* coverage report
* test script
* not needed
* option
* options
* re-build if file missing
* rename
* rename flag
* just always build
* cmt
* fix rebuild, panda.c is what does gens gcno
* clean up
* check coverage
* rename
* add skip flag
* Revert "add skip flag"
This reverts commit 6991c174ce.
* both do same thing
* clean up script
* don't test here
* Revert "don't test here"
This reverts commit 43fe4c961f.
* try running in CI
* nproc
* move
* Revert "try running in CI"
This reverts commit 912017c7fa.
* don't test here
* fix path
* re-compiling does this
* how does this/did that pass?!
* fix misra
* add comment
* we could do this
* or could do what eps torque does
* another pr
* not unused
* need this for special gm
* support testing integer torque
cmt
* there we go
* stash again
* Revert "stash again"
This reverts commit 4ecf6cc91c.
* this works!
* clean up
* cmt
* ugh this test was broken
* add some comments for this behemoth, and switch to rxing real msgs
* for now, no measurement test since we don't have any info about driver torque on can. for ex:
max value, factor on CAN, etc.
clean up
* more clean up
* just use it everywhere
* better cmt
* cmt
* this was failing for the wrong reason
* stash
* Revert "stash"
This reverts commit b29e09ca85.
* call it driver torque
* Revert "call it driver torque"
This reverts commit 1ed5ce5ebe.
* hmm this works
* hyundai fix in another pr
* support testing integer torque
cmt
* there we go
* Revert "there we go"
This reverts commit 6c5a19aad8.
* Revert "support testing integer torque"
This reverts commit 2c381077d5.
* clean up
* Update tests/safety/common.py
* found another bug!
* update test
* why does toyota add 1 but not chrysler?!
* test/fix others
* clean up
* more
* global
* clean up
* one function to reset AND update
* without abs and only negative values: this is not caught (since negative error < 1)
* ugly draft
* clean up, tests work
* now only should use this function
* better cmt
* better loc
* constant in python too!
* actually duplicate comment
* Update common.py
* without abs and only negative values: this is not caught (since negative error < 1)
* ugly draft
* this catches it
* draft
* draft
* draft
* works now!
* no blurry tests
* ugh subaru is like this too
* okay some can scaling makes it slightly off (wheel speeds)
* uncommont
* clean up
* test the steering request bit
* not in the angle yet
* not angle yet
* fixes
* draft
* can do this
* adapting the 3 steer req mismatch tests might be too intricate
Revert "can do this"
This reverts commit 775abf877b.
* don't change safety and test the actual behavior
* add comment
* rm
* revert
* For example, now this caught
* "fix"
* Update tests/safety/common.py
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* wip
* steer bit
* add tolerance
* increase a bit more
* test too
* Had that backwards
* Here too
* review suggestions
* minimal diff
* minimal diff
* add type hints
* spacing
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* update test name
* add tolerance comment
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* common test for that
* canfd too
* we set this everywhere
* never none
* subclass
* Update tests/safety/common.py
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Nissan Altima: Specify panda flag for alt bus safety config
* test this safety mode
* test this safety mode
* rm
* nl
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* new steering message!
* fix
* check tx
* fix var
* allow all tx to test LFA suppression
* Attempt to block laneline information to suppress LFA
* Try 0x364
* Block all bus 2/6 messages
* Final test to block LFA
* Fix tx
* in another PR
* cleanup
* lint
* Add new tx to unit test
* linter
* Apply suggestions
* Revert to this
* Unnecessary
* clean up
* rename to hda2
* prototype
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Add subaru long TX and RX messages
* misra c2012 fix
* fix tests
* Reorder signals
* increase max steering torque
* merge fix
* merge fix, remove cnt from test
* Move subaru logitudinal behind flag, add safety test
* update subaru_longitudinal checks
* cleanup
* Add subaru longitudinal checks
* misra fix
* Add subaru rpm and throttle rate limit checks
* temporary disable cruise throttle and cruise rpm checks
* update subaru long test
* update longitudinal safety and add tests
* fix tests
* fix misra
* subaru long signals limits checks
* Add controls_allowed to long tests
* remove unused variables
* Add AEB passthru and tests
* Add bus
* Update AEB logic
* Add GEN2 AEB support
* syntax fix
* Update AEB tests
* Add comment for subaru_aeb
* Do not check cruise_throttle and cruise_rpm limits when gas pressed
* use long limits struct
* Subaru: longitudinal checks only when controls_allowed, use ES_LKAS_State LKAS_Alert for AEB
* fix misra, set controls_allowed for es_brake test
* fix misra
* Fix es_brake violation check
* Add 0x323 to longitudinal test
* Remove stock fcw from aeb signals
* Use GET_BYTES
* Revert "export FW_PATH"
This reverts commit 2a5058d858.
