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panda/tests/safety/test_ford.py

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#!/usr/bin/env python3
import numpy as np
import random
import unittest
import panda.tests.safety.common as common
from panda import Panda
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import CANPackerPanda
MSG_EngBrakeData = 0x165 # RX from PCM, for driver brake pedal and cruise state
MSG_EngVehicleSpThrottle = 0x204 # RX from PCM, for driver throttle input
MSG_BrakeSysFeatures = 0x415 # RX from ABS, for vehicle speed
MSG_EngVehicleSpThrottle2 = 0x202 # RX from PCM, for second vehicle speed
MSG_Yaw_Data_FD1 = 0x91 # RX from RCM, for yaw rate
MSG_Steering_Data_FD1 = 0x083 # TX by OP, various driver switches and LKAS/CC buttons
MSG_ACCDATA = 0x186 # TX by OP, ACC controls
MSG_ACCDATA_3 = 0x18A # TX by OP, ACC/TJA user interface
MSG_Lane_Assist_Data1 = 0x3CA # TX by OP, Lane Keep Assist
MSG_LateralMotionControl = 0x3D3 # TX by OP, Lateral Control message
MSG_LateralMotionControl2 = 0x3D6 # TX by OP, alternate Lateral Control message
MSG_IPMA_Data = 0x3D8 # TX by OP, IPMA and LKAS user interface
def checksum(msg):
addr, t, dat, bus = msg
ret = bytearray(dat)
if addr == MSG_Yaw_Data_FD1:
chksum = dat[0] + dat[1] # VehRol_W_Actl
chksum += dat[2] + dat[3] # VehYaw_W_Actl
chksum += dat[5] # VehRollYaw_No_Cnt
chksum += dat[6] >> 6 # VehRolWActl_D_Qf
chksum += (dat[6] >> 4) & 0x3 # VehYawWActl_D_Qf
chksum = 0xff - (chksum & 0xff)
ret[4] = chksum
elif addr == MSG_BrakeSysFeatures:
chksum = dat[0] + dat[1] # Veh_V_ActlBrk
chksum += (dat[2] >> 2) & 0xf # VehVActlBrk_No_Cnt
chksum += dat[2] >> 6 # VehVActlBrk_D_Qf
chksum = 0xff - (chksum & 0xff)
ret[3] = chksum
elif addr == MSG_EngVehicleSpThrottle2:
chksum = (dat[2] >> 3) & 0xf # VehVActlEng_No_Cnt
chksum += (dat[4] >> 5) & 0x3 # VehVActlEng_D_Qf
chksum += dat[6] + dat[7] # Veh_V_ActlEng
chksum = 0xff - (chksum & 0xff)
ret[1] = chksum
return addr, t, ret, bus
class Buttons:
CANCEL = 0
RESUME = 1
SET = 2
TJA_TOGGLE = 3
# Ford safety has four different configurations tested here:
# * CAN with stock longitudinal
# * CAN with openpilot longitudinal
# * CAN FD with stock longitudinal
# * CAN FD with openpilot longitudinal
class TestFordSafetyBase(common.PandaCarSafetyTest):
STANDSTILL_THRESHOLD = 1
RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
MSG_LateralMotionControl2, MSG_IPMA_Data)}
FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
MSG_LateralMotionControl2, MSG_IPMA_Data]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
# Max allowed delta between car speeds
MAX_SPEED_DELTA = 2.0 # m/s
STEER_MESSAGE = 0
# Curvature control limits
DEG_TO_CAN = 50000 # 1 / (2e-5) rad to can
MAX_CURVATURE = 0.02
MAX_CURVATURE_ERROR = 0.002
CURVATURE_ERROR_MIN_SPEED = 10.0 # m/s
ANGLE_RATE_BP = [5., 25., 25.]
