mirror of https://github.com/commaai/panda.git
safety tests: create classes for common torque steering tests (#951)
* Create base class for common steering tests (motor/driver) * fix class name
This commit is contained in:
Shane Smiskol
GitHub
parent
dff5e6ed31
commit
6117c381f2
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@ -12,6 +12,7 @@ from panda.tests.safety import libpandasafety_py
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MAX_WRONG_COUNTERS = 5
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def package_can_msg(msg):
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addr, _, dat, bus = msg
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ret = libpandasafety_py.ffi.new('CANPacket_t *')
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@ -23,9 +24,11 @@ def package_can_msg(msg):
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return ret
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def make_msg(bus, addr, length=8):
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return package_can_msg([addr, 0, b'\x00' * length, bus])
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class CANPackerPanda(CANPacker):
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_counters: Dict[str, int] = defaultdict(lambda: -1)
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@ -38,6 +41,7 @@ class CANPackerPanda(CANPacker):
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msg = fix_checksum(msg)
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return package_can_msg(msg)
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class PandaSafetyTestBase(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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@ -51,6 +55,7 @@ class PandaSafetyTestBase(unittest.TestCase):
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def _tx(self, msg):
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return self.safety.safety_tx_hook(msg)
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class InterceptorSafetyTest(PandaSafetyTestBase):
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INTERCEPTOR_THRESHOLD = 0
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@ -117,19 +122,143 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
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self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
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class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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class TorqueSteeringSafetyTestBase(PandaSafetyTestBase):
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MAX_RATE_UP = 0
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MAX_RATE_DOWN = 0
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MAX_TORQUE = 0
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MAX_RT_DELTA = 0
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RT_INTERVAL = 0
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "TorqueSteeringSafetyTestBase":
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cls.safety = None
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raise unittest.SkipTest
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@abc.abstractmethod
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def _torque_cmd_msg(self, torque, steer_req=1):
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pass
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def _set_prev_torque(self, t):
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self.safety.set_desired_torque_last(t)
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self.safety.set_rt_torque_last(t)
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def test_steer_safety_check(self):
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for enabled in [0, 1]:
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for t in range(-self.MAX_TORQUE * 2, self.MAX_TORQUE * 2):
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self.safety.set_controls_allowed(enabled)
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self._set_prev_torque(t)
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if abs(t) > self.MAX_TORQUE or (not enabled and abs(t) > 0):
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self.assertFalse(self._tx(self._torque_cmd_msg(t)))
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else:
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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def test_non_realtime_limit_up(self):
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertTrue(self._tx(self._torque_cmd_msg(-self.MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP + 1)))
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertFalse(self._tx(self._torque_cmd_msg(-self.MAX_RATE_UP - 1)))
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class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase):
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DRIVER_TORQUE_ALLOWANCE = 0
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DRIVER_TORQUE_FACTOR = 0
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "DriverTorqueSteeringSafetyTest":
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cls.safety = None
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raise unittest.SkipTest
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@abc.abstractmethod
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def _torque_cmd_msg(self, torque, steer_req=1):
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pass
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def test_non_realtime_limit_up(self):
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self.safety.set_torque_driver(0, 0)
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super().test_non_realtime_limit_up()
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# TODO: make this test something
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def test_non_realtime_limit_down(self):
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self.safety.set_torque_driver(0, 0)
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self.safety.set_controls_allowed(True)
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def test_against_torque_driver(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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for t in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE + 1, 1):
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t *= -sign
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self.safety.set_torque_driver(t, t)
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self._set_prev_torque(self.MAX_TORQUE * sign)
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self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE * sign)))
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self.safety.set_torque_driver(self.DRIVER_TORQUE_ALLOWANCE + 1, self.DRIVER_TORQUE_ALLOWANCE + 1)
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self.assertFalse(self._tx(self._torque_cmd_msg(-self.MAX_TORQUE)))
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# spot check some individual cases
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for sign in [-1, 1]:
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driver_torque = (self.DRIVER_TORQUE_ALLOWANCE + 10) * sign
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torque_desired = (self.MAX_TORQUE - 10 * self.DRIVER_TORQUE_FACTOR) * sign
