87 lines
2.6 KiB
Python
Executable File
87 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import unittest
|
|
|
|
from opendbc.car.structs import CarParams
|
|
from opendbc.safety.tests.libsafety import libsafety_py
|
|
import opendbc.safety.tests.common as common
|
|
from opendbc.safety.tests.common import CANPackerPanda
|
|
|
|
|
|
class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
|
|
|
|
TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]]
|
|
STANDSTILL_THRESHOLD = .1
|
|
RELAY_MALFUNCTION_ADDRS = {0: (0x243,)}
|
|
FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]}
|
|
|
|
MAX_RATE_UP = 10
|
|
MAX_RATE_DOWN = 25
|
|
MAX_TORQUE = 800
|
|
|
|
MAX_RT_DELTA = 300
|
|
RT_INTERVAL = 250000
|
|
|
|
DRIVER_TORQUE_ALLOWANCE = 15
|
|
DRIVER_TORQUE_FACTOR = 1
|
|
|
|
# Mazda actually does not set any bit when requesting torque
|
|
NO_STEER_REQ_BIT = True
|
|
|
|
def setUp(self):
|
|
self.packer = CANPackerPanda("mazda_2017")
|
|
self.safety = libsafety_py.libsafety
|
|
self.safety.set_safety_hooks(CarParams.SafetyModel.mazda, 0)
|
|
self.safety.init_tests()
|
|
|
|
def _torque_meas_msg(self, torque):
|
|
values = {"STEER_TORQUE_MOTOR": torque}
|
|
return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
|
|
|
|
def _torque_driver_msg(self, torque):
|
|
values = {"STEER_TORQUE_SENSOR": torque}
|
|
return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
|
|
|
|
def _torque_cmd_msg(self, torque, steer_req=1):
|
|
values = {"LKAS_REQUEST": torque}
|
|
return self.packer.make_can_msg_panda("CAM_LKAS", 0, values)
|
|
|
|
def _speed_msg(self, speed):
|
|
values = {"SPEED": speed}
|
|
return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
|
|
|
|
def _user_brake_msg(self, brake):
|
|
values = {"BRAKE_ON": brake}
|
|
return self.packer.make_can_msg_panda("PEDALS", 0, values)
|
|
|
|
def _user_gas_msg(self, gas):
|
|
values = {"PEDAL_GAS": gas}
|
|
return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
|
|
|
|
def _pcm_status_msg(self, enable):
|
|
values = {"CRZ_ACTIVE": enable}
|
|
return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
|
|
|
|
def _button_msg(self, resume=False, cancel=False):
|
|
values = {
|
|
"CAN_OFF": cancel,
|
|
"CAN_OFF_INV": (cancel + 1) % 2,
|
|
"RES": resume,
|
|
"RES_INV": (resume + 1) % 2,
|
|
}
|
|
return self.packer.make_can_msg_panda("CRZ_BTNS", 0, values)
|
|
|
|
def test_buttons(self):
|
|
# only cancel allows while controls not allowed
|
|
self.safety.set_controls_allowed(0)
|
|
self.assertTrue(self._tx(self._button_msg(cancel=True)))
|
|
self.assertFalse(self._tx(self._button_msg(resume=True)))
|
|
|
|
# do not block resume if we are engaged already
|
|
self.safety.set_controls_allowed(1)
|
|
self.assertTrue(self._tx(self._button_msg(cancel=True)))
|
|
self.assertTrue(self._tx(self._button_msg(resume=True)))
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|