From 0401f642d24b66e44e2182968be6548c7e3d917e Mon Sep 17 00:00:00 2001 From: ccdunder Date: Mon, 16 Dec 2024 06:05:35 +0000 Subject: [PATCH] Add tests for ALT_BUTTONS w/ HDA2. --- tests/safety/test_hyundai_canfd.py | 127 +++++++++++++---------------- 1 file changed, 57 insertions(+), 70 deletions(-) diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py index 7f280b6319..0e15ce1568 100755 --- a/tests/safety/test_hyundai_canfd.py +++ b/tests/safety/test_hyundai_canfd.py @@ -9,7 +9,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): - + SAFETY_PARAM = 0 TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]] STANDSTILL_THRESHOLD = 12 # 0.375 kph FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]} @@ -45,6 +45,12 @@ def setUpClass(cls): cls.safety = None raise unittest.SkipTest + def setUp(self): + self.packer = CANPackerPanda("hyundai_canfd") + self.safety = libpanda_py.libpanda + self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM) + self.safety.init_tests() + def _torque_driver_msg(self, torque): values = {"STEERING_COL_TORQUE": torque} return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values) @@ -79,6 +85,29 @@ def _button_msg(self, buttons, main_button=0, bus=None): return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values) +class HyundaiCanfdAltButtonsMixin: + @classmethod + def setUpClass(cls): + super().setUpClass() + cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + + def _button_msg(self, buttons, main_button=0, bus=1): + values = { + "CRUISE_BUTTONS": buttons, + "ADAPTIVE_CRUISE_MAIN_BTN": main_button, + } + return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values) + + def test_button_sends(self): + """ + No button send allowed with alt buttons. + """ + for enabled in (True, False): + for btn in range(8): + self.safety.set_controls_allowed(enabled) + self.assertFalse(self._tx(self._button_msg(btn))) + + class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase): TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]] @@ -88,7 +117,6 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase): STEER_MSG = "LFA" BUTTONS_TX_BUS = 2 - SAFETY_PARAM: int @classmethod def setUpClass(cls): @@ -98,12 +126,6 @@ def setUpClass(cls): cls.safety = None raise unittest.SkipTest - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM) - self.safety.init_tests() - @parameterized_class([ # Radar SCC, test with long flag to ensure flag is not respected until it is supported @@ -129,71 +151,45 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base): {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, ]) -class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base): - - SAFETY_PARAM: int - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM) - self.safety.init_tests() - - def _button_msg(self, buttons, main_button=0, bus=1): - values = { - "CRUISE_BUTTONS": buttons, - "ADAPTIVE_CRUISE_MAIN_BTN": main_button, - } - return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values) - - def test_button_sends(self): - """ - No button send allowed with alt buttons. - """ - for enabled in (True, False): - for btn in range(8): - self.safety.set_controls_allowed(enabled) - self.assertFalse(self._tx(self._button_msg(btn))) +class TestHyundaiCanfdHDA1AltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA1Base): + pass -class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase): +# ********************* HDA2 ********************** - TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS - FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} +# TODO: Handle ICE and HEV configurations. +class TestHyundaiCanfdHDA2EVBase(TestHyundaiCanfdBase): PT_BUS = 1 SCC_BUS = 1 - STEER_MSG = "LKAS" GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") + FWD_BUS_LOOKUP = {0: 2, 2: 0} - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS) - self.safety.init_tests() +class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdHDA2EVBase): + TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]] + RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} + FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]} + STEER_MSG = "LKAS" + SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS -# TODO: Handle ICE and HEV configurations once we see cars that use the new messages -class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase): +class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdHDA2EVBase): TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT + RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - PT_BUS = 1 - SCC_BUS = 1 STEER_MSG = "LKAS_ALT" - GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") + SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS | - Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING) - self.safety.init_tests() + +class TestHyundaiCanfdHDA2EVAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EV): + pass + +class TestHyundaiCanfdHDA2EVAltSteeringAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EVAltSteering): + pass + + +# ********************* LONG ********************** class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV): @@ -209,12 +205,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV STEER_MSG = "LFA" GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") STEER_BUS = 1 - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS) - self.safety.init_tests() + SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): values = { @@ -246,16 +237,12 @@ class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base @classmethod def setUpClass(cls): + super().setUpClass() + cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CAMERA_SCC if cls.__name__ == "TestHyundaiCanfdHDA1Long": cls.safety = None raise unittest.SkipTest - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM) - self.safety.init_tests() - def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): values = { "aReqRaw": accel,