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Merge panda subtree

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old-commit-hash: 6b1efbf185
This commit is contained in:
Vehicle Researcher
2018-08-02 02:55:38 +00:00
parent da234764c3 bd445276f7
commit e1a1a95a60
7 changed files with 112 additions and 90 deletions
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panda/tests/safety/libpandasafety_py.py
+5 -5
View File
@@ -38,13 +38,13 @@ void reset_angle_control(void);
int get_controls_allowed(void);
void init_tests_toyota(void);
void set_timer(int t);
void set_torque_meas(int min, int max);
void set_toyota_torque_meas(int min, int max);
void set_cadillac_torque_driver(int min, int max);
void set_gm_torque_driver(int min, int max);
void set_rt_torque_last(int t);
void set_desired_torque_last(int t);
int get_torque_meas_min(void);
int get_torque_meas_max(void);
void set_toyota_rt_torque_last(int t);
void set_toyota_desired_torque_last(int t);
int get_toyota_torque_meas_min(void);
int get_toyota_torque_meas_max(void);
void init_tests_honda(void);
int get_ego_speed(void);
panda/tests/safety/test.c
+17 -17
View File
@@ -22,7 +22,7 @@ typedef struct
uint32_t CNT;
} TIM_TypeDef;
struct sample_t torque_meas;
struct sample_t toyota_torque_meas;
struct sample_t cadillac_torque_driver;
struct sample_t gm_torque_driver;
@@ -60,9 +60,9 @@ void set_timer(int t){
timer.CNT = t;
}
void set_torque_meas(int min, int max){
torque_meas.min = min;
torque_meas.max = max;
void set_toyota_torque_meas(int min, int max){
toyota_torque_meas.min = min;
toyota_torque_meas.max = max;
}
void set_cadillac_torque_driver(int min, int max){
@@ -75,16 +75,16 @@ void set_gm_torque_driver(int min, int max){
gm_torque_driver.max = max;
}
int get_torque_meas_min(void){
return torque_meas.min;
int get_toyota_torque_meas_min(void){
return toyota_torque_meas.min;
}
int get_torque_meas_max(void){
return torque_meas.max;
int get_toyota_torque_meas_max(void){
return toyota_torque_meas.max;
}
void set_rt_torque_last(int t){
rt_torque_last = t;
void set_toyota_rt_torque_last(int t){
toyota_rt_torque_last = t;
}
void set_cadillac_rt_torque_last(int t){
@@ -95,8 +95,8 @@ void set_gm_rt_torque_last(int t){
gm_rt_torque_last = t;
}
void set_desired_torque_last(int t){
desired_torque_last = t;
void set_toyota_desired_torque_last(int t){
toyota_desired_torque_last = t;
}
void set_cadillac_desired_torque_last(int t){
@@ -129,11 +129,11 @@ void set_bosch_hardware(bool c){
}
void init_tests_toyota(void){
torque_meas.min = 0;
torque_meas.max = 0;
desired_torque_last = 0;
rt_torque_last = 0;
ts_last = 0;
toyota_torque_meas.min = 0;
toyota_torque_meas.max = 0;
toyota_desired_torque_last = 0;
toyota_rt_torque_last = 0;
toyota_ts_last = 0;
set_timer(0);
}
panda/tests/safety/test_toyota.py
+20 -20
View File
@@ -41,9 +41,9 @@ class TestToyotaSafety(unittest.TestCase):
cls.safety.init_tests_toyota()
def _set_prev_torque(self, t):
self.safety.set_desired_torque_last(t)
self.safety.set_rt_torque_last(t)
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_desired_torque_last(t)
self.safety.set_toyota_rt_torque_last(t)
self.safety.set_toyota_torque_meas(t, t)
def _torque_meas_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
@@ -158,9 +158,9 @@ class TestToyotaSafety(unittest.TestCase):
for controls_allowed in [True, False]:
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_rt_torque_last(torque)
self.safety.set_torque_meas(torque, torque)
self.safety.set_desired_torque_last(torque - MAX_RATE_UP)
self.safety.set_toyota_rt_torque_last(torque)
self.safety.set_toyota_torque_meas(torque, torque)
self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
if controls_allowed:
send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
@@ -181,14 +181,14 @@ class TestToyotaSafety(unittest.TestCase):
def test_non_realtime_limit_down(self):
self.safety.set_controls_allowed(True)
self.safety.set_rt_torque_last(1000)
self.safety.set_torque_meas(500, 500)
self.safety.set_desired_torque_last(1000)
self.safety.set_toyota_rt_torque_last(1000)
self.safety.set_toyota_torque_meas(500, 500)
self.safety.set_toyota_desired_torque_last(1000)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
self.safety.set_rt_torque_last(1000)
self.safety.set_torque_meas(500, 500)
self.safety.set_desired_torque_last(1000)
self.safety.set_toyota_rt_torque_last(1000)
self.safety.set_toyota_torque_meas(500, 500)
self.safety.set_toyota_desired_torque_last(1000)
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
def test_exceed_torque_sensor(self):
@@ -210,14 +210,14 @@ class TestToyotaSafety(unittest.TestCase):
self._set_prev_torque(0)
for t in np.arange(0, 380, 10):
t *= sign
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_torque_meas(t, t)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(sign * 380)))
self._set_prev_torque(0)
for t in np.arange(0, 370, 10):
t *= sign
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_torque_meas(t, t)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
# Increase timer to update rt_torque_last
@@ -233,16 +233,16 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-51, self.safety.get_torque_meas_min())
self.assertEqual(51, self.safety.get_torque_meas_max())
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-1, self.safety.get_torque_meas_max())
self.assertEqual(-51, self.safety.get_torque_meas_min())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-1, self.safety.get_torque_meas_max())
self.assertEqual(-1, self.safety.get_torque_meas_min())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
def test_ipas_override(self):