#!/usr/bin/env python3
from parameterized import parameterized_class
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
[docs]
class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
STANDSTILL_THRESHOLD = 12 # 0.375 kph
FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
MAX_RATE_UP = 2
MAX_RATE_DOWN = 3
MAX_TORQUE = 270
MAX_RT_DELTA = 112
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 250
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
PT_BUS = 0
SCC_BUS = 2
STEER_BUS = 0
STEER_MSG = ""
GAS_MSG = ("", "")
BUTTONS_TX_BUS = 1
[docs]
@classmethod
def setUpClass(cls):
super().setUpClass()
if cls.__name__ == "TestHyundaiCanfdBase":
cls.packer = None
cls.safety = None
raise unittest.SkipTest
def _torque_driver_msg(self, torque):
values = {"STEERING_COL_TORQUE": torque}
return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"TORQUE_REQUEST": torque, "STEER_REQ": steer_req}
return self.packer.make_can_msg_panda(self.STEER_MSG, self.STEER_BUS, values)
def _speed_msg(self, speed):
values = {f"WHEEL_SPEED_{i}": speed * 0.03125 for i in range(1, 5)}
return self.packer.make_can_msg_panda("WHEEL_SPEEDS", self.PT_BUS, values)
def _user_brake_msg(self, brake):
values = {"DriverBraking": brake}
return self.packer.make_can_msg_panda("TCS", self.PT_BUS, values)
def _user_gas_msg(self, gas):
values = {self.GAS_MSG[1]: gas}
return self.packer.make_can_msg_panda(self.GAS_MSG[0], self.PT_BUS, values)
def _pcm_status_msg(self, enable):
values = {"ACCMode": 1 if enable else 0}
return self.packer.make_can_msg_panda("SCC_CONTROL", self.SCC_BUS, values)
def _button_msg(self, buttons, main_button=0, bus=None):
if bus is None:
bus = self.PT_BUS
values = {
"CRUISE_BUTTONS": buttons,
"ADAPTIVE_CRUISE_MAIN_BTN": main_button,
}
return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)
[docs]
class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
STEER_MSG = "LFA"
BUTTONS_TX_BUS = 2
SAFETY_PARAM: int
[docs]
@classmethod
def setUpClass(cls):
super().setUpClass()
if cls.__name__ in ("TestHyundaiCanfdHDA1", "TestHyundaiCanfdHDA1AltButtons"):
cls.packer = None
cls.safety = None
raise unittest.SkipTest
[docs]
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()
[docs]
@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"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 TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
pass
[docs]
class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
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}
PT_BUS = 1
SCC_BUS = 1
STEER_MSG = "LKAS"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
[docs]
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()
# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
[docs]
class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT
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")
[docs]
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()
[docs]
class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
[0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
RELAY_MALFUNCTION_ADDRS = {0: (0x50,), 1: (0x1a0,)} # LKAS, SCC_CONTROL
DISABLED_ECU_UDS_MSG = (0x730, 1)
DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)
STEER_MSG = "LFA"
GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
STEER_BUS = 1
[docs]
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()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
values = {
"aReqRaw": accel,
"aReqValue": accel,
}
return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
# Tests HDA1 longitudinal for ICE, hybrid, EV
[docs]
@parameterized_class([
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)} # LFA, SCC_CONTROL
DISABLED_ECU_UDS_MSG = (0x730, 1)
DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
STEER_MSG = "LFA"
STEER_BUS = 0
SCC_BUS = 2
[docs]
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestHyundaiCanfdHDA1Long":
cls.safety = None
raise unittest.SkipTest
[docs]
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,
"aReqValue": accel,
}
return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
# no knockout
def test_tester_present_allowed(self):
pass
if __name__ == "__main__":
unittest.main()