287 lines
11 KiB
Python
Executable File
287 lines
11 KiB
Python
Executable File
#!/usr/bin/env python3
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from parameterized import parameterized_class
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import unittest
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from opendbc.car.hyundai.values import HyundaiSafetyFlags
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from opendbc.car.structs import CarParams
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from opendbc.safety.tests.libsafety import libsafety_py
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import opendbc.safety.tests.common as common
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from opendbc.safety.tests.common import CANPackerPanda
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from opendbc.safety.tests.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
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class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
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TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
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STANDSTILL_THRESHOLD = 12 # 0.375 kph
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FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
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MAX_RATE_UP = 2
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MAX_RATE_DOWN = 3
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MAX_TORQUE = 270
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MAX_RT_DELTA = 112
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RT_INTERVAL = 250000
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DRIVER_TORQUE_ALLOWANCE = 250
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DRIVER_TORQUE_FACTOR = 2
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# Safety around steering req bit
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MIN_VALID_STEERING_FRAMES = 89
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MAX_INVALID_STEERING_FRAMES = 2
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MIN_VALID_STEERING_RT_INTERVAL = 810000 # a ~10% buffer, can send steer up to 110Hz
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PT_BUS = 0
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SCC_BUS = 2
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STEER_BUS = 0
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STEER_MSG = ""
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GAS_MSG = ("", "")
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BUTTONS_TX_BUS = 1
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@classmethod
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def setUpClass(cls):
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super().setUpClass()
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if cls.__name__ == "TestHyundaiCanfdBase":
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cls.packer = None
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cls.safety = None
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raise unittest.SkipTest
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def _torque_driver_msg(self, torque):
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values = {"STEERING_COL_TORQUE": torque}
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return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"TORQUE_REQUEST": torque, "STEER_REQ": steer_req}
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return self.packer.make_can_msg_panda(self.STEER_MSG, self.STEER_BUS, values)
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def _speed_msg(self, speed):
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values = {f"WHL_Spd{pos}Val": speed * 0.03125 for pos in ["FL", "FR", "RL", "RR"]}
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return self.packer.make_can_msg_panda("WHEEL_SPEEDS", self.PT_BUS, values)
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def _user_brake_msg(self, brake):
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values = {"DriverBraking": brake}
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return self.packer.make_can_msg_panda("TCS", self.PT_BUS, values)
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def _user_gas_msg(self, gas):
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values = {self.GAS_MSG[1]: gas}
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return self.packer.make_can_msg_panda(self.GAS_MSG[0], self.PT_BUS, values)
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def _pcm_status_msg(self, enable):
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values = {"ACCMode": 1 if enable else 0}
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return self.packer.make_can_msg_panda("SCC_CONTROL", self.SCC_BUS, values)
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def _button_msg(self, buttons, main_button=0, bus=None):
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if bus is None:
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bus = self.PT_BUS
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values = {
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"CRUISE_BUTTONS": buttons,
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"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
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}
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return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)
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class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
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TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA
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FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
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STEER_MSG = "LFA"
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BUTTONS_TX_BUS = 2
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SAFETY_PARAM: int
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@classmethod
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def setUpClass(cls):
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super().setUpClass()
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if cls.__name__ in ("TestHyundaiCanfdLFASteering", "TestHyundaiCanfdLFASteeringAltButtons"):
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cls.packer = None
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cls.safety = None
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raise unittest.SkipTest
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, self.SAFETY_PARAM)
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self.safety.init_tests()
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@parameterized_class([
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# Radar SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS},
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# Camera SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS |
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HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS |
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HyundaiSafetyFlags.CAMERA_SCC},
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])
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class TestHyundaiCanfdLFASteering(TestHyundaiCanfdLFASteeringBase):
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pass
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@parameterized_class([
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# Radar SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS},
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# Camera SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS |
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HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS |
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HyundaiSafetyFlags.CAMERA_SCC},
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])
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class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringBase):
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SAFETY_PARAM: int
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
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self.safety.init_tests()
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def _button_msg(self, buttons, main_button=0, bus=1):
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values = {
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"CRUISE_BUTTONS": buttons,
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"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
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}
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return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
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def _acc_cancel_msg(self, cancel, accel=0):
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values = {"ACCMode": 4 if cancel else 0, "aReqRaw": accel, "aReqValue": accel}
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return self.packer.make_can_msg_panda("SCC_CONTROL", self.PT_BUS, values)
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def test_button_sends(self):
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"""
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No button send allowed with alt buttons.
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"""
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for enabled in (True, False):
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for btn in range(8):
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self.safety.set_controls_allowed(enabled)
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self.assertFalse(self._tx(self._button_msg(btn)))
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def test_acc_cancel(self):
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# FIXME: the CANFD_ALT_BUTTONS cars are the only ones that use SCC_CONTROL to cancel, why can't we use buttons?
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for enabled in (True, False):
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self.safety.set_controls_allowed(enabled)
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self.assertTrue(self._tx(self._acc_cancel_msg(True)))
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self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
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self.assertFalse(self._tx(self._acc_cancel_msg(False)))
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class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
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TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS
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FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
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PT_BUS = 1
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SCC_BUS = 1
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STEER_MSG = "LKAS"
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GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS)
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self.safety.init_tests()
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# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
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class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
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TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT
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FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
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PT_BUS = 1
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SCC_BUS = 1
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STEER_MSG = "LKAS_ALT"
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GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.EV_GAS |
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HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT)
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self.safety.init_tests()
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class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
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TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
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[0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
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RELAY_MALFUNCTION_ADDRS = {0: (0x50,), 1: (0x1a0,)} # LKAS, SCC_CONTROL
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DISABLED_ECU_UDS_MSG = (0x730, 1)
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DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)
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STEER_MSG = "LFA"
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GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
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STEER_BUS = 1
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CANFD_LKA_STEERING |
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HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS)
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self.safety.init_tests()
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def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
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values = {
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"aReqRaw": accel,
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"aReqValue": accel,
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}
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return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
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# Tests longitudinal for ICE, hybrid, EV cars with LFA steering
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@parameterized_class([
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# Radar SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": 0},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS},
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# Camera SCC
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{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
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{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
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])
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class TestHyundaiCanfdLFASteeringLong(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
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FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0, 0x160]}
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RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)} # LFA, SCC_CONTROL
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DISABLED_ECU_UDS_MSG = (0x7D0, 0)
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DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "TestHyundaiCanfdLFASteeringLong":
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cls.safety = None
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raise unittest.SkipTest
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_canfd_generated")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.LONG | self.SAFETY_PARAM)
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self.safety.init_tests()
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def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
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values = {
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"aReqRaw": accel,
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"aReqValue": accel,
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}
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return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
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def test_tester_present_allowed(self, ecu_disable: bool = True):
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super().test_tester_present_allowed(ecu_disable=not self.SAFETY_PARAM & HyundaiSafetyFlags.CAMERA_SCC)
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if __name__ == "__main__":
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unittest.main()
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