IQ.Pilot Prebuilt Release @ ab07000

iqdbc_repo/iqdbc/safety/tests/test_hyundai_canfd.py

@@ -0,0 +1,104 @@
+import pytest
+
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.hyundai_common import TESTER_PRESENT, canfd_accel, canfd_steer, packet
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.fixture
+def safety():
+  return libsafety_py.libsafety
+
+
+@pytest.mark.parametrize("param", (
+  0,
+  HyundaiSafetyFlags.EV_GAS,
+  HyundaiSafetyFlags.HYBRID_GAS,
+  HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CAMERA_SCC,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING,
+  HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
+))
+def test_canfd_safety_configurations_initialize(safety, param):
+  assert safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param) == 0
+  safety.init_tests()
+  assert safety.get_current_safety_param() == param
+
+
+@pytest.mark.parametrize(("param", "addr", "length"), (
+  (0, 0x12A, 16),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING, 0x50, 16),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT, 0x110, 32),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG, 0x12A, 16),
+))
+def test_canfd_steering_limits(safety, param, addr, length):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 0, False))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, 1))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 10))
+  safety.set_desired_torque_last(512)
+  safety.set_rt_torque_last(512)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 512))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, 513))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, -513))
+
+
+def test_canfd_tx_whitelist_and_buttons(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 0)
+  safety.init_tests()
+  assert not safety.safety_tx_hook(packet(0x123, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x12A, 1, 16))
+
+  safety.set_controls_allowed(False)
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+  safety.set_controls_allowed(False)
+  safety.set_cruise_engaged_prev(True)
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+
+def test_canfd_stock_longitudinal_only_allows_cancel(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 0)
+  safety.init_tests()
+  assert safety.safety_tx_hook(canfd_accel(0, acc_mode=4))
+  assert not safety.safety_tx_hook(canfd_accel(1, acc_mode=4))
+  assert not safety.safety_tx_hook(canfd_accel(0, acc_mode=0))
+
+
+def test_canfd_longitudinal_accel_limits(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(canfd_accel(0))
+  assert not safety.safety_tx_hook(canfd_accel(1))
+
+  safety.set_controls_allowed(True)
+  for accel in (-400, 0, 250):
+    assert safety.safety_tx_hook(canfd_accel(accel))
+  for accel in (-401, 251):
+    assert not safety.safety_tx_hook(canfd_accel(accel))
+
+
+def test_canfd_hda2_diagnostic_payload_is_restricted(safety):
+  param = HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+  safety.init_tests()
+  assert safety.safety_tx_hook(packet(0x730, 1, 8, dict(enumerate(TESTER_PRESENT))))
+  assert not safety.safety_tx_hook(packet(0x730, 1, 8, {0: 3, 1: 0x22}))