FrogPilot 0.9.7

panda/tests/safety/test_honda.py

@@ -350,6 +350,21 @@ class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
     pass
 
 
+class TestHondaNidecGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers the Honda Nidec safety mode with a gas interceptor, switches to a button-enable car
+  """
+
+  TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]]
+  INTERCEPTOR_THRESHOLD = 492
+
+  def setUp(self):
+    self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_GAS_INTERCEPTOR)
+    self.safety.init_tests()
+
+
 class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
   """
     Covers the Honda Nidec safety mode with alt SCM messages
@@ -372,6 +387,33 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
     return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values)
 
 
+class TestHondaNidecAltGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor, switches to a button-enable car
+  """
+
+  TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]]
+  INTERCEPTOR_THRESHOLD = 492
+
+  def setUp(self):
+    self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT | Panda.FLAG_HONDA_GAS_INTERCEPTOR)
+    self.safety.init_tests()
+
+  def _acc_state_msg(self, main_on):
+    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
+    self.__class__.cnt_acc_state += 1
+    return self.packer.make_can_msg_panda("SCM_BUTTONS", self.PT_BUS, values)
+
+  def _button_msg(self, buttons, main_on=False, bus=None):
+    bus = self.PT_BUS if bus is None else bus
+    values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values)
+
+
+
 # ********************* Honda Bosch **********************
 
 

panda/tests/safety/test_toyota.py

@@ -14,6 +14,7 @@ TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0
                               [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
                               [0x411, 0],  # PCS_HUD
                               [0x750, 0]]  # radar diagnostic address
+GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
 
 
 class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSafetyTest):
@@ -126,6 +127,32 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa
       self.assertFalse(self.safety.get_controls_allowed())
 
 
+class TestToyotaSafetyGasInterceptorBase(common.GasInterceptorSafetyTest, TestToyotaSafetyBase):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS
+  INTERCEPTOR_THRESHOLD = 805
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() |
+                                 Panda.FLAG_TOYOTA_GAS_INTERCEPTOR)
+    self.safety.init_tests()
+
+  def test_stock_longitudinal(self):
+    # If stock longitudinal is set, the gas interceptor safety param should not be respected
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() |
+                                 Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL)
+    self.safety.init_tests()
+
+    # Spot check a few gas interceptor tests: (1) reading interceptor,
+    # (2) behavior around interceptor, and (3) txing interceptor msgs
+    for test in (self.test_prev_gas_interceptor, self.test_disengage_on_gas_interceptor,
+                 self.test_gas_interceptor_safety_check):
+      with self.subTest(test=test.__name__):
+        with self.assertRaises(AssertionError):
+          test()
+
+
 class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
 
   MAX_RATE_UP = 15
@@ -148,6 +175,10 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
     self.safety.init_tests()
 
 
+class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque):
+  pass
+
+
 class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest):
 
   # Angle control limits
@@ -261,6 +292,10 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
         self.assertEqual(self.safety.get_angle_meas_max(), 0)
 
 
+class TestToyotaSafetyAngleGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyAngle):
+  pass
+
+
 class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
 
   def setUp(self):
@@ -278,6 +313,10 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
     pass
 
 
+class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety):
+  pass
+
+
 class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
 
   TX_MSGS = TOYOTA_COMMON_TX_MSGS