#!/usr/bin/env python3
import unittest
import numpy as np
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
MAX_ACCEL = 2.0
MIN_ACCEL = -3.5
MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds
MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque
MSG_ESP_05 = 0x106 # RX from ABS, for brake light state
MSG_TSK_06 = 0x120 # RX from ECU, for ACC status from drivetrain coordinator
MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input
MSG_ACC_06 = 0x122 # TX by OP, ACC control instructions to the drivetrain coordinator
MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque
MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume
MSG_ACC_07 = 0x12E # TX by OP, ACC control instructions to the drivetrain coordinator
MSG_ACC_02 = 0x30C # TX by OP, ACC HUD data to the instrument cluster
MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts
[docs]
class TestVolkswagenMqbSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01,)}
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
MAX_TORQUE = 300
MAX_RT_DELTA = 75
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 80
DRIVER_TORQUE_FACTOR = 3
[docs]
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestVolkswagenMqbSafety":
cls.packer = None
cls.safety = None
raise unittest.SkipTest
# Wheel speeds _esp_19_msg
def _speed_msg(self, speed):
values = {"ESP_%s_Radgeschw_02" % s: speed for s in ["HL", "HR", "VL", "VR"]}
return self.packer.make_can_msg_panda("ESP_19", 0, values)
# Driver brake pressure over threshold
def _esp_05_msg(self, brake):
values = {"ESP_Fahrer_bremst": brake}
return self.packer.make_can_msg_panda("ESP_05", 0, values)
# Brake pedal switch
def _motor_14_msg(self, brake):
values = {"MO_Fahrer_bremst": brake}
return self.packer.make_can_msg_panda("Motor_14", 0, values)
def _user_brake_msg(self, brake):
return self._motor_14_msg(brake)
# Driver throttle input
def _user_gas_msg(self, gas):
values = {"MO_Fahrpedalrohwert_01": gas}
return self.packer.make_can_msg_panda("Motor_20", 0, values)
# ACC engagement status
def _tsk_status_msg(self, enable, main_switch=True):
if main_switch:
tsk_status = 3 if enable else 2
else:
tsk_status = 0
values = {"TSK_Status": tsk_status}
return self.packer.make_can_msg_panda("TSK_06", 0, values)
def _pcm_status_msg(self, enable):
return self._tsk_status_msg(enable)
# Driver steering input torque
def _torque_driver_msg(self, torque):
values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
return self.packer.make_can_msg_panda("LH_EPS_03", 0, values)
# openpilot steering output torque
def _torque_cmd_msg(self, torque, steer_req=1):
values = {"HCA_01_LM_Offset": abs(torque), "HCA_01_LM_OffSign": torque < 0, "HCA_01_Sendestatus": steer_req}
return self.packer.make_can_msg_panda("HCA_01", 0, values)
# Cruise control buttons
def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0, bus=2):
values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
return self.packer.make_can_msg_panda("GRA_ACC_01", bus, values)
# Acceleration request to drivetrain coordinator
def _acc_06_msg(self, accel):
values = {"ACC_Sollbeschleunigung_02": accel}
return self.packer.make_can_msg_panda("ACC_06", 0, values)
# Acceleration request to drivetrain coordinator
def _acc_07_msg(self, accel, secondary_accel=3.02):
values = {"ACC_Sollbeschleunigung_02": accel, "ACC_Folgebeschl": secondary_accel}
return self.packer.make_can_msg_panda("ACC_07", 0, values)
# Verify brake_pressed is true if either the switch or pressure threshold signals are true
[docs]
def test_redundant_brake_signals(self):
test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
for brake_pressed, motor_14_signal, esp_05_signal in test_combinations:
self._rx(self._motor_14_msg(False))
self._rx(self._esp_05_msg(False))
self.assertFalse(self.safety.get_brake_pressed_prev())
self._rx(self._motor_14_msg(motor_14_signal))
self._rx(self._esp_05_msg(esp_05_signal))
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
f"expected {brake_pressed=} with {motor_14_signal=} and {esp_05_signal=}")
[docs]
def test_torque_measurements(self):
# TODO: make this test work with all cars
self._rx(self._torque_driver_msg(50))
self._rx(self._torque_driver_msg(-50))
self._rx(self._torque_driver_msg(0))
self._rx(self._torque_driver_msg(0))
self._rx(self._torque_driver_msg(0))
self._rx(self._torque_driver_msg(0))
self.assertEqual(-50, self.safety.get_torque_driver_min())
self.assertEqual(50, self.safety.get_torque_driver_max())
self._rx(self._torque_driver_msg(0))
self.assertEqual(0, self.safety.get_torque_driver_max())
self.assertEqual(-50, self.safety.get_torque_driver_min())
self._rx(self._torque_driver_msg(0))
self.assertEqual(0, self.safety.get_torque_driver_max())
self.assertEqual(0, self.safety.get_torque_driver_min())
[docs]
class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety):
TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
[docs]
def setUp(self):
self.packer = CANPackerPanda("vw_mqb_2010")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
self.safety.init_tests()
[docs]
def test_spam_cancel_safety_check(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1)))
self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
[docs]
class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0]]
FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
INACTIVE_ACCEL = 3.01
[docs]
def setUp(self):
self.packer = CANPackerPanda("vw_mqb_2010")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.init_tests()
# stock cruise controls are entirely bypassed under openpilot longitudinal control
[docs]
def test_disable_control_allowed_from_cruise(self):
pass
[docs]
def test_enable_control_allowed_from_cruise(self):
pass
[docs]
def test_cruise_engaged_prev(self):
pass
[docs]
def test_main_switch(self):
# Disable as soon as main switch turns off
self._rx(self._tsk_status_msg(False, main_switch=True))
self.safety.set_controls_allowed(1)
self._rx(self._tsk_status_msg(False, main_switch=False))
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
[docs]
def test_accel_safety_check(self):
for controls_allowed in [True, False]:
# enforce we don't skip over 0 or inactive accel
for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding
is_inactive_accel = accel == self.INACTIVE_ACCEL
send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
self.safety.set_controls_allowed(controls_allowed)
# primary accel request used by ECU
self.assertEqual(send, self._tx(self._acc_06_msg(accel)), (controls_allowed, accel))
# additional accel request used by ABS/ESP
self.assertEqual(send, self._tx(self._acc_07_msg(accel)), (controls_allowed, accel))
# ensure the optional secondary accel field remains inactive for now
self.assertEqual(is_inactive_accel, self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel))
if __name__ == "__main__":
unittest.main()