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delta = 1 * sign
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self._set_prev_torque(torque_desired)
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self.safety.set_torque_driver(-driver_torque, -driver_torque)
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self.assertTrue(self._tx(self._torque_cmd_msg(torque_desired)))
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self._set_prev_torque(torque_desired + delta)
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self.safety.set_torque_driver(-driver_torque, -driver_torque)
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self.assertFalse(self._tx(self._torque_cmd_msg(torque_desired + delta)))
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self._set_prev_torque(self.MAX_TORQUE * sign)
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self.safety.set_torque_driver(-self.MAX_TORQUE * sign, -self.MAX_TORQUE * sign)
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self.assertTrue(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN) * sign)))
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self._set_prev_torque(self.MAX_TORQUE * sign)
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self.safety.set_torque_driver(-self.MAX_TORQUE * sign, -self.MAX_TORQUE * sign)
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self.assertTrue(self._tx(self._torque_cmd_msg(0)))
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self._set_prev_torque(self.MAX_TORQUE * sign)
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self.safety.set_torque_driver(-self.MAX_TORQUE * sign, -self.MAX_TORQUE * sign)
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self.assertFalse(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN + 1) * sign)))
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def test_realtime_limits(self):
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self.safety.set_controls_allowed(True)
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for sign in [-1, 1]:
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self.safety.init_tests()
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self._set_prev_torque(0)
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self.safety.set_torque_driver(0, 0)
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for t in np.arange(0, self.MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1))))
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self._set_prev_torque(0)
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for t in np.arange(0, self.MAX_RT_DELTA, 1):
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t *= sign
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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# Increase timer to update rt_torque_last
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self.safety.set_timer(self.RT_INTERVAL + 1)
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self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA - 1))))
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self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1))))
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class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase):
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MAX_TORQUE_ERROR = 0
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TORQUE_MEAS_TOLERANCE = 0
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "TorqueSteeringSafetyTest":
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if cls.__name__ == "MotorTorqueSteeringSafetyTest":
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cls.safety = None
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raise unittest.SkipTest
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@ -138,24 +267,13 @@ class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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pass
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@abc.abstractmethod
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def _torque_msg(self, torque, steer_req=1):
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def _torque_cmd_msg(self, torque, steer_req=1):
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pass
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def _set_prev_torque(self, t):
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self.safety.set_desired_torque_last(t)
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self.safety.set_rt_torque_last(t)
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super()._set_prev_torque(t)
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self.safety.set_torque_meas(t, t)
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def test_steer_safety_check(self):
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for enabled in [0, 1]:
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for t in range(-self.MAX_TORQUE * 2, self.MAX_TORQUE * 2):
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self.safety.set_controls_allowed(enabled)
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self._set_prev_torque(t)
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if abs(t) > self.MAX_TORQUE or (not enabled and abs(t) > 0):
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self.assertFalse(self._tx(self._torque_msg(t)))
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else:
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self.assertTrue(self._tx(self._torque_msg(t)))
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def test_torque_absolute_limits(self):
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for controls_allowed in [True, False]:
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for torque in np.arange(-self.MAX_TORQUE - 1000, self.MAX_TORQUE + 1000, self.MAX_RATE_UP):
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@ -169,16 +287,7 @@ class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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else:
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send = torque == 0
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self.assertEqual(send, self._tx(self._torque_msg(torque)))
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def test_non_realtime_limit_up(self):
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self.safety.set_controls_allowed(True)
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self._set_prev_torque(0)
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self.assertTrue(self._tx(self._torque_msg(self.MAX_RATE_UP)))
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self._set_prev_torque(0)
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self.assertFalse(self._tx(self._torque_msg(self.MAX_RATE_UP + 1)))
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self.assertEqual(send, self._tx(self._torque_cmd_msg(torque)))
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def test_non_realtime_limit_down(self):
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self.safety.set_controls_allowed(True)
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@ -188,12 +297,12 @@ class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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self.safety.set_rt_torque_last(self.MAX_TORQUE)
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self.safety.set_torque_meas(torque_meas, torque_meas)
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self.safety.set_desired_torque_last(self.MAX_TORQUE)
