#!/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
MSG_LENKHILFE_3 = 0x0D0 # RX from EPS, for steering angle and driver steering torque
MSG_HCA_1 = 0x0D2 # TX by OP, Heading Control Assist steering torque
MSG_BREMSE_1 = 0x1A0 # RX from ABS, for ego speed
MSG_MOTOR_2 = 0x288 # RX from ECU, for CC state and brake switch state
MSG_ACC_SYSTEM = 0x368 # TX by OP, longitudinal acceleration controls
MSG_MOTOR_3 = 0x380 # RX from ECU, for driver throttle input
MSG_GRA_NEU = 0x38A # TX by OP, ACC control buttons for cancel/resume
MSG_MOTOR_5 = 0x480 # RX from ECU, for ACC main switch state
MSG_ACC_GRA_ANZEIGE = 0x56A # TX by OP, ACC HUD
MSG_LDW_1 = 0x5BE # TX by OP, Lane line recognition and text alerts
[docs]
class TestVolkswagenPqSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
cruise_engaged = False
STANDSTILL_THRESHOLD = 0
RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1,)}
MAX_RATE_UP = 6
MAX_RATE_DOWN = 10
MAX_TORQUE = 300
MAX_RT_DELTA = 113
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 80
DRIVER_TORQUE_FACTOR = 3
[docs]
@classmethod
def setUpClass(cls):
if cls.__name__ == "TestVolkswagenPqSafety":
cls.packer = None
cls.safety = None
raise unittest.SkipTest
def _set_prev_torque(self, t):
self.safety.set_desired_torque_last(t)
self.safety.set_rt_torque_last(t)
# Ego speed (Bremse_1)
def _speed_msg(self, speed):
values = {"Geschwindigkeit_neu__Bremse_1_": speed}
return self.packer.make_can_msg_panda("Bremse_1", 0, values)
# Brake light switch (shared message Motor_2)
def _user_brake_msg(self, brake):
# since this signal is used for engagement status, preserve current state
return self._motor_2_msg(brake_pressed=brake, cruise_engaged=self.safety.get_controls_allowed())
# ACC engaged status (shared message Motor_2)
def _pcm_status_msg(self, enable):
self.__class__.cruise_engaged = enable
return self._motor_2_msg(cruise_engaged=enable)
# Acceleration request to drivetrain coordinator
def _accel_msg(self, accel):
values = {"ACS_Sollbeschl": accel}
return self.packer.make_can_msg_panda("ACC_System", 0, values)
# Driver steering input torque
def _torque_driver_msg(self, torque):
values = {"LH3_LM": abs(torque), "LH3_LMSign": torque < 0}
return self.packer.make_can_msg_panda("Lenkhilfe_3", 0, values)
# openpilot steering output torque
def _torque_cmd_msg(self, torque, steer_req=1, hca_status=5):
values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3}
return self.packer.make_can_msg_panda("HCA_1", 0, values)
# ACC engagement and brake light switch status
# Called indirectly for compatibility with common.py tests
def _motor_2_msg(self, brake_pressed=False, cruise_engaged=False):
values = {"Bremslichtschalter": brake_pressed,
"GRA_Status": cruise_engaged}
return self.packer.make_can_msg_panda("Motor_2", 0, values)
# ACC main switch status
def _motor_5_msg(self, main_switch=False):
values = {"GRA_Hauptschalter": main_switch}
return self.packer.make_can_msg_panda("Motor_5", 0, values)
# Driver throttle input (Motor_3)
def _user_gas_msg(self, gas):
values = {"Fahrpedal_Rohsignal": gas}
return self.packer.make_can_msg_panda("Motor_3", 0, values)
# Cruise control buttons (GRA_Neu)
def _button_msg(self, _set=False, resume=False, cancel=False, bus=2):
values = {"GRA_Neu_Setzen": _set, "GRA_Recall": resume, "GRA_Abbrechen": cancel}
return self.packer.make_can_msg_panda("GRA_Neu", bus, values)
[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 TestVolkswagenPqStockSafety(TestVolkswagenPqSafety):
# Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
[docs]
def setUp(self):
self.packer = CANPackerPanda("vw_golf_mk4")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
self.safety.init_tests()
[docs]
def test_spam_cancel_safety_check(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(self._button_msg(cancel=True)))
self.assertFalse(self._tx(self._button_msg(resume=True)))
self.assertFalse(self._tx(self._button_msg(_set=True)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(self._button_msg(resume=True)))
[docs]
class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAccelSafetyTest):
TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]]
FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
INACTIVE_ACCEL = 3.01
[docs]
def setUp(self):
self.packer = CANPackerPanda("vw_golf_mk4")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 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._motor_5_msg(main_switch=True))
self.safety.set_controls_allowed(1)
self._rx(self._motor_5_msg(main_switch=False))
self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
[docs]
def test_torque_cmd_enable_variants(self):
# The EPS rack accepts either 5 or 7 for an enabled status, with different low speed tuning behavior
self.safety.set_controls_allowed(1)
for enabled_status in (5, 7):
self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP, steer_req=1, hca_status=enabled_status)),
f"torque cmd rejected with {enabled_status=}")
if __name__ == "__main__":
unittest.main()