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IQ.Pilot Release Commit @ 24b1ade

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IQ.Lvbs CI [bot]
2026-08-31 20:34:00 -05:00
parent 67a2b4955e
commit 9312ded8e2
37 changed files with 141 additions and 141 deletions
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39
artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_honda.py
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@@ -609,41 +609,14 @@ 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], [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)}
TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)} # STEERING_CONTROL
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):
"""
@@ -672,9 +645,9 @@ 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], [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)}
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)}
def setUp(self):
super().setUp()