable_controls_allowed(self):
StdTest.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)
Expand Down Expand Up @@ -250,16 +202,6 @@ def test_realtime_limits(self):
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)))

def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas']:
if pedal == 'brake':
Expand Down

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