From 4412eeaf1a85b4370e2e29f9dee72ff9cefa4e29 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 15 Aug 2022 23:49:06 -0400 Subject: [PATCH] VW MQB: Cleanup message counter handling (#1034) --- tests/safety/test_volkswagen_mqb.py | 79 +++-------------------------- 1 file changed, 7 insertions(+), 72 deletions(-) diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py index caa05d392..f48e9d8ed 100755 --- a/tests/safety/test_volkswagen_mqb.py +++ b/tests/safety/test_volkswagen_mqb.py @@ -3,7 +3,7 @@ import unittest from panda import Panda from panda.tests.safety import libpandasafety_py import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda, MAX_WRONG_COUNTERS +from panda.tests.safety.common import CANPackerPanda MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque @@ -16,13 +16,6 @@ MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest): - cnt_lh_eps_03 = 0 - cnt_esp_05 = 0 - cnt_tsk_06 = 0 - cnt_motor_20 = 0 - cnt_hca_01 = 0 - cnt_gra_acc_01 = 0 - STANDSTILL_THRESHOLD = 1 RELAY_MALFUNCTION_ADDR = MSG_HCA_01 RELAY_MALFUNCTION_BUS = 0 @@ -50,41 +43,32 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteerin # Brake light switch _esp_05_msg def _user_brake_msg(self, brake): - values = {"ESP_Fahrer_bremst": brake, "COUNTER": self.cnt_esp_05 % 16} - self.__class__.cnt_esp_05 += 1 + values = {"ESP_Fahrer_bremst": brake} return self.packer.make_can_msg_panda("ESP_05", 0, values) # Driver throttle input def _user_gas_msg(self, gas): - values = {"MO_Fahrpedalrohwert_01": gas, "COUNTER": self.cnt_motor_20 % 16} - self.__class__.cnt_motor_20 += 1 + values = {"MO_Fahrpedalrohwert_01": gas} return self.packer.make_can_msg_panda("Motor_20", 0, values) # ACC engagement status def _pcm_status_msg(self, enable): - values = {"TSK_Status": 3 if enable else 1, "COUNTER": self.cnt_tsk_06 % 16} - self.__class__.cnt_tsk_06 += 1 + values = {"TSK_Status": 3 if enable else 1} return self.packer.make_can_msg_panda("TSK_06", 0, values) # Driver steering input torque def _torque_driver_msg(self, torque): - values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0, - "COUNTER": self.cnt_lh_eps_03 % 16} - self.__class__.cnt_lh_eps_03 += 1 + values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0} return self.packer.make_can_msg_panda("LH_EPS_03", 0, values) # openpilot steering output torque def _torque_cmd_msg(self, torque, steer_req=1): - values = {"Assist_Torque": abs(torque), "Assist_VZ": torque < 0, - "COUNTER": self.cnt_hca_01 % 16} - self.__class__.cnt_hca_01 += 1 + values = {"Assist_Torque": abs(torque), "Assist_VZ": torque < 0} return self.packer.make_can_msg_panda("HCA_01", 0, values) # Cruise control buttons def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0): - values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, - "GRA_Tip_Wiederaufnahme": resume, "COUNTER": self.cnt_gra_acc_01 % 16} - self.__class__.cnt_gra_acc_01 += 1 + values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume} return self.packer.make_can_msg_panda("GRA_ACC_01", 0, values) def test_torque_measurements(self): @@ -107,55 +91,6 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteerin self.assertEqual(0, self.safety.get_torque_driver_max()) self.assertEqual(0, self.safety.get_torque_driver_min()) - def test_rx_hook(self): - # checksum checks - # TODO: Would be ideal to check ESP_19 as well, but it has no checksum - # or counter, and I'm not sure if we can easily validate Panda's simple - # temporal reception-rate check here. - for msg in [MSG_LH_EPS_03, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]: - self.safety.set_controls_allowed(1) - if msg == MSG_LH_EPS_03: - to_push = self._torque_driver_msg(0) - if msg == MSG_ESP_05: - to_push = self._user_brake_msg(False) - if msg == MSG_TSK_06: - to_push = self._pcm_status_msg(True) - if msg == MSG_MOTOR_20: - to_push = self._user_gas_msg(0) - self.assertTrue(self._rx(to_push)) - to_push[0].data[4] ^= 0xFF - self.assertFalse(self._rx(to_push)) - self.assertFalse(self.safety.get_controls_allowed()) - - # counter - # reset wrong_counters to zero by sending valid messages - for i in range(MAX_WRONG_COUNTERS + 1): - self.__class__.cnt_lh_eps_03 += 1 - self.__class__.cnt_esp_05 += 1 - self.__class__.cnt_tsk_06 += 1 - self.__class__.cnt_motor_20 += 1 - if i < MAX_WRONG_COUNTERS: - self.safety.set_controls_allowed(1) - self._rx(self._torque_driver_msg(0)) - self._rx(self._user_brake_msg(False)) - self._rx(self._pcm_status_msg(True)) - self._rx(self._user_gas_msg(0)) - else: - self.assertFalse(self._rx(self._torque_driver_msg(0))) - self.assertFalse(self._rx(self._user_brake_msg(False))) - self.assertFalse(self._rx(self._pcm_status_msg(True))) - self.assertFalse(self._rx(self._user_gas_msg(0))) - self.assertFalse(self.safety.get_controls_allowed()) - - # restore counters for future tests with a couple of good messages - for i in range(2): - self.safety.set_controls_allowed(1) - self._rx(self._torque_driver_msg(0)) - self._rx(self._user_brake_msg(False)) - self._rx(self._pcm_status_msg(True)) - self._rx(self._user_gas_msg(0)) - self.assertTrue(self.safety.get_controls_allowed()) - class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety): TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]