* Revert "cleanup fw filename conventions (#1434)"
This reverts commit 4dd2735e38.
* Revert "Revert "export FW_PATH""
This reverts commit 86e8d321d0.
* Revert "Revert "cleanup fw filename conventions (#1434)""
This reverts commit 5aae6716fa.
* cleaned up safety
* cleanup subaru long safety
* subaru_aeb -> stock_aeb for other platforms
* fix unittests
* pretty
* need to upload this route
* remove AEB stuff for now
* remove unrequired rpm checks
* add comment
* added comment about acceleration and use throttle limit for rpm too
* inactive_throttle_fix
* Update board/safety/safety_subaru.h
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* added comments about long limits
* increase max brake
* revert that
* cleanup
* rename throttle to gas
* add safety replay
* remove todo
* rename throttle to gas
* move subaru stuff out of common test
* PR cleanup
* added min gas
* reduce initial complexity by not intercepting cruisecontrol or brake_status
* create common gas brake safety test
* remove unrelated subaru reference
* also test below min_value
* fix fwd hook test
* better name and hardcoded
* use same as acceleration limits
* revert gm
* remove callable
* also limit rpm
* remove safety replay for now
* revert unrelated changes
* pr cleanup
* remove unused gasbrake safety test
* fix ruff linter
* PR cleanup
* pr cleanup?
* added common brake test and moved generic test to base safety class
* remove duplicate test
* wip
* wip
* rename longitudinalaccelsafety
* revert limits correct test
* fix controls allowed test
* move gm over to long gas brake test
* assert that limits are reasonable
* fix typing
* fix linter again
* fix linter again
* fix linter again
* like to make it clear
* typo
* fix from merge
* clearer names
* dont need thesemore
* subaru: use common test
* fix merge issue
* inactive gas from long limits
* fix tests
* linter
* fix gen2
* fix linter
* also test torque when doing long control
* renamre transmision rpm
* consistent whitespace
* rename declarations too
* rename transmission rpm
* same line
* actually is transmission rpm
---------
Co-authored-by: Martin Lillepuu <martin@mlp.ee>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* create common gas brake safety test
* remove unrelated subaru reference
* also test below min_value
* better name and hardcoded
* use same as acceleration limits
* revert gm
* remove callable
* added common brake test and moved generic test to base safety class
* remove duplicate test
* wip
* wip
* rename longitudinalaccelsafety
* revert limits correct test
* fix controls allowed test
* move gm over to long gas brake test
* assert that limits are reasonable
* fix typing
* fix linter again
* fix linter again
* fix linter again
* like to make it clear
* typo
* fix from merge
* clearer names
* dont need thesemore
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* misc hitl test cleanup
* adjust that
* update
* tres fix
---------
Co-authored-by: Bruce Wayne <batman@comma.ai>
Co-authored-by: Comma Device <device@comma.ai>
* correct vehicle speed and add measured angle
* misra
* misra
* common test for angle
* PR cleanup
* use subaru prefix
* clean it up a bit
* minimize whitespace diff
* need float for deg_to_can
* try 1
* some fixes
* fix some misra
* first poc working
* more things
* more misra fixes
* fix misra
* add rate limiting
* fix misra
* add some unit tests through libpanda
* add more tests and fix some stuff
* fix misra again
* add startup log hitl test
* list
* don't fail on wrong timestamps
* improvements
* fix tests
* expected logs test?
* not sure why this passed
* oh, it doesn't reset
* only show last few
* guess at expected logs
* needs this
* ugh
* reduce compiler warnings
* adjust expected logs
* this is correct
* is it really 1?
