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safety tests: refactor for cars with standstill bits (#1259) 

* need this

* clean up

* pass on _speed_msg
This commit is contained in:
Shane Smiskol 2023-02-23 21:09:48 -08:00 committed by GitHub
parent ff39bc472d
commit 26ae1599ba
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2 changed files with 17 additions and 10 deletions
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22
tests/safety/common.py
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@ -3,7 +3,7 @@ import abc
import unittest import unittest
import importlib import importlib
import numpy as np import numpy as np
from typing import Optional, List, Dict from typing import Dict, List, Optional
from opendbc.can.packer import CANPacker # pylint: disable=import-error from opendbc.can.packer import CANPacker # pylint: disable=import-error
from panda import ALTERNATIVE_EXPERIENCE from panda import ALTERNATIVE_EXPERIENCE
@ -588,6 +588,10 @@ class PandaSafetyTest(PandaSafetyTestBase):
def _speed_msg(self, speed): def _speed_msg(self, speed):
pass pass
# Safety modes can override if vehicle_moving is driven by a different message
def _vehicle_moving_msg(self, speed: float):
return self._speed_msg(speed)
@abc.abstractmethod @abc.abstractmethod
def _user_gas_msg(self, gas): def _user_gas_msg(self, gas):
pass pass
@ -711,7 +715,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
_user_brake_msg = self._user_brake_msg _user_brake_msg = self._user_brake_msg
# Brake was already pressed # Brake was already pressed
self._rx(self._speed_msg(0)) self._rx(self._vehicle_moving_msg(0))
self._rx(_user_brake_msg(1)) self._rx(_user_brake_msg(1))
self.safety.set_controls_allowed(1) self.safety.set_controls_allowed(1)
self._rx(_user_brake_msg(1)) self._rx(_user_brake_msg(1))
@ -733,29 +737,29 @@ class PandaSafetyTest(PandaSafetyTestBase):
# Brake was already pressed # Brake was already pressed
self._rx(_user_brake_msg(1)) self._rx(_user_brake_msg(1))
self.safety.set_controls_allowed(1) self.safety.set_controls_allowed(1)
self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD)) self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD))
self._rx(_user_brake_msg(1)) self._rx(_user_brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed()) self.assertTrue(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed()) self.assertTrue(self.safety.get_longitudinal_allowed())
self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1)) self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD + 1))
self._rx(_user_brake_msg(1)) self._rx(_user_brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed()) self.assertFalse(self.safety.get_controls_allowed())
self.assertFalse(self.safety.get_longitudinal_allowed()) self.assertFalse(self.safety.get_longitudinal_allowed())
self._rx(self._speed_msg(0)) self._rx(self._vehicle_moving_msg(0))
def test_sample_speed(self): def test_vehicle_moving(self):
self.assertFalse(self.safety.get_vehicle_moving()) self.assertFalse(self.safety.get_vehicle_moving())
# not moving # not moving
self.safety.safety_rx_hook(self._speed_msg(0)) self.safety.safety_rx_hook(self._vehicle_moving_msg(0))
self.assertFalse(self.safety.get_vehicle_moving()) self.assertFalse(self.safety.get_vehicle_moving())
# speed is at threshold # speed is at threshold
self.safety.safety_rx_hook(self._speed_msg(self.STANDSTILL_THRESHOLD)) self.safety.safety_rx_hook(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD))
self.assertFalse(self.safety.get_vehicle_moving()) self.assertFalse(self.safety.get_vehicle_moving())
# past threshold # past threshold
self.safety.safety_rx_hook(self._speed_msg(self.STANDSTILL_THRESHOLD + 1)) self.safety.safety_rx_hook(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD + 1))
self.assertTrue(self.safety.get_vehicle_moving()) self.assertTrue(self.safety.get_vehicle_moving())
def test_tx_hook_on_wrong_safety_mode(self): def test_tx_hook_on_wrong_safety_mode(self):

5
tests/safety/test_ford.py
View File

@ -52,8 +52,11 @@ class TestFordSafety(common.PandaSafetyTest):
} }
return self.packer.make_can_msg_panda("EngBrakeData", 0, values) return self.packer.make_can_msg_panda("EngBrakeData", 0, values)
# Standstill state
def _speed_msg(self, speed: float): def _speed_msg(self, speed: float):
pass
# Standstill state
def _vehicle_moving_msg(self, speed: float):
values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else 0} values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else 0}
return self.packer.make_can_msg_panda("DesiredTorqBrk", 0, values) return self.packer.make_can_msg_panda("DesiredTorqBrk", 0, values)