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

use class inheritance to define test specific safety variables

This commit is contained in:
Shane Smiskol 2022-03-26 00:20:01 -07:00
parent 97e25284ee
commit 734efd96f3
4 changed files with 31 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
tests/safety/common.py
View File

@ -10,12 +10,14 @@ from panda.tests.safety import libpandasafety_py
MAX_WRONG_COUNTERS = 5
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
def package_can_msg(msg):
addr, _, dat, bus = msg
ret = libpandasafety_py.ffi.new('CANPacket_t *')
@ -27,9 +29,11 @@ def package_can_msg(msg):
return ret
def make_msg(bus, addr, length=8):
return package_can_msg([addr, 0, b'\x00' * length, bus])
class CANPackerPanda(CANPacker):
def make_can_msg_panda(self, name_or_addr, bus, values, counter=-1, fix_checksum=None):
msg = self.make_can_msg(name_or_addr, bus, values, counter=-1)
@ -37,13 +41,26 @@ class CANPackerPanda(CANPacker):
msg = fix_checksum(msg)
return package_can_msg(msg)
class PandaSafetyTestBase(unittest.TestCase):
SAFETY_PARAM = 0
@classmethod
def setUpClass(cls):
if cls.__name__ == "PandaSafetyTestBase":
cls.safety = None
raise unittest.SkipTest
def setUp(self):
self.packer = CANPackerPanda(self.DBC)
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(self.SAFETY_MODE, self.SAFETY_PARAM)
if 'Honda' in self.__class__.__name__:
self.safety._init_tests_honda()
else:
self.safety.init_tests()
def _rx(self, msg):
return self.safety.safety_rx_hook(msg)

2
tests/safety/libpandasafety_py.py
View File

@ -56,7 +56,7 @@ void set_timer(uint32_t t);
int safety_rx_hook(CANPacket_t *to_send);
int safety_tx_hook(CANPacket_t *to_push);
int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd);
int set_safety_hooks(uint16_t mode, int16_t param);
int set_safety_hooks(uint16_t mode, int16_t param);
void safety_tick_current_rx_checks();
bool addr_checks_valid();

38
tests/safety/test_honda.py
View File

@ -288,18 +288,15 @@ class TestHondaNidecSafetyBase(HondaBase):
INTERCEPTOR_THRESHOLD = 344
DBC = "honda_civic_touring_2016_can_generated"
SAFETY_MODE = Panda.SAFETY_HONDA_NIDEC
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestHondaNidecSafetyBase":
cls.safety = None
raise unittest.SkipTest
def setUp(self):
self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
self.safety.init_tests_honda()
# Honda gas gains are the different
def _interceptor_msg(self, gas, addr):
to_send = make_msg(0, addr, 6)
@ -398,11 +395,9 @@ class TestHondaNidecAltSafety(TestHondaNidecSafety):
"""
Covers the Honda Nidec safety mode with alt SCM messages
"""
def setUp(self):
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
self.safety.init_tests_honda()
DBC = "acura_ilx_2016_can_generated"
SAFETY_PARAM = Panda.FLAG_HONDA_NIDEC_ALT
def _acc_state_msg(self, main_on):
values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
@ -419,11 +414,6 @@ class TestHondaNidecAltInterceptorSafety(TestHondaNidecSafety, common.Intercepto
"""
Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor
"""
def setUp(self):
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
self.safety.init_tests_honda()
def _acc_state_msg(self, main_on):
values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
@ -447,6 +437,9 @@ class TestHondaBoschSafetyBase(HondaBase):
TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0], [0x33DA, 0], [0x33DB, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
DBC = "honda_accord_2018_can_generated"
SAFETY_MODE = Panda.SAFETY_HONDA_BOSCH
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestHondaBoschSafetyBase":
@ -454,10 +447,6 @@ class TestHondaBoschSafetyBase(HondaBase):
cls.safety = None
raise unittest.SkipTest
def setUp(self):
self.packer = CANPackerPanda("honda_accord_2018_can_generated")
self.safety = libpandasafety_py.libpandasafety
def _alt_brake_msg(self, brake):
values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4}
self.__class__.cnt_brake += 1
@ -491,10 +480,6 @@ class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
"""
Covers the Honda Bosch safety mode with stock longitudinal
"""
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
self.safety.init_tests_honda()
def test_spam_cancel_safety_check(self):
self.safety.set_controls_allowed(0)
@ -518,10 +503,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
TX_MSGS = [[0xE4, 1], [0x1DF, 1], [0x1EF, 1], [0x1FA, 1], [0x30C, 1], [0x33D, 1], [0x33DA, 1], [0x33DB, 1], [0x39F, 1], [0x18DAB0F1, 1]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
self.safety.init_tests_honda()
SAFETY_PARAM = Panda.FLAG_HONDA_BOSCH_LONG
def _send_gas_brake_msg(self, gas, accel):
values = {

8
tests/safety/test_toyota.py
View File

@ -33,11 +33,9 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
TORQUE_MEAS_TOLERANCE = 1 # toyota safety adds one to be conversative for rounding
EPS_SCALE = 0.73
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 73)
self.safety.init_tests()
DBC = 'toyota_nodsu_pt_generated'
SAFETY_MODE = Panda.SAFETY_TOYOTA
SAFETY_PARAM = 73
def _torque_meas_msg(self, torque):
values = {"STEER_TORQUE_EPS": (torque/self.EPS_SCALE)}