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Merge panda subtree

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This commit is contained in:
Vehicle Researcher
2019-07-22 19:15:27 +00:00
parent 53413fa019 1ff59baea7
commit c8b4633cd1
78 changed files with 6702 additions and 5856 deletions
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panda/tests/safety/libpandasafety_py.py
+1 -1
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@@ -55,7 +55,7 @@ void set_toyota_camera_forwarded(int t);
void set_toyota_rt_torque_last(int t);
void init_tests_honda(void);
int get_honda_ego_speed(void);
bool get_honda_moving(void);
int get_honda_brake_prev(void);
int get_honda_gas_prev(void);
void set_honda_alt_brake_msg(bool);
panda/tests/safety/test.c
+12 -3
View File
@@ -32,6 +32,7 @@ struct sample_t subaru_torque_driver;
TIM_TypeDef timer;
TIM_TypeDef *TIM2 = &timer;
// from config.h
#define MIN(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
@@ -42,6 +43,14 @@ TIM_TypeDef *TIM2 = &timer;
__typeof__ (b) _b = (b); \
_a > _b ? _a : _b; })
// from llcan.h
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xf)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)
#define UNUSED(x) (void)(x)
#define PANDA
@@ -199,8 +208,8 @@ void set_subaru_desired_torque_last(int t){
subaru_desired_torque_last = t;
}
int get_honda_ego_speed(void){
return honda_ego_speed;
bool get_honda_moving(void){
return honda_moving;
}
int get_honda_brake_prev(void){
@@ -274,7 +283,7 @@ void init_tests_subaru(void){
}
void init_tests_honda(void){
honda_ego_speed = 0;
honda_moving = false;
honda_brake_prev = 0;
honda_gas_prev = 0;
}
panda/tests/safety/test_honda.py
+16 -13
View File
@@ -5,6 +5,8 @@ import libpandasafety_py
MAX_BRAKE = 255
INTERCEPTOR_THRESHOLD = 328
class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
@@ -66,7 +68,9 @@ class TestHondaSafety(unittest.TestCase):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = 6
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
gas2 = gas * 2
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send
@@ -99,9 +103,9 @@ class TestHondaSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_sample_speed(self):
self.assertEqual(0, self.safety.get_honda_ego_speed())
self.assertEqual(0, self.safety.get_honda_moving())
self.safety.safety_rx_hook(self._speed_msg(100))
self.assertEqual(100, self.safety.get_honda_ego_speed())
self.assertEqual(1, self.safety.get_honda_moving())
def test_prev_brake(self):
self.assertFalse(self.safety.get_honda_brake_prev())
@@ -176,16 +180,15 @@ class TestHondaSafety(unittest.TestCase):
def test_disengage_on_gas_interceptor(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
for g in range(0, 0x1000):
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_long_controls_allowed(True)
def test_allow_engage_with_gas_interceptor_pressed(self):
panda/tests/safety/test_toyota.py
+14 -11
View File
@@ -15,6 +15,8 @@ RT_INTERVAL = 250000
MAX_TORQUE_ERROR = 350
INTERCEPTOR_THRESHOLD = 475
def twos_comp(val, bits):
if val >= 0:
return val
@@ -81,7 +83,9 @@ class TestToyotaSafety(unittest.TestCase):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = 6
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
gas2 = gas * 2
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
return to_send
@@ -145,16 +149,15 @@ class TestToyotaSafety(unittest.TestCase):
def test_disengage_on_gas_interceptor(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
for g in range(0, 0x1000):
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_long_controls_allowed(True)
def test_allow_engage_with_gas_interceptor_pressed(self):