#!/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
[docs]
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
[docs]
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
[docs]
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)
[docs]
class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
MAX_RATE_UP = 2
MAX_RATE_DOWN = 3
MAX_TORQUE = 270
[docs]
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()
[docs]
class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
BUTTONS_TX_BUS = 2 # tx on 2, rx on 0
SCC_BUS = 2 # rx on 2
[docs]
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()
[docs]
class TestHyundaiLegacySafety(TestHyundaiSafety):
[docs]
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()
[docs]
class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
[docs]
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)
[docs]
class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
[docs]
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)
[docs]
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)
[docs]
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)
[docs]
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)))
[docs]
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()