IQ.Pilot Prebuilt Release @ 7a91404

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

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+LANE_KEEP_ASSIST = 0x3F2
+
+
+class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
+  FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
+  TX_MSGS = [[1010, 0]]
+
+  MAIN_BUS = 0
+  ADAS_BUS = 1
+  CAM_BUS = 2
+
+  STEER_ANGLE_MAX = 390
+  DEG_TO_CAN = 10
+
+  ANGLE_RATE_BP = [0., 5., 25.]
+  ANGLE_RATE_UP = [2.5, 1.5, .2]
+  ANGLE_RATE_DOWN = [5., 2., .3]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
+    return self.packer.make_can_msg_safety("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"ANGLE": angle}
+    return self.packer.make_can_msg_safety("STEERING_ALT", self.MAIN_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"RVV_ACC_ACTIVATION_REQ": enable}
+    return self.packer.make_can_msg_safety("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"VITESSE_VEHICULE_ROUES": speed * 3.6}
+    return self.packer.make_can_msg_safety("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"P013_MainBrake": brake}
+    return self.packer.make_can_msg_safety("Dat_BSI", self.CAM_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"P002_Com_rAPP": int(gas * 100)}
+    return self.packer.make_can_msg_safety("Dyn_CMM", self.MAIN_BUS, values)
+
+  def test_rx_hook(self):
+    # speed
+    for _ in range(10):
+      self.assertTrue(self._rx(self._speed_msg(0)))
+    msg = self._speed_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+
+    # cruise
+    for _ in range(10):
+      self.assertTrue(self._rx(self._pcm_status_msg(0)))
+    msg = self._pcm_status_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+    msg = self._pcm_status_msg(0)
+    # write to unused payload byte
+    msg[0].data[6] = 0xAB
+    self.assertTrue(self._rx(msg))
+
+
+class TestPsaStockSafety(TestPsaSafetyBase):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+    unittest.main()