commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Subaru: cleanup counter handling (#992)

This commit is contained in:
Adeeb Shihadeh 2022-07-19 17:18:42 -07:00 committed by GitHub
parent f02b43191f
commit 1dfee5973b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 12 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Dockerfile.panda
View File

@ -46,7 +46,7 @@ ENV LC_ALL en_US.UTF-8
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
ENV OPENPILOT_REF="1b0167ce24afb037b36464c40f9c5e0d657e77d9"
ENV OPENDBC_REF="2afccacd528758ffe4cbdb78b9cb9fe712744bcc"
ENV OPENDBC_REF="e2465cc701e878fdae5b4e363496c2fa5d2f7c08"
COPY requirements.txt /tmp/
RUN pyenv install 3.8.10 && \

30
tests/safety/test_subaru.py
View File

@ -7,12 +7,6 @@ from panda.tests.safety.common import CANPackerPanda
class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
cnt_gas = 0
cnt_torque_driver = 0
cnt_cruise = 0
cnt_speed = 0
cnt_brake = 0
TX_MSGS = [[0x122, 0], [0x221, 0], [0x322, 0]]
STANDSTILL_THRESHOLD = 20 # 1kph (see dbc file)
RELAY_MALFUNCTION_ADDR = 0x122
@ -42,35 +36,29 @@ class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
# TODO: this is unused
def _torque_driver_msg(self, torque):
values = {"Steer_Torque_Sensor": torque, "Counter": self.cnt_torque_driver % 4}
self.__class__.cnt_torque_driver += 1
return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
values = {"Steer_Torque_Sensor": torque}
return self.packer.make_can_msg_panda("Steering_Torque", 0, values, counter=True)
def _speed_msg(self, speed):
# subaru safety doesn't use the scaled value, so undo the scaling
values = {s: speed * 0.057 for s in ["FR", "FL", "RR", "RL"]}
values["Counter"] = self.cnt_speed % 4
self.__class__.cnt_speed += 1
return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values, counter=True)
def _user_brake_msg(self, brake):
values = {"Brake": brake, "Counter": self.cnt_brake % 4}
self.__class__.cnt_brake += 1
return self.packer.make_can_msg_panda("Brake_Status", 0, values)
values = {"Brake": brake}
return self.packer.make_can_msg_panda("Brake_Status", 0, values, counter=True)
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"LKAS_Output": torque}
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
def _user_gas_msg(self, gas):
values = {"Throttle_Pedal": gas, "Counter": self.cnt_gas % 4}
self.__class__.cnt_gas += 1
return self.packer.make_can_msg_panda("Throttle", 0, values)
values = {"Throttle_Pedal": gas}
return self.packer.make_can_msg_panda("Throttle", 0, values, counter=True)
def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable, "Counter": self.cnt_cruise % 4}
self.__class__.cnt_cruise += 1
return self.packer.make_can_msg_panda("CruiseControl", 0, values)
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_panda("CruiseControl", 0, values, counter=True)
if __name__ == "__main__":

7
tests/safety/test_subaru_legacy.py
View File

@ -7,8 +7,6 @@ from panda.tests.safety.common import CANPackerPanda
class TestSubaruLegacySafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
cnt_gas = 0
TX_MSGS = [[0x161, 0], [0x164, 0]]
STANDSTILL_THRESHOLD = 20 # 1kph (see dbc file)
RELAY_MALFUNCTION_ADDR = 0x164
@ -55,9 +53,8 @@ class TestSubaruLegacySafety(common.PandaSafetyTest, common.DriverTorqueSteering
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
def _user_gas_msg(self, gas):
values = {"Throttle_Pedal": gas, "Counter": self.cnt_gas % 4}
self.__class__.cnt_gas += 1
return self.packer.make_can_msg_panda("Throttle", 0, values)
values = {"Throttle_Pedal": gas}
return self.packer.make_can_msg_panda("Throttle", 0, values, counter=True)
def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable}