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IQ.Pilot Release Commit @ 589e633

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IQ.Lvbs CI [bot]
2026-08-31 02:37:13 -05:00
parent 90015b2835
commit 4b46753a27
51 changed files with 2304 additions and 142 deletions
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139
artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_honda.py
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@@ -31,6 +31,8 @@ class Btn:
# * Bosch with Longitudinal Support
# * Bosch Radarless
# * Bosch Radarless with Longitudinal Support
# * Bosch CANFD
# * Bosch CANFD with Longitudinal Support
class HondaButtonEnableBase(common.CarSafetyTest):
@@ -372,6 +374,14 @@ class TestHondaNidecSafetyBase(HondaBase):
send = brake == 0
self.assertEqual(send, self._tx(self._send_brake_msg(brake)))
# Inactive brake must pass when gas blocks longitudinal actuation
self.safety.set_honda_fwd_brake(False)
self.safety.set_controls_allowed(True)
self.safety.set_gas_pressed_prev(True)
self.assertFalse(self.safety.get_longitudinal_allowed())
self.assertTrue(self._tx(self._send_brake_msg(0)))
self.assertFalse(self._tx(self._send_brake_msg(1)))
class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
"""
@@ -536,7 +546,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
Covers the Honda Bosch safety mode with longitudinal control
"""
NO_GAS = -30000
MAX_GAS = 2000
MAX_GAS = 2200
MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values
MIN_ACCEL = -3.5
@@ -570,10 +580,16 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
self.assertFalse(self._tx(not_tester_present))
# the radar disable requests are only allowed on CANFD
ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
self.assertFalse(self._tx(ext_diag))
comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
self.assertFalse(self._tx(comm_control_disable))
def test_gas_safety_check(self):
for controls_allowed in [True, False]:
for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100):
accel = 0 if gas < 0 else gas / 1000
accel = 0 if gas < 0 else min(gas / 1000, self.MAX_ACCEL)
self.safety.set_controls_allowed(controls_allowed)
send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS
self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel))
@@ -593,14 +609,41 @@ class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
STEER_BUS = 0
BUTTONS_BUS = 2 # camera controls ACC, need to send buttons on bus 2
TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)} # STEERING_CONTROL
TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
# STEERING_CONTROL, LANE_PATH, LKAS_HUD_2, HUD_OBJECTS
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
def setUp(self):
self.packer = CANPackerSafety("honda_bosch_radarless_generated")
self.safety = libsafety_py.libsafety
def test_buttons_fwd(self):
# SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
# (engaged + a recent OP SCM_BUTTONS tx on the camera bus). The camera needs the message content
# beyond the buttons, so the block fails safe back to forwarding when OP stops sending
self.safety.set_controls_allowed(False)
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
# engaged but OP not sending buttons: keep forwarding
self.safety.set_controls_allowed(True)
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
# OP button stream flowing: block the stock buttons
self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
# never blocked while disengaged
self.safety.set_controls_allowed(False)
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
self.safety.set_controls_allowed(True)
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
# freshness decays after 10 stock button frames without an OP tx
for _ in range(10):
self._rx(self._button_msg(Btn.NONE, main_on=True))
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
"""
@@ -629,9 +672,9 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
"""
Covers the Honda Bosch Radarless safety mode with longitudinal control
"""
TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C]}
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D)}
TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0], [0x296, 2], [0x6CD5554, 0], [0xF31AA54, 0], [0x6CD5557, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C, 0x6CD5554, 0xF31AA54, 0x6CD5557]}
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D, 0x6CD5554, 0xF31AA54, 0x6CD5557)}
def setUp(self):
super().setUp()
@@ -655,7 +698,7 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
STEER_BUS = 0
BUTTONS_BUS = 0
TX_MSGS = [[0xE4, 0], [0x296, 0], [0x33D, 0]]
TX_MSGS = [[0xE4, 0], [0x296, 0], [0x296, 2], [0x33D, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
@@ -663,6 +706,42 @@ class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
self.packer = CANPackerSafety("honda_common_canfd_generated")
self.safety = libsafety_py.libsafety
def test_buttons_fwd(self):
# SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
# (engaged + a recent OP SCM_BUTTONS tx on the camera bus); see the radarless variant of this test
self.safety.set_controls_allowed(True)
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
self.safety.set_controls_allowed(False)
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
self.safety.set_controls_allowed(True)
for _ in range(10):
self._rx(self._button_msg(Btn.NONE, main_on=True))
self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
def test_radar_diag_response_fwd(self):
# the radar's UDS responses (0x18DAF1B0) never forward to the camera: the radar disable handshake
# happens after the relay is open on CAN FD
self.safety.set_controls_allowed(False)
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
self.safety.set_controls_allowed(True)
self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
def test_buttons_tx_camera_bus(self):
# Buttons to the camera (bus 2): cancel-only while disengaged, any button while engaged
# (OP takes over SCM_BUTTONS towards the camera when engaged)
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=2)))
self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=2)))
self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=2)))
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=2)))
class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
"""
@@ -686,6 +765,48 @@ class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDS
self.safety.init_tests()
class TestHondaBoschCANFDLongSafety(TestHondaBoschLongSafety, TestHondaBoschCANFDSafetyBase):
"""
Covers the Honda Bosch CANFD safety mode with longitudinal control
"""
PT_BUS = 0
STEER_BUS = 0
BUTTONS_BUS = 0
# the radar look-alikes are sent on both the powertrain bus (0) and the camera bus (2)
TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x296, 2], [0x18DAB0F1, 0],
[0x310, 0], [0x6CD5558, 0], [0x6CD5559, 0], [0xF31AA52, 0], [0xF31AA5C, 0], [0x1A45AA4E, 0],
[0x310, 2], [0x6CD5558, 2], [0x6CD5559, 2], [0xF31AA52, 2], [0xF31AA5C, 2], [0x1A45AA4E, 2]]
FWD_BLACKLISTED_ADDRS = {0: [0x6CD5558, 0xF31AA5C], 2: [0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C]}
# STEERING_CONTROL, ACC_CONTROL, LKAS_HUD on the pt bus; the radar's LANE_PATH and RADAR_LEAD are
# additionally blocked from forwarding to the camera in both directions
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C), 2: (0x6CD5558, 0xF31AA5C)}
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_LONG)
self.safety.init_tests()
def test_diagnostics(self):
# CAN FD silences the radar from CarController after the relay opens, so exactly the extended
# diagnostic session and the suppressed-response CommunicationControl disable are allowed too
tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
self.assertTrue(self._tx(tester_present))
ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
self.assertTrue(self._tx(ext_diag))
comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
self.assertTrue(self._tx(comm_control_disable))
# anything else stays blocked, including re-enabling the radar and non-zero trailing bytes
comm_control_enable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x80\x03\x00\x00\x00\x00")
self.assertFalse(self._tx(comm_control_enable))
not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
self.assertFalse(self._tx(not_tester_present))
trailing_bytes = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x01")
self.assertFalse(self._tx(trailing_bytes))
class TestHondaNidecHybridSafety(TestHondaNidecPcmSafety):
"""
Covers the Honda Nidec safety mode with hybrid brake