import unittest from abc import abstractmethod class MadsCommonBase(unittest.TestCase): @abstractmethod def _lkas_button_msg(self, enabled): raise NotImplementedError @abstractmethod def _acc_state_msg(self, enabled): raise NotImplementedError def _mads_states_cleanup(self): self.safety.set_mads_button_press(-1) self.safety.set_controls_allowed_lateral(False) self.safety.set_controls_requested_lateral(False) self.safety.set_acc_main_on(False) self.safety.set_mads_params(False, False) self.safety.set_heartbeat_engaged_mads(True) def test_enable_control_allowed_with_mads_button(self): """Toggle MADS with MADS button""" try: self._lkas_button_msg(False) except NotImplementedError: raise unittest.SkipTest("Skipping test because MADS button is not supported") try: for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self.assertEqual(enable_mads, self.safety.get_enable_mads()) self._rx(self._lkas_button_msg(True)) self._rx(self._speed_msg(0)) self._rx(self._lkas_button_msg(False)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_enable_control_allowed_with_manual_acc_main_on_state(self): try: self._acc_state_msg(False) except NotImplementedError: self._mads_states_cleanup() raise unittest.SkipTest("Skipping test because _acc_state_msg is not implemented for this car") try: for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self._rx(self._acc_state_msg(True)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_enable_control_allowed_with_manual_mads_button_state(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): for mads_button_press in (-1, 0, 1): with self.subTest("mads_button_press", button_state=mads_button_press): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self.safety.set_mads_button_press(mads_button_press) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads and mads_button_press == 1, self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_enable_control_allowed_from_acc_main_on(self): """Test that lateral controls are allowed when ACC main is enabled and disabled when ACC main is disabled""" try: for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): for acc_main_on in (True, False): with self.subTest("initial_acc_main", initial_acc_main=acc_main_on): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) # Set initial state self.safety.set_acc_main_on(acc_main_on) self._rx(self._speed_msg(0)) expected_lat = enable_mads and acc_main_on self.assertEqual(expected_lat, self.safety.get_controls_allowed_lateral(), f"Expected lat: [{expected_lat}] when acc_main_on goes to [{acc_main_on}]") # Test transition to opposite state self.safety.set_acc_main_on(not acc_main_on) self._rx(self._speed_msg(0)) expected_lat = enable_mads and not acc_main_on self.assertEqual(expected_lat, self.safety.get_controls_allowed_lateral(), f"Expected lat: [{expected_lat}] when acc_main_on goes from [{acc_main_on}] to [{not acc_main_on}]") # Test transition back to initial state self.safety.set_acc_main_on(acc_main_on) self._rx(self._speed_msg(0)) expected_lat = enable_mads and acc_main_on self.assertEqual(expected_lat, self.safety.get_controls_allowed_lateral(), f"Expected lat: [{expected_lat}] when acc_main_on goes from [{not acc_main_on}] to [{acc_main_on}]") finally: self._mads_states_cleanup() def test_mads_with_acc_main_on(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self.safety.set_acc_main_on(True) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) self.safety.set_acc_main_on(False) self._rx(self._speed_msg(0)) self.assertFalse(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_disengage_lateral_on_brake_setup(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): for disengage_on_brake in (True, False): with self.subTest("disengage on brake", disengage_on_brake=disengage_on_brake): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, disengage_on_brake) self.assertEqual(enable_mads and disengage_on_brake, self.safety.get_disengage_lateral_on_brake()) finally: self._mads_states_cleanup() def test_disengage_lateral_on_brake(self): try: self._mads_states_cleanup() self.safety.set_mads_params(True, True) self._rx(self._user_brake_msg(False)) self.safety.set_controls_requested_lateral(True) self.safety.set_controls_allowed_lateral(True) self._rx(self._user_brake_msg(True)) # Test we pause lateral self.assertFalse(self.safety.get_controls_allowed_lateral()) # Make sure we can re-gain lateral actuation self._rx(self._user_brake_msg(False)) self.assertTrue(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_no_disengage_lateral_on_brake(self): try: self._mads_states_cleanup() self.safety.set_mads_params(True, False) self._rx(self._user_brake_msg(False)) self.safety.set_controls_requested_lateral(True) self.safety.set_controls_allowed_lateral(True) self._rx(self._user_brake_msg(True)) self.assertTrue(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_engage_with_brake_pressed(self): try: self._lkas_button_msg(False) except NotImplementedError: raise unittest.SkipTest("Skipping test because MADS button is not supported") try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): for disengage_lateral_on_brake in (True, False): with self.subTest("disengage_lateral_on_brake", disengage_lateral_on_brake=disengage_lateral_on_brake): with self.subTest("mads_button"): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Brake press rising edge self._rx(self._user_brake_msg(True)) self._rx(self._lkas_button_msg(True)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) # Continuous braking after the first frame of brake press rising edge self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) for _ in range(400): self._rx(self._user_brake_msg(True)) self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) with self.subTest("acc_main_on"): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Brake press rising edge self._rx(self._user_brake_msg(True)) self.safety.set_acc_main_on(True) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) # Continuous braking after the first frame of brake press rising edge self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) for _ in range(400): self._rx(self._user_brake_msg(True)) self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_disengage_lateral_on_brake_with_pressed_and_released(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): for disengage_lateral_on_brake in (True, False): with self.subTest("disengage_lateral_on_brake", disengage_lateral_on_brake=disengage_lateral_on_brake): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Set controls_allowed_lateral rising edge self.safety.set_controls_requested_lateral(True) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) # User brake press, validate controls_allowed_lateral is false self._rx(self._user_brake_msg(True)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lateral()) # User brake release, validate controls_allowed_lateral is true self._rx(self._user_brake_msg(False)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_disengage_lateral_on_brake_persistent_control_allowed_off(self): try: self._mads_states_cleanup() self.safety.set_mads_params(True, True) self.safety.set_controls_requested_lateral(True) # Vehicle moving, validate controls_allowed_lateral is true for _ in range(10): self._rx(self._speed_msg(10)) self.assertTrue(self.safety.get_controls_allowed_lateral()) # User braked, vehicle slowed down in 10 frames, then stopped for 10 frames # Validate controls_allowed_lateral is false self._rx(self._user_brake_msg(True)) for _ in range(10): self._rx(self._speed_msg(5)) self.assertFalse(self.safety.get_controls_allowed_lateral()) for _ in range(10): self._rx(self._speed_msg(0)) self.assertFalse(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_enable_lateral_control_with_controls_allowed_rising_edge(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self.safety.set_controls_allowed(False) self._rx(self._speed_msg(0)) self.safety.set_controls_allowed(True) self._rx(self._speed_msg(0)) self.assertTrue(self.safety.get_controls_allowed()) finally: self._mads_states_cleanup() def test_enable_control_allowed_with_mads_button_and_disable_with_main_cruise(self): """Tests main cruise and MADS button state transitions. Sequence: 1. Main cruise off -> on 2. MADS button engage 3. Main cruise off """ try: self._lkas_button_msg(False) except NotImplementedError: raise unittest.SkipTest("Skipping test because MADS button is not supported") try: self._acc_state_msg(False) except NotImplementedError: raise unittest.SkipTest("Skipping test because _acc_state_msg is not implemented for this car") try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): self._mads_states_cleanup() self.safety.set_mads_params(enable_mads, False) self._rx(self._lkas_button_msg(True)) self._rx(self._speed_msg(0)) self._rx(self._lkas_button_msg(False)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) self._rx(self._acc_state_msg(True)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lateral()) self._rx(self._acc_state_msg(False)) self._rx(self._speed_msg(0)) self.assertFalse(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_brake_disengage_with_control_request(self): """Tests behavior when controls are requested while brake is engaged Sequence: 1. Enable MADS with disengage on brake 2. Brake to disengage lateral control 3. Set control request while braking 4. Release brake 5. Verify controls become allowed """ try: self._mads_states_cleanup() self.safety.set_mads_params(True, True) # enable MADS with disengage on brake # Initial state self.safety.set_controls_allowed_lateral(True) self._rx(self._speed_msg(0)) self.assertTrue(self.safety.get_controls_allowed_lateral()) # Brake press disengages lateral self._rx(self._user_brake_msg(True)) self.assertFalse(self.safety.get_controls_allowed_lateral()) # Request controls while braking self.safety.set_controls_requested_lateral(True) self.assertFalse(self.safety.get_controls_allowed_lateral()) # Release brake - should enable since controls were requested self._rx(self._user_brake_msg(False)) self._rx(self._speed_msg(0)) self.assertTrue(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup() def test_brake_disengage_with_acc_main_off(self): """Tests behavior when ACC main is turned off while brake is engaged Sequence: 1. Enable MADS with disengage on brake 2. Brake to disengage lateral control 3. Turn ACC main off while braking 4. Release brake 5. Verify controls remain disengaged """ try: self._mads_states_cleanup() self.safety.set_mads_params(True, True) # enable MADS with disengage on brake # Initial state - enable with ACC main self.safety.set_acc_main_on(True) self._rx(self._speed_msg(0)) self.assertTrue(self.safety.get_controls_allowed_lateral()) # Brake press disengages lateral self._rx(self._user_brake_msg(True)) self.assertFalse(self.safety.get_controls_allowed_lateral()) # Turn ACC main off while braking self.safety.set_acc_main_on(False) self._rx(self._speed_msg(0)) self.assertFalse(self.safety.get_controls_allowed_lateral()) # Release brake - should remain disabled since ACC main is off self._rx(self._user_brake_msg(False)) self._rx(self._speed_msg(0)) self.assertFalse(self.safety.get_controls_allowed_lateral()) finally: self._mads_states_cleanup()