mirror of https://github.com/commaai/panda.git
Safety Test Refactor: Subaru (#502)
* subaru global kind of works * all global uses can packer * fix legacy * legacy uses can packer * bump opendbc * i guess docker caches that
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Adeeb
GitHub
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@ -34,11 +34,11 @@ RUN pip install -r /tmp/requirements.txt
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WORKDIR /openpilot
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RUN git clone https://github.com/commaai/opendbc.git || true
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WORKDIR /openpilot/opendbc
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RUN git checkout 36c471e59eaac3760a00125d557ef19af091f289
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RUN git pull && git checkout a57e7ddbd72c92241d5d6442da9d47c55e95a8cf
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WORKDIR /openpilot
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RUN git clone https://github.com/commaai/cereal.git
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WORKDIR /openpilot/cereal
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RUN git checkout e370f79522ff7fc0b16f33f4fef420be48061206
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RUN git pull && git checkout e370f79522ff7fc0b16f33f4fef420be48061206
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RUN /openpilot/cereal/install_capnp.sh
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RUN pip install -r /openpilot/opendbc/requirements.txt
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@ -3,7 +3,8 @@ import unittest
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import numpy as np
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from panda import Panda
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from panda.tests.safety import libpandasafety_py
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from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
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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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MAX_RATE_UP = 50
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MAX_RATE_DOWN = 70
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@ -12,174 +13,77 @@ MAX_STEER = 2047
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MAX_RT_DELTA = 940
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 60;
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DRIVER_TORQUE_FACTOR = 10;
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SPEED_THRESHOLD = 20 # 1kph (see dbc file)
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TX_MSGS = [[0x122, 0], [0x221, 0], [0x322, 0]]
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TX_L_MSGS = [[0x164, 0], [0x221, 0], [0x322, 0]]
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def twos_comp(val, bits):
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if val >= 0:
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return val
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else:
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return (2**bits) + val
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def sign(a):
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if a > 0:
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return 1
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else:
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return -1
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def subaru_checksum(msg, addr, len_msg):
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checksum = addr + (addr >> 8)
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for i in range(len_msg):
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if i < 4:
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checksum += (msg.RDLR >> (8 * i))
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else:
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checksum += (msg.RDHR >> (8 * (i - 4)))
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return checksum & 0xff
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DRIVER_TORQUE_ALLOWANCE = 60
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DRIVER_TORQUE_FACTOR = 10
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class TestSubaruSafety(unittest.TestCase):
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class TestSubaruSafety(common.PandaSafetyTest):
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cnt_gas = 0
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cnt_torque_driver = 0
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cnt_cruise = 0
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cnt_speed = 0
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cnt_brake = 0
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@classmethod
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def setUp(cls):
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cls.safety = libpandasafety_py.libpandasafety
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cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
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cls.safety.init_tests_subaru()
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TX_MSGS = [[0x122, 0], [0x221, 0], [0x322, 0]]
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STANDSTILL_THRESHOLD = 20 # 1kph (see dbc file)
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RELAY_MALFUNCTION_ADDR = 0x122
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [290, 545, 802]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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def setUp(self):
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self.packer = CANPackerPanda("subaru_global_2017")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
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self.safety.init_tests_subaru()
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def _set_prev_torque(self, t):
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self.safety.set_subaru_desired_torque_last(t)
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self.safety.set_subaru_rt_torque_last(t)
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def _torque_driver_msg(self, torque):
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t = twos_comp(torque, 11)
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if self.safety.get_subaru_global():
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to_send = make_msg(0, 0x119)
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to_send[0].RDLR = ((t & 0x7FF) << 16)
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to_send[0].RDLR |= (self.cnt_torque_driver & 0xF) << 8
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to_send[0].RDLR |= subaru_checksum(to_send, 0x119, 8)
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self.__class__.cnt_torque_driver += 1
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else:
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to_send = make_msg(0, 0x371)
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to_send[0].RDLR = (t & 0x7) << 29
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to_send[0].RDHR = (t >> 3) & 0xFF
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return to_send