* min max
* reduce spam in SPI test
* some cleanup
* Ford AEB safety
* whoops
* working tests
* debugging
* clean up
* stock aeb test
* split up test
* rm
* cmt
* rm
* just test stateless sigs for simple branch
* clean up
* rm
* just test this bit
* it's signed now
* cmt
* cmt
* clean up
* ohh
* add ACCDATA msg
* ford long safety
* long flag
* split stock and op long tests
* use accel limits for brake
* add comment
* fix acceleration limits
fix acceleration limits
* fix gas limits
* temp bug
* fix min gas, allow -0.5 (engine braking?)
* fix test
* fix tests
* yay it caught this
* pylint
* base name
* typing
* Revert "typing"
This reverts commit 7fb5e304cb.
* temp fix
* rm line
* this is handled by PandaSafetyTest
* revert
* move
---------
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
* start comms hitl tests
* pull that out
* revert that
* more test
* fix warnings
* fix linter
* another simple case
---------
Co-authored-by: Comma Device <device@comma.ai>
* Add version suffix to gcc on Darwin
* Update macos setup intructions
* Delete unused SConscript at tests/
* Move gcc stuff to tests/libpanda/SConscript
* read in mV and make threshold board-dependent
* refactor and add SBU voltages to health
* refactor relay driving
* more refactoring and readout lock
* avoid race condition
* fix misra
* continuous detection
* 1Hz is fine
* another race condition
* use harness detection to trigger bootkick
* update orientation detection test
* more in-depth harness tests
* fix ignition
* fix
* raise threshold
* ford curvature rate limits draft
* make common angle tests work with curvature
* comment
* no need for this
* extra line
* fix test
* generic curvature test class
* more reasonable limits
* adjust limits
* draft
* works
* works
* clean up
* add vehicle speed
* works
* clean up
* clean up
* more clean up
* more clean up
* lower
* double
* add updated bp
* remove
* can clean that up
* draft
* this works!
* think that's the correct placement
* try this
* closer
* use min
* add/sub one to not falsely trip
* remove old angle error safety
* i'm not sure if clamp is more readable
* fix that
* fix
* stash
* fix these tests
* ternary
* floats are a pain
* draft, works kinda
* even better
* round that
* need tolerance
* this should work (adding tol=1 wouldn't let us have multiple rate limits)
* test works
* clamp breaks if low is higher than high :(((
down from 150 blocked msgs to 7!
* no blocked msgs!!!
* test a whole bunch
* stash
* stash
* clean up test
* clean up test to be more like torque (+ speeds)
* clean up
* cmt
* test up
* up and down are good
* rename and remove
* this is tested
* uncomment
* this is tested by ensuring we move towards error at a minimum rate
* not used any more
* revert common
* clean up test_ford a bit more
* some clean up (combine variables where it makes sense)
* yeah can't use clamp since min isn't always < max, min(max(.. handles this
* clean up
* revert that
* comments
* cmt
* another
* that's old
* misra!
* Update board/safety/safety_ford.h
* Update board/safety/safety_ford.h
* add todo, fix test case
* more clear, matches panda
* add comment
* Update tests/safety/test_ford.py
* more fine speed increments
* rm comment
* better names
* this is expected behavior (tested by common checks)
* CURVATURE_ERROR_LIMIT_SPEED
* better name?
* pretty clean!
* same for up
* only used in one place now
* these are now clear
* common term
* make vehicle_speed a sample_t
* need to use values[0]
* speed is a float
* Revert "speed is a float"
This reverts commit 01af02f1d3.
* Revert "need to use values[0]"
This reverts commit 8f6d68345a.
* Revert "make vehicle_speed a sample_t"
This reverts commit ecd8dc86b6.
* safety fixes for new speed sample
* test fixes for new speed sample
* fix misra and make intermediate variable
* this isn't needed
* convert vehicle_speed into sample_t, change no behavior
* draft
* round
* test
* clean up
* round
* round all
* use min
* remove round macro from this PR
* reset speed measurement
* debug
* bbd
* rm
* revert
* test above and below
* need this now
* misra pt 1
* misra pt 2
* misra pt 3
* i don't understand this one, not different from other cases
* fix test
* test
* revert that
* draft
* test the sample_t works properly for safety modes that use it (angle only)
* can combine these tests
* test decimals
* global
* misra
comment
* suggestions
* fix
* use new helper
* test angle meas readback (ensures speed and yaw rate are used properly)
* revert
* rm
* tuple
* temp
* clean up
* stash
* Revert "stash"
This reverts commit cab96b3e2b.
* use global
* test negative
* name
* make explicit, there was no bug only because the if statement is identical to above
* debug
* Revert "debug"
This reverts commit 2ec83677c3.
* Revert "make explicit, there was no bug only because the if statement is identical to above"
This reverts commit fcb2a106b9.
* fixes
* remove
* allow 1 second
* remove
* clean up
* call every can msg
* safety_tick_rx_invalid like test_models
* order
* skip end
* try that
* reset min torque meas too
* add test that fails
* cmt
* cmt
* clean up test
* don't be random
* above test tests this pretty much
* test angle too
* fix
* also test driver torque
* whoops
* whoops
* test that we can send curvature=0 if enabled=False while control_allowed=True (let's say EPS faults, OP doesn't want to actuate)
* draft
* only check error if apply bit is 1
* subtest
* no subtest
* fix safety and tests
* tests say this works
* clean up
* subtests are sloww
* Revert "subtests are sloww"
This reverts commit 560c6745c8.
* fix test from merge
* add comment
* add comment
* add another comment
* spacing
* set ford vehicle speed
* parse yaw rate signals
* misra
* misra
* misra
* misra
* draft
* update module
* already checked
* and set it properly
* some stuff
* draft
* clean up (will fail tests because we don't send yaw rate yet)
* could do something like this
* this is better and less prone to bugs
* match simple op limiting, debugging
* set checksum for messages in tests
* clean up
* fix that
* one m/s fudge
* fix sign of yaw rate
* interpolate detects size
* forgot OP flips the curvature sign. it matches yaw on can
* all my debugging crap
* make replay work for ford
* fix panda blocking messages (array is fixed size so size-1 is 0 rate at high speed)
* uncomment safety test limits
* revert
* round for zero blocked msgs
* fix limits
* meas safety checks that down rate is >=, not <
* test pass
* lots of comments and draft what one meas torque check would look like
* fix that
* add curvature meas
* add debugging stuff
* Revert "add debugging stuff"
This reverts commit 449783fc62.
* messy but at least one test passes now
* draft
* add max_steer
* some safety clean up
* and that
* start with a test that works
* another test that works (sort of, we need more strict panda safety without false positives)
* no max curvature check (not safety related), allow any rate limits
* add new function
* also need to consider max val here, since OP will send up to that
* and now use the function
* lower to 10
* compilation fixes
* clean up (no rate limiting)
* remove that too
* curvature diff test
* more clean up
* debug
* ?
* better names
* more official
* use _curvature_meas_msg_array here
* bit faster
* no i don't
* revert that
* why not just use angle_meas?
* bb ll
* bb deb
* clean up debug vals
* more
* revert replay drive debugging changes
* Update board/safety.h
* rm line
* only need to round the final thing
* not needed, under 10 ms
* make a class variable
* fix a misra?
* another misra?
better
* ?
* 12.1
* need to explicitly convert
* add one to not false trigger the violation (float rounding)
* not really needed
* rm line
* cmt
* use clamp
* rename
* in struct
* comment
* use max_limit_check
* draft clean up
* Revert "draft clean up"
This reverts commit d1a0e8acd1.
* make a global
make a global
* this is fine
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409.
* fix formatting
* 2 m/s (7 kph)
* set controls_allowed directly like other safety models
remove vehicle_state_mismatch
* obv
* Add second speed
* 2.5 m/s is 9 kph, 4 kph is the max in the field
* add quality signal
* qf signal name
* comment
* checksum matches except it goes to zero when turning the car off despite counter still active
* update comments
* now test it
* spacing
* Update board/safety/safety_ford.h
* zzzz
* not needed
* whoops
* test vehicle state mismatch
* add to safety_helpers
* probably misra
* we might want to check it in both speed signals in case one doesn't exist on a car
* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"
This reverts commit 3338931409.
* fix formatting
* 2 m/s (7 kph)
* revert mismatch stuff
* make explicit, there was no bug only because the if statement is identical to above
* debug
* Revert "debug"
This reverts commit 2ec83677c3.
* Revert "make explicit, there was no bug only because the if statement is identical to above"
This reverts commit fcb2a106b9.