ANGLE_RATE_UP = [0.0002, 0.0001, 0.0001] # windup limit
ANGLE_RATE_DOWN = [0.000225, 0.00015, 0.00015] # unwind limit
cnt_speed = 0
cnt_speed_2 = 0
cnt_yaw_rate = 0
packer: CANPackerPanda
safety: libpanda_py.Panda
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestFordSafetyBase":
raise unittest.SkipTest
def _set_prev_desired_angle(self, t):
t = round(t * self.DEG_TO_CAN)
self.safety.set_desired_angle_last(t)
def _reset_curvature_measurement(self, curvature, speed):
for _ in range(6):
self._rx(self._speed_msg(speed))
self._rx(self._yaw_rate_msg(curvature, speed))
# Driver brake pedal
def _user_brake_msg(self, brake: bool):
# brake pedal and cruise state share same message, so we have to send
# the other signal too
enable = self.safety.get_controls_allowed()
values = {
"BpedDrvAppl_D_Actl": 2 if brake else 1,
"CcStat_D_Actl": 5 if enable else 0,
}
return self.packer.make_can_msg_panda("EngBrakeData", 0, values)
# ABS vehicle speed
def _speed_msg(self, speed: float, quality_flag=True):
values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3 if quality_flag else 0, "VehVActlBrk_No_Cnt": self.cnt_speed % 16}
self.__class__.cnt_speed += 1
return self.packer.make_can_msg_panda("BrakeSysFeatures", 0, values, fix_checksum=checksum)
# PCM vehicle speed
def _speed_msg_2(self, speed: float, quality_flag=True):
values = {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3 if quality_flag else 0, "VehVActlEng_No_Cnt": self.cnt_speed_2 % 16}
self.__class__.cnt_speed_2 += 1
return self.packer.make_can_msg_panda("EngVehicleSpThrottle2", 0, values, fix_checksum=checksum)
# Standstill state
def _vehicle_moving_msg(self, speed: float):
values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else random.choice((0, 2, 3))}
return self.packer.make_can_msg_panda("DesiredTorqBrk", 0, values)
# Current curvature
def _yaw_rate_msg(self, curvature: float, speed: float, quality_flag=True):
values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0,
"VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
self.__class__.cnt_yaw_rate += 1
return self.packer.make_can_msg_panda("Yaw_Data_FD1", 0, values, fix_checksum=checksum)
# Drive throttle input
def _user_gas_msg(self, gas: float):
values = {"ApedPos_Pc_ActlArb": gas}
return self.packer.make_can_msg_panda("EngVehicleSpThrottle", 0, values)
# Cruise status
def _pcm_status_msg(self, enable: bool):
# brake pedal and cruise state share same message, so we have to send
# the other signal too
brake = self.safety.get_brake_pressed_prev()
values = {
"BpedDrvAppl_D_Actl": 2 if brake else 1,
"CcStat_D_Actl": 5 if enable else 0,
}
return self.packer.make_can_msg_panda("EngBrakeData", 0, values)
# LKAS command
def _lkas_command_msg(self, action: int):
values = {
"LkaActvStats_D2_Req": action,
}
return self.packer.make_can_msg_panda("Lane_Assist_Data1", 0, values)
# LCA command
def _lat_ctl_msg(self, enabled: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
if self.STEER_MESSAGE == MSG_LateralMotionControl:
values = {
"LatCtl_D_Rq": 1 if enabled else 0,
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
}
return self.packer.make_can_msg_panda("LateralMotionControl", 0, values)
elif self.STEER_MESSAGE == MSG_LateralMotionControl2:
values = {
"LatCtl_D2_Rq": 1 if enabled else 0,
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCrv_NoRate2_Actl": curvature_rate, # Curvature rate [-0.001024|0.001023] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
}
return self.packer.make_can_msg_panda("LateralMotionControl2", 0, values)
# Cruise control buttons
def _acc_button_msg(self, button: int, bus: int):
values = {
"CcAslButtnCnclPress": 1 if button == Buttons.CANCEL else 0,
"CcAsllButtnResPress": 1 if button == Buttons.RESUME else 0,
"CcAslButtnSetPress": 1 if button == Buttons.SET else 0,
"TjaButtnOnOffPress": 1 if button == Buttons.TJA_TOGGLE else 0,
}
return self.packer.make_can_msg_panda("Steering_Data_FD1", bus, values)
def test_buttons(self):
for bus in (0, 2):
for controls_allowed in (True, False):
with self.subTest(bus=bus, controls_allowed=controls_allowed):
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_cruise_engaged_prev(False)
