Add openpilot tests

panda/tests/safety/test_mazda.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+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
+
+
+class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+
+  TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]]
+  STANDSTILL_THRESHOLD = .1
+  RELAY_MALFUNCTION_ADDRS = {0: (0x243,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  MAX_RATE_UP = 10
+  MAX_RATE_DOWN = 25
+  MAX_TORQUE = 800
+
+  MAX_RT_DELTA = 300
+  RT_INTERVAL = 250000
+
+  DRIVER_TORQUE_ALLOWANCE = 15
+  DRIVER_TORQUE_FACTOR = 1
+
+  # Mazda actually does not set any bit when requesting torque
+  NO_STEER_REQ_BIT = True
+
+  def setUp(self):
+    self.packer = CANPackerPanda("mazda_2017")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0)
+    self.safety.init_tests()
+
+  def _torque_meas_msg(self, torque):
+    values = {"STEER_TORQUE_MOTOR": torque}
+    return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
+
+  def _torque_driver_msg(self, torque):
+    values = {"STEER_TORQUE_SENSOR": torque}
+    return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_REQUEST": torque}
+    return self.packer.make_can_msg_panda("CAM_LKAS", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {"SPEED": speed}
+    return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_ON": brake}
+    return self.packer.make_can_msg_panda("PEDALS", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"PEDAL_GAS": gas}
+    return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CRZ_ACTIVE": enable}
+    return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values)
+
+  def _button_msg(self, resume=False, cancel=False):
+    values = {
+      "CAN_OFF": cancel,
+      "CAN_OFF_INV": (cancel + 1) % 2,
+      "RES": resume,
+      "RES_INV": (resume + 1) % 2,
+    }
+    return self.packer.make_can_msg_panda("CRZ_BTNS", 0, values)
+
+  def test_buttons(self):
+    # only cancel allows while controls not allowed
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertTrue(self._tx(self._button_msg(resume=True)))
+
+
+if __name__ == "__main__":
+  unittest.main()