forked from IQ.Lvbs/IQ.Pilot
40 lines
1.8 KiB
Python
40 lines
1.8 KiB
Python
import pytest
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from iqdbc.car import gen_empty_fingerprint, structs
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from iqdbc.car.hyundai.interface import CarInterface
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from iqdbc.car.hyundai.values import CAR
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from iqdbc.safety.tests.libsafety import libsafety_py
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@pytest.mark.parametrize("candidate", list(CAR), ids=lambda candidate: candidate.value)
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@pytest.mark.parametrize("alpha_long", (False, True), ids=("stock_long", "openpilot_long"))
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def test_controller_frames_match_configured_safety(candidate, alpha_long, monkeypatch, tmp_path):
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"""Run real controller output through the safety configuration selected for every HKG platform."""
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monkeypatch.setenv("PARAMS_ROOT", str(tmp_path / candidate.value))
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fingerprint = gen_empty_fingerprint()
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cp = CarInterface.get_params(candidate, fingerprint, [], alpha_long, False, False)
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cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], alpha_long, False, False)
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interface = CarInterface(cp, cp_iq)
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interface.update([])
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safety_config = cp.safetyConfigs[-1]
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safety = libsafety_py.libsafety
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assert safety.set_safety_hooks(safety_config.safetyModel.raw, safety_config.safetyParam) == 0
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safety.init_tests()
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safety.set_controls_allowed(True)
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control = structs.CarControl.new_message()
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control.enabled = True
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control.latActive = True
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control.longActive = alpha_long
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control.actuators.torque = 0.01
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control.actuators.accel = 0.0
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for frame in range(20):
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_, can_sends = interface.apply(control.as_reader(), structs.IQCarControl())
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assert isinstance(can_sends, list)
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for address, data, bus in can_sends:
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packet = libsafety_py.make_CANPacket(address, bus, data)
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rejection = f"{candidate.value} frame {frame}: safety rejected address={address:#x} bus={bus} data={data.hex()}"
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assert safety.safety_tx_hook(packet), rejection
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