forked from IQ.Lvbs/IQ.Pilot
105 lines
4.0 KiB
Python
105 lines
4.0 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, canfd_accel, canfd_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("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.CANFD_LKA_STEERING,
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HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
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HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT,
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HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG,
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HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
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))
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def test_canfd_safety_configurations_initialize(safety, param):
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assert safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 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(("param", "addr", "length"), (
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(0, 0x12A, 16),
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(HyundaiSafetyFlags.CANFD_LKA_STEERING, 0x50, 16),
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(HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT, 0x110, 32),
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(HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG, 0x12A, 16),
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))
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def test_canfd_steering_limits(safety, param, addr, length):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
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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(canfd_steer(addr, length, 0, False))
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assert not safety.safety_tx_hook(canfd_steer(addr, length, 1))
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safety.set_controls_allowed(True)
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assert safety.safety_tx_hook(canfd_steer(addr, length, 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(canfd_steer(addr, length, 512))
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assert not safety.safety_tx_hook(canfd_steer(addr, length, 513))
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assert not safety.safety_tx_hook(canfd_steer(addr, length, -513))
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def test_canfd_tx_whitelist_and_buttons(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 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(0x12A, 1, 16))
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safety.set_controls_allowed(False)
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assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
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assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
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assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
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safety.set_controls_allowed(True)
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assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
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assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
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assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 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(0x1CF, 0, 8, {2: 4}))
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def test_canfd_stock_longitudinal_only_allows_cancel(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 0)
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safety.init_tests()
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assert safety.safety_tx_hook(canfd_accel(0, acc_mode=4))
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assert not safety.safety_tx_hook(canfd_accel(1, acc_mode=4))
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assert not safety.safety_tx_hook(canfd_accel(0, acc_mode=0))
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def test_canfd_longitudinal_accel_limits(safety):
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safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 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(canfd_accel(0))
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assert not safety.safety_tx_hook(canfd_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(canfd_accel(accel))
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for accel in (-401, 251):
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assert not safety.safety_tx_hook(canfd_accel(accel))
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def test_canfd_hda2_diagnostic_payload_is_restricted(safety):
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param = HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
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safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
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safety.init_tests()
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assert safety.safety_tx_hook(packet(0x730, 1, 8, dict(enumerate(TESTER_PRESENT))))
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assert not safety.safety_tx_hook(packet(0x730, 1, 8, {0: 3, 1: 0x22}))
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