108 lines
3.9 KiB
Python
108 lines
3.9 KiB
Python
import pytest
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from iqdbc.car.hyundai.values import HyundaiSafetyFlags
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from iqdbc.car.structs import CarParams
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from iqdbc.safety.tests.hyundai_common import TESTER_PRESENT, classic_accel, classic_steer, packet
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from iqdbc.safety.tests.libsafety import libsafety_py
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@pytest.fixture
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def safety():
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return libsafety_py.libsafety
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@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
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@pytest.mark.parametrize("param", (
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0,
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HyundaiSafetyFlags.EV_GAS,
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HyundaiSafetyFlags.HYBRID_GAS,
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HyundaiSafetyFlags.LONG,
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HyundaiSafetyFlags.CAMERA_SCC,
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HyundaiSafetyFlags.ALT_LIMITS,
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HyundaiSafetyFlags.FCEV_GAS,
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HyundaiSafetyFlags.ALT_LIMITS_2,
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))
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def test_classic_safety_configurations_initialize(safety, mode, param):
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assert safety.set_safety_hooks(mode, param) == 0
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safety.init_tests()
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assert safety.get_current_safety_param() == param
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@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
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def test_classic_tx_whitelist_and_steering_limits(safety, mode):
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safety.set_safety_hooks(mode, 0)
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safety.init_tests()
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assert not safety.safety_tx_hook(packet(0x123, 0, 8))
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assert not safety.safety_tx_hook(packet(0x340, 1, 8))
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safety.set_controls_allowed(False)
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assert safety.safety_tx_hook(classic_steer(0, False))
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assert not safety.safety_tx_hook(classic_steer(1))
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safety.set_controls_allowed(True)
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assert safety.safety_tx_hook(classic_steer(10))
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safety.set_desired_torque_last(512)
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safety.set_rt_torque_last(512)
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assert safety.safety_tx_hook(classic_steer(512))
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assert not safety.safety_tx_hook(classic_steer(513))
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assert not safety.safety_tx_hook(classic_steer(-513))
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def test_classic_alt_limits_2(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
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safety.init_tests()
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safety.set_controls_allowed(True)
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safety.set_desired_torque_last(170)
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safety.set_rt_torque_last(170)
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assert safety.safety_tx_hook(classic_steer(170))
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assert not safety.safety_tx_hook(classic_steer(171))
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def test_classic_longitudinal_accel_and_aeb_guards(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
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safety.init_tests()
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safety.set_controls_allowed(False)
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assert safety.safety_tx_hook(classic_accel(0))
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assert not safety.safety_tx_hook(classic_accel(1))
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safety.set_controls_allowed(True)
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for accel in (-400, 0, 250):
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assert safety.safety_tx_hook(classic_accel(accel))
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for accel in (-401, 251):
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assert not safety.safety_tx_hook(classic_accel(accel))
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assert not safety.safety_tx_hook(classic_accel(0, aeb_decel=1))
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assert not safety.safety_tx_hook(classic_accel(0, aeb_request=True))
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assert safety.safety_tx_hook(packet(0x38D, 0, 8))
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assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {1: 1}))
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assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {2: 1 << 4}))
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assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {3: 1 << 7}))
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def test_classic_buttons(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
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safety.init_tests()
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safety.set_controls_allowed(False)
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assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
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assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
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assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
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safety.set_controls_allowed(True)
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assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
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assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
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assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
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safety.set_controls_allowed(False)
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safety.set_cruise_engaged_prev(True)
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assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
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def test_classic_diagnostic_payload_is_restricted(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
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safety.init_tests()
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assert safety.safety_tx_hook(packet(0x7D0, 0, 8, dict(enumerate(TESTER_PRESENT))))
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assert not safety.safety_tx_hook(packet(0x7D0, 0, 8, {0: 3, 1: 0x22}))
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