* fixes
* clean that up
* and this
* cleanup and fix
* dos must stall
* clean those up
* fix misra
* more test
* fix import
* cleanup
---------
Co-authored-by: Comma Device <device@comma.ai>
* hitl fan test
* enable cooldown on dos as well
* small cleanup
* get expected RPM from panda class
* fix
* overshoot test
* fix max RPM getting
* fix percentage
* revert cooldown fix
---------
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* hitl fan test
* enable cooldown on dos as well
* small cleanup
* get expected RPM from panda class
* fix
* overshoot test
* fix max RPM getting
* fix percentage
* revert cooldown fix
* add cooldown for dos fan as well
* remove feedforward from the fan controller to eliminate overshoot
* update clip
* cleanup
* add that back
---------
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* added infotainment status to panda
* dont fwd infotainment status
* revert placeholder and add test case
* Fix test case
* gen2 only
* fix test case
* Revert "fix test case"
This reverts commit 8cc7579620.
* Revert "gen2 only"
This reverts commit 6a511a9976.
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* VW MQB: Cleanup HCA control message
* update opendbc ref
* revert this before merging
* MISRA
* revert Dockerfile to comma master
* reverted a little too much
* allow inactive accel values at all times
* cleaner
* unnecessary, done by default
* better comments
* move test to common class
* fix
* flip
* comment
* append 0 and INACTIVE_ACCEL to test accels + check acc_07 sends if inactive only
* cleanup
* fix that
* copy testing convention of VW and Honda
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* civic22_long
use long flag
* maybe?
* Update safety_honda.h
* revert the 0x1c8 addition
* init radarless safety check
* correct accel parsing
* add test class (WIP)
* remove current_controls_allowed
* Fix ACC_HUD
* patch
* Add missing safety to test name
* Pass irrelevant test
* move comment
* remove unused comments
* add comment to TestHondaBoschRadarlessSafety
* Fix message overlap
The "exceptions for common msgs across different hondas" fix does not seem to be working. Created another exception for TestHondaBoschRadarless based on the HondaNidec exception above
* Fix base
* remove comment
* remove buttons from LONG TX
* make a base Radarless test class
* can't remove them, since safety doesn't check bosch
* test accel limits
* test accel limits
* we can do the clean up in another pr
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: sshane <shane@smiskol.com>
* HITL tests: nose -> pytest
* run all
* add back partial tests
* big speed up
* fix skipping
* enable all
* that's expected
* clean up after ourselves
* jungle is fixture
* fix
---------
Co-authored-by: Bruce Wayne <batman@comma.ai>
* part 1 of clean up
* make it work and pass
* remove lta stuff
* remove commented lta tests
* more
* move test back to where it was
* rm line
* rename that
* fix that
* start to add LTA
* angle test
* fix tests and add base stock longitudinal class
* formatting
* clean that up
* convention
* add ALLOW_DEBUG
* part 1 of clean up
* make it work and pass
* remove lta stuff
* remove commented lta tests
* more
* move test back to where it was
* rm line
* rename that
* fix that
* we always want to enforce LTA disallowed actually
* not sure if these are helpful
* endswith("Base")
* toyota torque on toyota for safety replay
* Honda torque on Honda for safety replay
* Chrysler torque on Chrysler for safety replay
* Subaru torque on Subaru for safety replay
* fix
* Honda is Big Endian!
* Update helpers.py
* we already do this every where
* Update tests/safety_replay/helpers.py
* Update tests/safety_replay/helpers.py
* Update tests/safety_replay/helpers.py
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* PandaDFU: SPI support
* get mcu type
* program bootstub
* little cleanup
* more cleanup
* connect by dfu serial
* time to remove that
* none
* fix linter
* little more
* catch
---------
Co-authored-by: Comma Device <device@comma.ai>
* adeeb
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* check checksum
* think pylint won't like this
* complete test
* do this
* no need
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Shane Smiskol
Adeeb Shihadeh
Igor Biletskyy
Justin Newberry
Jason Wen
Willem Melching
Igor Biletksyy
Cameron Clough
Robbe Derks
vanillagorillaa
Justin Newberry
Kacper Rączy
Jason Young
Vivek Aithal
royjr
AlexandreSato
Vincent Wright
martinl