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https://github.com/infiniteCable2/opendbc.git
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76 lines
2.7 KiB
Python
76 lines
2.7 KiB
Python
#!/usr/bin/env python3
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import unittest
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from opendbc.car.structs import CarParams
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from opendbc.safety.tests.libsafety import libsafety_py
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import opendbc.safety.tests.common as common
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from opendbc.safety.tests.common import CANPackerSafety
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class TestChryslerCuswSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
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TX_MSGS = [[0x1F6, 0], [0x2FA, 0], [0x5DC, 0]]
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STANDSTILL_THRESHOLD = 0
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RELAY_MALFUNCTION_ADDRS = {0: (0x1F6, 0x5DC)}
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FWD_BLACKLISTED_ADDRS = {2: [0x1F6, 0x5DC]}
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MAX_RATE_UP = 4
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MAX_RATE_DOWN = 4
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MAX_TORQUE_LOOKUP = [0], [250]
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MAX_RT_DELTA = 150
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MAX_TORQUE_ERROR = 80
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def setUp(self):
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self.packer = CANPackerSafety("chrysler_cusw")
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self.safety = libsafety_py.libsafety
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self.safety.set_safety_hooks(CarParams.SafetyModel.chryslerCusw, 0)
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self.safety.init_tests()
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def _button_msg(self, cancel=False, resume=False):
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values = {"ACC_Cancel": cancel, "ACC_Resume": resume}
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return self.packer.make_can_msg_safety("CRUISE_BUTTONS", 0, values)
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def _pcm_status_msg(self, enable):
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values = {"ACC_ACTIVE": 1 if enable else 0}
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return self.packer.make_can_msg_safety("ACC_CONTROL", 0, values)
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def _speed_msg(self, speed):
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values = {"VEHICLE_SPEED": speed}
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return self.packer.make_can_msg_safety("BRAKE_1", 0, values)
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def _user_gas_msg(self, gas):
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values = {"GAS_HUMAN": gas}
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return self.packer.make_can_msg_safety("ACCEL_GAS", 0, values)
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def _user_brake_msg(self, brake):
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values = {"DRIVER_BRAKE_SWITCH": 1 if brake else 0}
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return self.packer.make_can_msg_safety("BRAKE_3", 0, values)
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def _torque_meas_msg(self, torque):
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values = {"TORQUE_MOTOR": torque}
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return self.packer.make_can_msg_safety("EPS_STATUS", 0, values)
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def _torque_cmd_msg(self, torque, steer_req=1):
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values = {"STEERING_TORQUE": torque, "LKAS_CONTROL_BIT": steer_req}
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return self.packer.make_can_msg_safety("LKAS_COMMAND", 0, values)
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def test_buttons(self):
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for controls_allowed in (True, False):
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self.safety.set_controls_allowed(controls_allowed)
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# resume only while controls allowed
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self.assertEqual(controls_allowed, self._tx(self._button_msg(resume=True)))
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# can always cancel
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self.assertTrue(self._tx(self._button_msg(cancel=True)))
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def test_rx_hook(self):
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for count in range(20):
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self.assertTrue(self._rx(self._speed_msg(0)), f"{count=}")
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self.assertTrue(self._rx(self._user_brake_msg(False)), f"{count=}")
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self.assertTrue(self._rx(self._torque_meas_msg(0)), f"{count=}")
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self.assertTrue(self._rx(self._user_gas_msg(0)), f"{count=}")
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self.assertTrue(self._rx(self._pcm_status_msg(False)), f"{count=}")
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if __name__ == "__main__":
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unittest.main()
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