IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/safety/tests/test_elm327.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+import unittest
+
+import iqdbc.safety.tests.common as common
+from iqdbc.car.structs import CarParams
+from iqdbc.safety import DLC_TO_LEN
+from iqdbc.safety.tests.libsafety import libsafety_py
+from iqdbc.safety.tests.test_defaults import TestDefaultRxHookBase
+
+GM_CAMERA_DIAG_ADDR = 0x24B
+
+
+class TestElm327(TestDefaultRxHookBase):
+  TX_MSGS = [[addr, bus] for addr in [GM_CAMERA_DIAG_ADDR, *range(0x600, 0x800),
+                                      *range(0x18DA00F1, 0x18DB00F1, 0x100),  # 29-bit UDS physical addressing
+                                      *[0x18DB33F1],  # 29-bit UDS functional address
+                                      ] for bus in range(4)]
+  FWD_BUS_LOOKUP = {}
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.elm327, 0)
+    self.safety.init_tests()
+
+  def test_tx_hook(self):
+    # ensure we can transmit arbitrary data on allowed addresses
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        should_tx = [addr, bus] in self.TX_MSGS
+        self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8)))
+
+    # ELM only allows 8 byte UDS/KWP messages under ISO 15765-4
+    for msg_len in DLC_TO_LEN:
+      should_tx = msg_len == 8
+      self.assertEqual(should_tx, self._tx(common.make_msg(0, 0x700, msg_len)))
+
+    # TODO: perform this check for all addresses
+    # 4 to 15 are reserved ISO-TP frame types (https://en.wikipedia.org/wiki/ISO_15765-2)
+    for byte in range(0xff):
+      should_tx = (byte >> 4) <= 3
+      self.assertEqual(should_tx, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([byte] * 8))))
+
+    # test GM camera diagnostic address with malformed length
+    self.assertEqual(False, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([0x00] * 7))))
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    # No point, since we allow many diagnostic addresses
+    pass
+
+
+if __name__ == "__main__":
+  unittest.main()