#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
import panda.tests.safety.common as common
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import CANPackerPanda
MAX_ACCEL = 2.0
MIN_ACCEL = -3.5
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class CONTROL_LEVER_STATE:
DN_1ST = 32
UP_1ST = 16
DN_2ND = 8
UP_2ND = 4
RWD = 2
FWD = 1
IDLE = 0
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class TestTeslaSafety(common.PandaCarSafetyTest):
STANDSTILL_THRESHOLD = 0
GAS_PRESSED_THRESHOLD = 3
FWD_BUS_LOOKUP = {0: 2, 2: 0}
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def setUp(self):
self.packer = None
raise unittest.SkipTest
def _speed_msg(self, speed):
values = {"DI_vehicleSpeed": speed / 0.447}
return self.packer.make_can_msg_panda("DI_torque2", 0, values)
def _user_brake_msg(self, brake):
values = {"driverBrakeStatus": 2 if brake else 1}
return self.packer.make_can_msg_panda("BrakeMessage", 0, values)
def _user_gas_msg(self, gas):
values = {"DI_pedalPos": gas}
return self.packer.make_can_msg_panda("DI_torque1", 0, values)
def _control_lever_cmd(self, command):
values = {"SpdCtrlLvr_Stat": command}
return self.packer.make_can_msg_panda("STW_ACTN_RQ", 0, values)
def _pcm_status_msg(self, enable):
values = {"DI_cruiseState": 2 if enable else 0}
return self.packer.make_can_msg_panda("DI_state", 0, values)
def _long_control_msg(self, set_speed, acc_val=0, jerk_limits=(0, 0), accel_limits=(0, 0), aeb_event=0, bus=0):
values = {
"DAS_setSpeed": set_speed,
"DAS_accState": acc_val,
"DAS_aebEvent": aeb_event,
"DAS_jerkMin": jerk_limits[0],
"DAS_jerkMax": jerk_limits[1],
"DAS_accelMin": accel_limits[0],
"DAS_accelMax": accel_limits[1],
}
return self.packer.make_can_msg_panda("DAS_control", bus, values)
[docs]
class TestTeslaSteeringSafety(TestTeslaSafety, common.AngleSteeringSafetyTest):
TX_MSGS = [[0x488, 0], [0x45, 0], [0x45, 2]]
RELAY_MALFUNCTION_ADDRS = {0: (0x488,)}
FWD_BLACKLISTED_ADDRS = {2: [0x488]}
# Angle control limits
DEG_TO_CAN = 10
ANGLE_RATE_BP = [0., 5., 15.]
ANGLE_RATE_UP = [10., 1.6, .3] # windup limit
ANGLE_RATE_DOWN = [10., 7.0, .8] # unwind limit
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def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, 0)
self.safety.init_tests()
def _angle_cmd_msg(self, angle: float, enabled: bool):
values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": 1 if enabled else 0}
return self.packer.make_can_msg_panda("DAS_steeringControl", 0, values)
def _angle_meas_msg(self, angle: float):
values = {"EPAS_internalSAS": angle}
return self.packer.make_can_msg_panda("EPAS_sysStatus", 0, values)
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class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety):
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def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN)
self.safety.init_tests()
def _angle_meas_msg(self, angle: float):
values = {"EPAS_internalSAS": angle}
return self.packer.make_can_msg_panda("EPAS3P_sysStatus", 2, values)
[docs]
class TestTeslaLongitudinalSafety(TestTeslaSafety):
[docs]
def setUp(self):
raise unittest.SkipTest
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def test_no_aeb(self):
for aeb_event in range(4):
self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
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def test_stock_aeb_passthrough(self):
no_aeb_msg = self._long_control_msg(10, aeb_event=0)
no_aeb_msg_cam = self._long_control_msg(10, aeb_event=0, bus=2)
aeb_msg_cam = self._long_control_msg(10, aeb_event=1, bus=2)
# stock system sends no AEB -> no forwarding, and OP is allowed to TX
self.assertEqual(1, self._rx(no_aeb_msg_cam))
self.assertEqual(-1, self.safety.safety_fwd_hook(2, no_aeb_msg_cam.addr))
self.assertEqual(True, self._tx(no_aeb_msg))
# stock system sends AEB -> forwarding, and OP is not allowed to TX
self.assertEqual(1, self._rx(aeb_msg_cam))
self.assertEqual(0, self.safety.safety_fwd_hook(2, aeb_msg_cam.addr))
self.assertEqual(False, self._tx(no_aeb_msg))
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def test_acc_accel_limits(self):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
for min_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
for max_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
# floats might not hit exact boundary conditions without rounding
min_accel = round(min_accel, 2)
max_accel = round(max_accel, 2)
if controls_allowed:
send = (MIN_ACCEL <= min_accel <= MAX_ACCEL) and (MIN_ACCEL <= max_accel <= MAX_ACCEL)
else:
send = np.all(np.isclose([min_accel, max_accel], 0, atol=0.0001))
self.assertEqual(send, self._tx(self._long_control_msg(10, acc_val=4, accel_limits=[min_accel, max_accel])))
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class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):
TX_MSGS = [[0x488, 0], [0x45, 0], [0x45, 2], [0x2B9, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x488,)}
FWD_BLACKLISTED_ADDRS = {2: [0x2B9, 0x488]}
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def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL)
self.safety.init_tests()
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class TestTeslaPTLongitudinalSafety(TestTeslaLongitudinalSafety):
TX_MSGS = [[0x2BF, 0]]
RELAY_MALFUNCTION_ADDRS = {0: (0x2BF,)}
FWD_BLACKLISTED_ADDRS = {2: [0x2BF]}
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def setUp(self):
self.packer = CANPackerPanda("tesla_powertrain")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN)
self.safety.init_tests()
if __name__ == "__main__":
unittest.main()