IQ.Pilot Prebuilt Release @ 67fd9c2

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

@@ -0,0 +1,107 @@
+import pytest
+
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.hyundai_common import TESTER_PRESENT, classic_accel, classic_steer, packet
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.fixture
+def safety():
+  return libsafety_py.libsafety
+
+
+@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
+@pytest.mark.parametrize("param", (
+  0,
+  HyundaiSafetyFlags.EV_GAS,
+  HyundaiSafetyFlags.HYBRID_GAS,
+  HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CAMERA_SCC,
+  HyundaiSafetyFlags.ALT_LIMITS,
+  HyundaiSafetyFlags.FCEV_GAS,
+  HyundaiSafetyFlags.ALT_LIMITS_2,
+))
+def test_classic_safety_configurations_initialize(safety, mode, param):
+  assert safety.set_safety_hooks(mode, param) == 0
+  safety.init_tests()
+  assert safety.get_current_safety_param() == param
+
+
+@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
+def test_classic_tx_whitelist_and_steering_limits(safety, mode):
+  safety.set_safety_hooks(mode, 0)
+  safety.init_tests()
+
+  assert not safety.safety_tx_hook(packet(0x123, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x340, 1, 8))
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(classic_steer(0, False))
+  assert not safety.safety_tx_hook(classic_steer(1))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(classic_steer(10))
+  safety.set_desired_torque_last(512)
+  safety.set_rt_torque_last(512)
+  assert safety.safety_tx_hook(classic_steer(512))
+  assert not safety.safety_tx_hook(classic_steer(513))
+  assert not safety.safety_tx_hook(classic_steer(-513))
+
+
+def test_classic_alt_limits_2(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  safety.set_desired_torque_last(170)
+  safety.set_rt_torque_last(170)
+  assert safety.safety_tx_hook(classic_steer(170))
+  assert not safety.safety_tx_hook(classic_steer(171))
+
+
+def test_classic_longitudinal_accel_and_aeb_guards(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(classic_accel(0))
+  assert not safety.safety_tx_hook(classic_accel(1))
+
+  safety.set_controls_allowed(True)
+  for accel in (-400, 0, 250):
+    assert safety.safety_tx_hook(classic_accel(accel))
+  for accel in (-401, 251):
+    assert not safety.safety_tx_hook(classic_accel(accel))
+  assert not safety.safety_tx_hook(classic_accel(0, aeb_decel=1))
+  assert not safety.safety_tx_hook(classic_accel(0, aeb_request=True))
+
+  assert safety.safety_tx_hook(packet(0x38D, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {1: 1}))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {2: 1 << 4}))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {3: 1 << 7}))
+
+
+def test_classic_buttons(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+  safety.set_controls_allowed(False)
+  safety.set_cruise_engaged_prev(True)
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+
+def test_classic_diagnostic_payload_is_restricted(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+  assert safety.safety_tx_hook(packet(0x7D0, 0, 8, dict(enumerate(TESTER_PRESENT))))
+  assert not safety.safety_tx_hook(packet(0x7D0, 0, 8, {0: 3, 1: 0x22}))