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self.assertTrue(self._tx(self._torque_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN)))
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self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN)))
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self.safety.set_rt_torque_last(self.MAX_TORQUE)
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self.safety.set_torque_meas(torque_meas, torque_meas)
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self.safety.set_desired_torque_last(self.MAX_TORQUE)
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self.assertFalse(self._tx(self._torque_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN + 1)))
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self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN + 1)))
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def test_exceed_torque_sensor(self):
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self.safety.set_controls_allowed(True)
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@ -202,9 +311,9 @@ class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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self._set_prev_torque(0)
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for t in np.arange(0, self.MAX_TORQUE_ERROR + 2, 2): # step needs to be smaller than MAX_TORQUE_ERROR
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t *= sign
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self.assertTrue(self._tx(self._torque_msg(t)))
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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self.assertFalse(self._tx(self._torque_msg(sign * (self.MAX_TORQUE_ERROR + 2))))
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self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_TORQUE_ERROR + 2))))
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def test_realtime_limit_up(self):
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self.safety.set_controls_allowed(True)
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@ -215,19 +324,19 @@ class TorqueSteeringSafetyTest(PandaSafetyTestBase):
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for t in np.arange(0, self.MAX_RT_DELTA + 1, 1):
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t *= sign
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self.safety.set_torque_meas(t, t)
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self.assertTrue(self._tx(self._torque_msg(t)))
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self.assertFalse(self._tx(self._torque_msg(sign * (self.MAX_RT_DELTA + 1))))
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1))))
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self._set_prev_torque(0)
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for t in np.arange(0, self.MAX_RT_DELTA + 1, 1):
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t *= sign
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self.safety.set_torque_meas(t, t)
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self.assertTrue(self._tx(self._torque_msg(t)))
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self.assertTrue(self._tx(self._torque_cmd_msg(t)))
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# Increase timer to update rt_torque_last
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self.safety.set_timer(self.RT_INTERVAL + 1)
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self.assertTrue(self._tx(self._torque_msg(sign * self.MAX_RT_DELTA)))
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self.assertTrue(self._tx(self._torque_msg(sign * (self.MAX_RT_DELTA + 1))))
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self.assertTrue(self._tx(self._torque_cmd_msg(sign * self.MAX_RT_DELTA)))
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self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1))))
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def test_torque_measurements(self):
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trq = 50
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@ -5,7 +5,8 @@ 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.TorqueSteeringSafetyTest):
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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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@ -61,7 +62,7 @@ class TestChryslerSafety(common.PandaSafetyTest, common.TorqueSteeringSafetyTest
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self.__class__.cnt_torque_meas += 1
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return self.packer.make_can_msg_panda("EPS_STATUS", 0, values)
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def _torque_msg(self, torque, steer_req=1):
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"LKAS_STEERING_TORQUE": torque}
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return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values)
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@ -22,7 +22,7 @@ def interceptor_msg(gas, addr):
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class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
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common.TorqueSteeringSafetyTest):
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common.MotorTorqueSteeringSafetyTest):
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TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0
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[0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1
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@ -54,7 +54,7 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
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values = {"STEER_TORQUE_EPS": (torque / self.EPS_SCALE) * 100.}
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return self.packer.make_can_msg_panda("STEER_TORQUE_SENSOR", 0, values)
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def _torque_msg(self, torque, steer_req=1):
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"STEER_TORQUE_CMD": torque, "STEER_REQUEST": steer_req}
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return self.packer.make_can_msg_panda("STEERING_LKA", 0, values)
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@ -147,11 +147,11 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
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self.safety.set_controls_allowed(True)
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for _ in range(100):
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self._set_prev_torque(self.MAX_TORQUE)
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self.assertFalse(self._tx(self._torque_msg(self.MAX_TORQUE, steer_req=0)))
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self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
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self._set_prev_torque(self.MAX_TORQUE)
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for _ in range(100):
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self.assertTrue(self._tx(self._torque_msg(self.MAX_TORQUE, steer_req=1)))
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self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
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def test_rx_hook(self):
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# checksum checks
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