mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
fae3ee2e81
* RamInit * Some fixes * ram param * cleanup steering * invert * couple fixups * tests pass * check that * misra fixes * same limits * revert that * remove those Co-authored-by: Jonathan <jraycec@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com>
87 lines
2.7 KiB
Python
Executable File
87 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import unittest
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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import panda.tests.safety.common as common
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from panda.tests.safety.common import CANPackerPanda
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class TestChryslerSafety(common.PandaSafetyTest, common.MotorTorqueSteeringSafetyTest):
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TX_MSGS = [[571, 0], [658, 0], [678, 0]]
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STANDSTILL_THRESHOLD = 0
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RELAY_MALFUNCTION_ADDR = 0x292
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [658, 678]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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MAX_RATE_UP = 3
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MAX_RATE_DOWN = 3
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MAX_TORQUE = 261
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MAX_RT_DELTA = 112
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RT_INTERVAL = 250000
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MAX_TORQUE_ERROR = 80
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DAS_BUS = 0
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid_generated")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
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self.safety.init_tests()
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def _button_msg(self, cancel):
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values = {"ACC_Cancel": cancel}
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return self.packer.make_can_msg_panda("CRUISE_BUTTONS", self.DAS_BUS, values)
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def _pcm_status_msg(self, enable):
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values = {"ACC_ACTIVE": enable}
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return self.packer.make_can_msg_panda("DAS_3", self.DAS_BUS, values, counter=True)
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def _speed_msg(self, speed):
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values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
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return self.packer.make_can_msg_panda("SPEED_1", 0, values)
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def _user_gas_msg(self, gas):
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values = {"Accelerator_Position": gas}
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return self.packer.make_can_msg_panda("ECM_5", 0, values, counter=True)
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def _user_brake_msg(self, brake):
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values = {"Brake_Pedal_State": 1 if brake else 0}
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return self.packer.make_can_msg_panda("ESP_1", 0, values, counter=True)
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def _torque_meas_msg(self, torque):
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values = {"EPS_TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_panda("EPS_2", 0, values, counter=True)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"STEERING_TORQUE": torque}
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return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values)
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def test_cancel_button(self):
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for cancel in (True, False):
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self.assertEqual(cancel, self._tx(self._button_msg(cancel)))
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class TestChryslerRamSafety(TestChryslerSafety):
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TX_MSGS = [[177, 2], [166, 0], [250, 0]]
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STANDSTILL_THRESHOLD = 3
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RELAY_MALFUNCTION_ADDR = 166
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FWD_BLACKLISTED_ADDRS = {2: [166, 250]}
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DAS_BUS = 2
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def setUp(self):
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self.packer = CANPackerPanda("chrysler_ram_dt_generated")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
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self.safety.init_tests()
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def _speed_msg(self, speed):
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values = {"Vehicle_Speed": speed}
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return self.packer.make_can_msg_panda("ESP_8", 0, values, counter=True)
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if __name__ == "__main__":
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unittest.main()
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