wip

2024-04-27 03:19:19 -05:00
parent df418b503f
commit 03af7b6107
306 changed files with 108529 additions and 119 deletions
--- a/panda/tests/safety/test_hyundai.py
+++ b/panda/tests/safety/test_hyundai.py
@@ -0,0 +1,216 @@
+#!/usr/bin/env python3
+import random
+import unittest
+from panda import Panda
+from panda.tests.libpanda import libpanda_py
+import panda.tests.safety.common as common
+from panda.tests.safety.common import CANPackerPanda
+from panda.tests.safety.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase
+
+
+# 4 bit checkusm used in some hyundai messages
+# lives outside the can packer because we never send this msg
+def checksum(msg):
+  addr, t, dat, bus = msg
+
+  chksum = 0
+  if addr == 0x386:
+    for i, b in enumerate(dat):
+      for j in range(8):
+        # exclude checksum and counter bits
+        if (i != 1 or j < 6) and (i != 3 or j < 6) and (i != 5 or j < 6) and (i != 7 or j < 6):
+          bit = (b >> j) & 1
+        else:
+          bit = 0
+        chksum += bit
+    chksum = (chksum ^ 9) & 0xF
+    ret = bytearray(dat)
+    ret[5] |= (chksum & 0x3) << 6
+    ret[7] |= (chksum & 0xc) << 4
+  else:
+    for i, b in enumerate(dat):
+      if addr in [0x260, 0x421] and i == 7:
+        b &= 0x0F if addr == 0x421 else 0xF0
+      elif addr == 0x394 and i == 6:
+        b &= 0xF0
+      elif addr == 0x394 and i == 7:
+        continue
+      chksum += sum(divmod(b, 16))
+    chksum = (16 - chksum) % 16
+    ret = bytearray(dat)
+    ret[6 if addr == 0x394 else 7] |= chksum << (4 if addr == 0x421 else 0)
+
+  return addr, t, ret, bus
+
+
+class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
+  TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0]]
+  STANDSTILL_THRESHOLD = 12  # 0.375 kph
+  RELAY_MALFUNCTION_ADDRS = {0: (0x340,)}  # LKAS11
+  FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  MAX_RATE_UP = 3
+  MAX_RATE_DOWN = 7
+  MAX_TORQUE = 384
+  MAX_RT_DELTA = 112
+  RT_INTERVAL = 250000
+  DRIVER_TORQUE_ALLOWANCE = 50
+  DRIVER_TORQUE_FACTOR = 2
+
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 89
+  MAX_INVALID_STEERING_FRAMES = 2
+  MIN_VALID_STEERING_RT_INTERVAL = 810000  # a ~10% buffer, can send steer up to 110Hz
+
+  cnt_gas = 0
+  cnt_speed = 0
+  cnt_brake = 0
+  cnt_cruise = 0
+  cnt_button = 0
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
+    self.safety.init_tests()
+
+  def _button_msg(self, buttons, main_button=0, bus=0):
+    values = {"CF_Clu_CruiseSwState": buttons, "CF_Clu_CruiseSwMain": main_button, "CF_Clu_AliveCnt1": self.cnt_button}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_panda("CLU11", bus, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"CF_Ems_AclAct": gas, "AliveCounter": self.cnt_gas % 4}
+    self.__class__.cnt_gas += 1
+    return self.packer.make_can_msg_panda("EMS16", 0, values, fix_checksum=checksum)
+
+  def _user_brake_msg(self, brake):
+    values = {"DriverOverride": 2 if brake else random.choice((0, 1, 3)),
+              "AliveCounterTCS": self.cnt_brake % 8}
+    self.__class__.cnt_brake += 1
+    return self.packer.make_can_msg_panda("TCS13", 0, values, fix_checksum=checksum)
+
+  def _speed_msg(self, speed):
+    # panda safety doesn't scale, so undo the scaling
+    values = {"WHL_SPD_%s" % s: speed * 0.03125 for s in ["FL", "FR", "RL", "RR"]}
+    values["WHL_SPD_AliveCounter_LSB"] = (self.cnt_speed % 16) & 0x3
+    values["WHL_SPD_AliveCounter_MSB"] = (self.cnt_speed % 16) >> 2
+    self.__class__.cnt_speed += 1
+    return self.packer.make_can_msg_panda("WHL_SPD11", 0, values, fix_checksum=checksum)
+
+  def _pcm_status_msg(self, enable):
+    values = {"ACCMode": enable, "CR_VSM_Alive": self.cnt_cruise % 16}
+    self.__class__.cnt_cruise += 1
+    return self.packer.make_can_msg_panda("SCC12", self.SCC_BUS, values, fix_checksum=checksum)
+
+  def _torque_driver_msg(self, torque):
+    values = {"CR_Mdps_StrColTq": torque}
+    return self.packer.make_can_msg_panda("MDPS12", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req}
+    return self.packer.make_can_msg_panda("LKAS11", 0, values)
+
+
+class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
+  MAX_RATE_UP = 2
+  MAX_RATE_DOWN = 3
+  MAX_TORQUE = 270
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
+    self.safety.init_tests()
+
+
+class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
+  BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
+  SCC_BUS = 2  # rx on 2
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
+    self.safety.init_tests()
+
+
+class TestHyundaiLegacySafety(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 0)
+    self.safety.init_tests()
+
+
+class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 1)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    values = {"Accel_Pedal_Pos": gas}
+    return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum)
+
+
+class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 2)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    values = {"CR_Vcu_AccPedDep_Pos": gas}
+    return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum)
+
+class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
+  TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x421)}  # LKAS11, SCC12
+
+  DISABLED_ECU_UDS_MSG = (0x7D0, 0)
+  DISABLED_ECU_ACTUATION_MSG = (0x421, 0)
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
+    values = {
+      "aReqRaw": accel,
+      "aReqValue": accel,
+      "AEB_CmdAct": int(aeb_req),
+      "CR_VSM_DecCmd": aeb_decel,
+    }
+    return self.packer.make_can_msg_panda("SCC12", self.SCC_BUS, values)
+
+  def _fca11_msg(self, idx=0, vsm_aeb_req=False, fca_aeb_req=False, aeb_decel=0):
+    values = {
+      "CR_FCA_Alive": idx % 0xF,
+      "FCA_Status": 2,
+      "CR_VSM_DecCmd": aeb_decel,
+      "CF_VSM_DecCmdAct": int(vsm_aeb_req),
+      "FCA_CmdAct": int(fca_aeb_req),
+    }
+    return self.packer.make_can_msg_panda("FCA11", 0, values)
+
+  def test_no_aeb_fca11(self):
+    self.assertTrue(self._tx(self._fca11_msg()))
+    self.assertFalse(self._tx(self._fca11_msg(vsm_aeb_req=True)))
+    self.assertFalse(self._tx(self._fca11_msg(fca_aeb_req=True)))
+    self.assertFalse(self._tx(self._fca11_msg(aeb_decel=1.0)))
+
+  def test_no_aeb_scc12(self):
+    self.assertTrue(self._tx(self._accel_msg(0)))
+    self.assertFalse(self._tx(self._accel_msg(0, aeb_req=True)))
+    self.assertFalse(self._tx(self._accel_msg(0, aeb_decel=1.0)))
+
+
+if __name__ == "__main__":
+  unittest.main()