self.assertFalse(self._tx(self._acc_button_msg(button=Buttons.SET, bus=bus)))
self.assertEqual(controls_allowed, self._tx(self._acc_button_msg(button=Buttons.RESUME, bus=bus)))
self.assertFalse(self._tx(self._acc_button_msg(button=Buttons.CANCEL, bus=bus)))
self.safety.set_cruise_engaged_prev(True)
self.assertTrue(self._tx(self._acc_button_msg(button=Buttons.CANCEL, bus=bus)))
def test_rx_hook(self):
# checksum, counter, and quality flag checks
for quality_flag in [True, False]:
for msg in ["speed", "speed_2", "yaw"]:
self.safety.set_controls_allowed(True)
# send multiple times to verify counter checks
for _ in range(10):
if msg == "speed":
to_push = self._speed_msg(0, quality_flag=quality_flag)
elif msg == "speed_2":
to_push = self._speed_msg_2(0, quality_flag=quality_flag)
elif msg == "yaw":
to_push = self._yaw_rate_msg(0, 0, quality_flag=quality_flag)
self.assertEqual(quality_flag, self._rx(to_push))
self.assertEqual(quality_flag, self.safety.get_controls_allowed())
# Mess with checksum to make it fail
to_push[0].data[1] = 0 # Speed 2 checksum
to_push[0].data[3] = 0 # Speed checksum & half of yaw signal
self.assertFalse(self._rx(to_push))
self.assertFalse(self.safety.get_controls_allowed())
def test_rx_hook_speed_mismatch(self):
# Ford relies on speed for driver curvature limiting, so it checks two sources
for speed in np.arange(0, 40, 0.5):
for speed_delta in np.arange(-5, 5, 0.1):
speed_2 = round(max(speed + speed_delta, 0), 1)
# Set controls allowed in between rx since first message can reset it
self._rx(self._speed_msg(speed))
self.safety.set_controls_allowed(True)
self._rx(self._speed_msg_2(speed_2))
within_delta = abs(speed - speed_2) <= self.MAX_SPEED_DELTA
self.assertEqual(self.safety.get_controls_allowed(), within_delta)
def test_angle_measurements(self):
"""Tests rx hook correctly parses the curvature measurement from the vehicle speed and yaw rate"""
for speed in np.arange(0.5, 40, 0.5):
for curvature in np.arange(0, self.MAX_CURVATURE * 2, 2e-3):
self._rx(self._speed_msg(speed))
for c in (curvature, -curvature, 0, 0, 0, 0):
self._rx(self._yaw_rate_msg(c, speed))
self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
self.assertEqual(self.safety.get_angle_meas_max(), round(curvature * self.DEG_TO_CAN))
self._rx(self._yaw_rate_msg(0, speed))
self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
self.assertEqual(self.safety.get_angle_meas_max(), 0)
self._rx(self._yaw_rate_msg(0, speed))
self.assertEqual(self.safety.get_angle_meas_min(), 0)
self.assertEqual(self.safety.get_angle_meas_max(), 0)
def test_steer_allowed(self):
path_offsets = np.arange(-5.12, 5.11, 1).round()
path_angles = np.arange(-0.5, 0.5235, 0.1).round(1)
curvature_rates = np.arange(-0.001024, 0.00102375, 0.001).round(3)
curvatures = np.arange(-0.02, 0.02094, 0.01).round(2)
for speed in (self.CURVATURE_ERROR_MIN_SPEED - 1,
self.CURVATURE_ERROR_MIN_SPEED + 1):
for controls_allowed in (True, False):
for steer_control_enabled in (True, False):
for path_offset in path_offsets:
for path_angle in path_angles:
for curvature_rate in curvature_rates:
for curvature in curvatures:
self.safety.set_controls_allowed(controls_allowed)
self._set_prev_desired_angle(curvature)
self._reset_curvature_measurement(curvature, speed)
should_tx = path_offset == 0 and path_angle == 0 and curvature_rate == 0
# when request bit is 0, only allow curvature of 0 since the signal range
# is not large enough to enforce it tracking measured
should_tx = should_tx and (controls_allowed if steer_control_enabled else curvature == 0)
with self.subTest(controls_allowed=controls_allowed, steer_control_enabled=steer_control_enabled,
path_offset=path_offset, path_angle=path_angle, curvature_rate=curvature_rate,
curvature=curvature):
self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(steer_control_enabled, path_offset, path_angle, curvature, curvature_rate)))
def test_curvature_rate_limit_up(self):
"""
When the curvature error is exceeded, commanded curvature must start moving towards meas respecting rate limits.
Since panda allows higher rate limits to avoid false positives, we need to allow a lower rate to move towards meas.
