#!/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
[docs]
class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
FLAGS = 0
DBC = "subaru_outback_2015_generated"
TX_MSGS = [[0x161, 0], [0x164, 0]]
STANDSTILL_THRESHOLD = 0 # kph
RELAY_MALFUNCTION_ADDRS = {0: (0x164,)}
FWD_BLACKLISTED_ADDRS = {2: [0x161, 0x164]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
MAX_TORQUE = 2047
MAX_RT_DELTA = 940
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 75
DRIVER_TORQUE_FACTOR = 10
[docs]
def setUp(self):
self.packer = CANPackerPanda(self.DBC)
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, self.FLAGS)
self.safety.init_tests()
def _set_prev_torque(self, t):
self.safety.set_desired_torque_last(t)
self.safety.set_rt_torque_last(t)
def _torque_driver_msg(self, torque):
values = {"Steer_Torque_Sensor": torque}
return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
def _speed_msg(self, speed):
# subaru safety doesn't use the scaled value, so undo the scaling
values = {s: speed*0.0592 for s in ["FR", "FL", "RR", "RL"]}
return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
def _user_brake_msg(self, brake):
values = {"Brake_Pedal": brake}
return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"LKAS_Command": torque, "LKAS_Active": steer_req}
return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
def _user_gas_msg(self, gas):
values = {"Throttle_Pedal": gas}
return self.packer.make_can_msg_panda("Throttle", 0, values)
def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_panda("CruiseControl", 0, values)
[docs]
class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
DBC = "subaru_outback_2019_generated"
if __name__ == "__main__":
unittest.main()