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values = {"Steer_Torque_Sensor": -torque, "counter": self.cnt_torque_driver % 4}
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self.__class__.cnt_torque_driver += 1
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return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
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def _speed_msg(self, speed):
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speed &= 0x1FFF
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to_send = make_msg(0, 0x13a)
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to_send[0].RDLR = speed << 12
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to_send[0].RDHR = speed << 6
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to_send[0].RDLR |= (self.cnt_speed & 0xF) << 8
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to_send[0].RDLR |= subaru_checksum(to_send, 0x13a, 8)
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# subaru safety doesn't use the scaled value, so undo the scaling
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values = {s: speed*0.057 for s in ["FR", "FL", "RR", "RL"]}
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values["Counter"] = self.cnt_speed % 4
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self.__class__.cnt_speed += 1
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return to_send
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return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
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def _brake_msg(self, brake):
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to_send = make_msg(0, 0x139)
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to_send[0].RDHR = (brake << 4) & 0xFFF
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to_send[0].RDLR |= (self.cnt_brake & 0xF) << 8
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to_send[0].RDLR |= subaru_checksum(to_send, 0x139, 8)
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values = {"Brake_Pedal": brake, "Counter": self.cnt_brake % 4}
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self.__class__.cnt_brake += 1
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return to_send
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return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
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def _torque_msg(self, torque):
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t = twos_comp(torque, 13)
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if self.safety.get_subaru_global():
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to_send = make_msg(0, 0x122)
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to_send[0].RDLR = (t << 16)
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else:
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to_send = make_msg(0, 0x164)
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to_send[0].RDLR = (t << 8)
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return to_send
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values = {"LKAS_Output": -torque}
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return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
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def _gas_msg(self, gas):
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if self.safety.get_subaru_global():
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to_send = make_msg(0, 0x40)
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to_send[0].RDHR = gas & 0xFF
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to_send[0].RDLR |= (self.cnt_gas & 0xF) << 8
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to_send[0].RDLR |= subaru_checksum(to_send, 0x40, 8)
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self.__class__.cnt_gas += 1
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else:
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to_send = make_msg(0, 0x140)
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to_send[0].RDLR = gas & 0xFF
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return to_send
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values = {"Throttle_Pedal": gas, "Counter": self.cnt_gas % 4}
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self.__class__.cnt_gas += 1
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return self.packer.make_can_msg_panda("Throttle", 0, values)
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def _cruise_msg(self, cruise):
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if self.safety.get_subaru_global():
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to_send = make_msg(0, 0x240)
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to_send[0].RDHR = cruise << 9
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to_send[0].RDLR |= (self.cnt_cruise & 0xF) << 8
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to_send[0].RDLR |= subaru_checksum(to_send, 0x240, 8)
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self.__class__.cnt_cruise += 1
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else:
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to_send = make_msg(0, 0x144)
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to_send[0].RDHR = cruise << 17
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return to_send
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def _pcm_status_msg(self, cruise):
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values = {"Cruise_Activated": cruise, "Counter": self.cnt_cruise % 4}
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self.__class__.cnt_cruise += 1
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return self.packer.make_can_msg_panda("CruiseControl", 0, values)
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def _set_torque_driver(self, min_t, max_t):
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for i in range(0, 5):
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self.safety.safety_rx_hook(self._torque_driver_msg(min_t))
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self.safety.safety_rx_hook(self._torque_driver_msg(max_t))
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def test_spam_can_buses(self):
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StdTest.test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
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def test_relay_malfunction(self):
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StdTest.test_relay_malfunction(self, 0x122 if self.safety.get_subaru_global() else 0x164)
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def test_default_controls_not_allowed(self):
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self.assertFalse(self.safety.get_controls_allowed())
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def test_enable_control_allowed_from_cruise(self):
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self.safety.safety_rx_hook(self._cruise_msg(True))
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self.assertTrue(self.safety.get_controls_allowed())
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def test_disable_control_allowed_from_cruise(self):
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self.safety.set_controls_allowed(1)
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self.safety.safety_rx_hook(self._cruise_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_disengage_on_gas(self):