"""
self.safety.set_controls_allowed(True)
small_curvature = 2 / self.DEG_TO_CAN # significant small amount of curvature to cross boundary
for speed in np.arange(0, 40, 0.5):
limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
max_delta_up = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
max_delta_up_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
cases = [
(not limit_command, 0),
(not limit_command, max_delta_up_lower - small_curvature),
(True, max_delta_up_lower),
(True, max_delta_up),
(False, max_delta_up + small_curvature),
]
for sign in (-1, 1):
self._reset_curvature_measurement(sign * (self.MAX_CURVATURE_ERROR + 1e-3), speed)
for should_tx, curvature in cases:
self._set_prev_desired_angle(sign * small_curvature)
self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, sign * (small_curvature + curvature), 0)))
def test_curvature_rate_limit_down(self):
self.safety.set_controls_allowed(True)
small_curvature = 2 / self.DEG_TO_CAN # significant small amount of curvature to cross boundary
for speed in np.arange(0, 40, 0.5):
limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
max_delta_down = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
max_delta_down_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
cases = [
(not limit_command, self.MAX_CURVATURE),
(not limit_command, self.MAX_CURVATURE - max_delta_down_lower + small_curvature),
(True, self.MAX_CURVATURE - max_delta_down_lower),
(True, self.MAX_CURVATURE - max_delta_down),
(False, self.MAX_CURVATURE - max_delta_down - small_curvature),
]
for sign in (-1, 1):
self._reset_curvature_measurement(sign * (self.MAX_CURVATURE - self.MAX_CURVATURE_ERROR - 1e-3), speed)
for should_tx, curvature in cases:
self._set_prev_desired_angle(sign * self.MAX_CURVATURE)
self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, sign * curvature, 0)))
def test_prevent_lkas_action(self):
self.safety.set_controls_allowed(1)
self.assertFalse(self._tx(self._lkas_command_msg(1)))
self.safety.set_controls_allowed(0)
self.assertFalse(self._tx(self._lkas_command_msg(1)))
def test_acc_buttons(self):
for allowed in (0, 1):
self.safety.set_controls_allowed(allowed)
for enabled in (True, False):
self._rx(self._pcm_status_msg(enabled))
self.assertTrue(self._tx(self._acc_button_msg(Buttons.TJA_TOGGLE, 2)))
for allowed in (0, 1):
self.safety.set_controls_allowed(allowed)
for bus in (0, 2):
self.assertEqual(allowed, self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
for enabled in (True, False):
self._rx(self._pcm_status_msg(enabled))
for bus in (0, 2):
self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
class TestFordStockSafety(TestFordSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl
TX_MSGS = [
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
[MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
]
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
self.safety.init_tests()
class TestFordCANFDStockSafety(TestFordSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl2
TX_MSGS = [
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
[MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0],
]
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
self.safety.init_tests()
class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
MSG_LateralMotionControl2, MSG_IPMA_Data)}
FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
MSG_LateralMotionControl2, MSG_IPMA_Data]}
MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values
MIN_ACCEL = -3.5
INACTIVE_ACCEL = 0.0
MAX_GAS = 2.0
MIN_GAS = -0.5
INACTIVE_GAS = -5.0
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestFordLongitudinalSafetyBase":
raise unittest.SkipTest
# ACC command
def _acc_command_msg(self, gas: float, brake: float, cmbb_deny: bool = False):
values = {
"AccPrpl_A_Rq": gas, # [-5|5.23] m/s^2
"AccBrkTot_A_Rq": brake, # [-20|11.9449] m/s^2
"CmbbDeny_B_Actl": 1 if cmbb_deny else 0, # [0|1] deny AEB actuation
}
return self.packer.make_can_msg_panda("ACCDATA", 0, values)
def test_stock_aeb(self):
# Test that CmbbDeny_B_Actl is never 1, it prevents the ABS module from actuating AEB requests from ACCDATA_2
for controls_allowed in (True, False):
self.safety.set_controls_allowed(controls_allowed)
for cmbb_deny in (True, False):
should_tx = not cmbb_deny
self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, cmbb_deny)))
should_tx = controls_allowed and not cmbb_deny
self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, cmbb_deny)))
def test_gas_safety_check(self):
for controls_allowed in (True, False):
self.safety.set_controls_allowed(controls_allowed)
for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])):
gas = round(gas, 2) # floats might not hit exact boundary conditions without rounding
should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL)))
def test_brake_safety_check(self):
for controls_allowed in (True, False):
self.safety.set_controls_allowed(controls_allowed)
for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05):
brake = round(brake, 2) # floats might not hit exact boundary conditions without rounding
should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL
self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake)))
class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl
TX_MSGS = [
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
[MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
]
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL)
self.safety.init_tests()
class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
STEER_MESSAGE = MSG_LateralMotionControl2
TX_MSGS = [
[MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
[MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0],
]
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
self.safety.init_tests()
if __name__ == "__main__":
unittest.main()
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