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self.safety.set_controls_allowed(True)
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self.safety.safety_rx_hook(self._gas_msg(0))
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.safety_rx_hook(self._gas_msg(1))
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self.assertFalse(self.safety.get_controls_allowed())
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def test_unsafe_mode_no_disengage_on_gas(self):
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self.safety.safety_rx_hook(self._gas_msg(0))
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self.safety.set_controls_allowed(True)
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self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
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self.safety.safety_rx_hook(self._gas_msg(1))
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self.assertTrue(self.safety.get_controls_allowed())
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self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
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def test_brake_disengage(self):
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if (self.safety.get_subaru_global()):
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StdTest.test_allow_brake_at_zero_speed(self)
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StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
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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(-3000, 3000):
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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) > MAX_STEER or (not enabled and abs(t) > 0):
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self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(t)))
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else:
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
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def test_manually_enable_controls_allowed(self):
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StdTest.test_manually_enable_controls_allowed(self)
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block = abs(t) > MAX_STEER or (not enabled and abs(t) > 0)
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self.assertEqual(not block, self.safety.safety_tx_hook(self._torque_msg(t)))
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def test_non_realtime_limit_up(self):
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self._set_torque_driver(0, 0)
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@ -262,28 +166,43 @@ class TestSubaruSafety(unittest.TestCase):
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self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
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def test_fwd_hook(self):
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buss = list(range(0x0, 0x3))
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msgs = list(range(0x1, 0x800))
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blocked_msgs = [290, 545, 802] if self.safety.get_subaru_global() else [356, 545, 802]
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for b in buss:
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for m in msgs:
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if b == 0:
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fwd_bus = 2
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elif b == 1:
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fwd_bus = -1
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elif b == 2:
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fwd_bus = -1 if m in blocked_msgs else 0
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# assume len 8
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self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
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class TestSubaruLegacySafety(TestSubaruSafety):
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@classmethod
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def setUp(cls):
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cls.safety = libpandasafety_py.libpandasafety
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cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU_LEGACY, 0)
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cls.safety.init_tests_subaru()
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TX_MSGS = [[0x164, 0], [0x221, 0], [0x322, 0]]
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RELAY_MALFUNCTION_ADDR = 0x164
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RELAY_MALFUNCTION_BUS = 0
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FWD_BLACKLISTED_ADDRS = {2: [356, 545, 802]}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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def setUp(self):
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self.packer = CANPackerPanda("subaru_outback_2015_eyesight")
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self.safety = libpandasafety_py.libpandasafety
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self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_LEGACY, 0)
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self.safety.init_tests_subaru()
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# subaru legacy safety doesn't have brake checks
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def test_prev_brake(self): pass
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def test_not_allow_brake_when_moving(self): pass
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def test_allow_brake_at_zero_speed(self): pass
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def _torque_driver_msg(self, torque):
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# TODO: figure out if this scaling factor from the DBC is right.
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# if it is, remove the scaling from here and put it in the safety code
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values = {"Steer_Torque_Sensor": torque*8}
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return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
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def _torque_msg(self, torque):
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values = {"LKAS_Command": -torque}
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return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
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def _gas_msg(self, gas):
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values = {"Throttle_Pedal": gas}
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return self.packer.make_can_msg_panda("Throttle", 0, values)
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def _pcm_status_msg(self, cruise):
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values = {"Cruise_Activated": cruise}
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return self.packer.make_can_msg_panda("CruiseControl", 0, values)
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if __name__ == "__main__":
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unittest.main()
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