panda.tests.safety package

Submodules

panda.tests.safety.common module

class panda.tests.safety.common.AngleSteeringSafetyTest(methodName='runTest')

Bases: PandaSafetyTestBase

ANGLE_RATE_BP: list[float]

ANGLE_RATE_DOWN: list[float]

ANGLE_RATE_UP: list[float]

DEG_TO_CAN: float

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_angle_cmd_when_disabled()

test_angle_cmd_when_enabled(max_angle=300)

test_steering_angle_measurements(max_angle=300)

test_vehicle_speed_measurements()

class panda.tests.safety.common.CANPackerPanda

Bases: CANPacker

make_can_msg_panda(name_or_addr, bus, values, fix_checksum=None)

class panda.tests.safety.common.DriverTorqueSteeringSafetyTest(methodName='runTest')

Bases: TorqueSteeringSafetyTestBase, ABC

DRIVER_TORQUE_ALLOWANCE = 0

DRIVER_TORQUE_FACTOR = 0

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_against_torque_driver()

test_non_realtime_limit_up()

test_realtime_limits()

test_reset_driver_torque_measurements()

class panda.tests.safety.common.LongitudinalAccelSafetyTest(methodName='runTest')

Bases: PandaSafetyTestBase, ABC

INACTIVE_ACCEL: float = 0.0

MAX_ACCEL: float = 2.0

MIN_ACCEL: float = -3.5

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_accel_actuation_limits(stock_longitudinal=False)

test_accel_limits_correct()

class panda.tests.safety.common.LongitudinalGasBrakeSafetyTest(methodName='runTest')

Bases: PandaSafetyTestBase, ABC

INACTIVE_GAS = 0

MAX_BRAKE: int | None = None

MAX_GAS: int | None = None

MAX_POSSIBLE_BRAKE: int | None = None

MAX_POSSIBLE_GAS: int | None = None

MIN_BRAKE: int = 0

MIN_GAS: int = 0

test_brake_safety_check()

test_gas_brake_limits_correct()

test_gas_safety_check()

class panda.tests.safety.common.MotorTorqueSteeringSafetyTest(methodName='runTest')

Bases: TorqueSteeringSafetyTestBase, ABC

MAX_TORQUE_ERROR = 0

TORQUE_MEAS_TOLERANCE = 0

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_exceed_torque_sensor()

test_non_realtime_limit_down()

test_realtime_limit_up()

test_reset_torque_measurements()

test_torque_absolute_limits()

test_torque_measurements()

class panda.tests.safety.common.PandaCarSafetyTest(methodName='runTest')

Bases: PandaSafetyTest

GAS_PRESSED_THRESHOLD = 0

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None

STANDSTILL_THRESHOLD: float | None = None

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_allow_engage_with_gas_pressed()

test_allow_user_brake_at_zero_speed(_user_brake_msg=None, get_brake_pressed_prev=None)

test_allow_user_regen_at_zero_speed()

test_alternative_experience_no_disengage_on_gas()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_disengage_on_gas()

test_enable_control_allowed_from_cruise()

test_not_allow_user_brake_when_moving(_user_brake_msg=None, get_brake_pressed_prev=None)

test_not_allow_user_regen_when_moving()

test_prev_gas()

test_prev_user_brake(_user_brake_msg=None, get_brake_pressed_prev=None)

test_prev_user_regen()

test_relay_malfunction()

test_safety_tick()

test_vehicle_moving()

class panda.tests.safety.common.PandaSafetyTest(methodName='runTest')

Bases: PandaSafetyTestBase

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}

FWD_BUS_LOOKUP: dict[int, int] = {}

SCANNED_ADDRS = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 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TX_MSGS: list[list[int]] | None = None

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_default_controls_not_allowed()

test_fwd_hook()

test_manually_enable_controls_allowed()

test_spam_can_buses()

test_tx_hook_on_wrong_safety_mode()

test_tx_msg_in_scanned_range()

class panda.tests.safety.common.PandaSafetyTestBase(methodName='runTest')

Bases: TestCase

safety: Panda

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

class panda.tests.safety.common.SteerRequestCutSafetyTest(methodName='runTest')

Bases: TorqueSteeringSafetyTestBase, ABC

MAX_INVALID_STEERING_FRAMES: int

MIN_VALID_STEERING_FRAMES: int

MIN_VALID_STEERING_RT_INTERVAL: int

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_steer_req_bit_frames()

Certain safety modes implement some tolerance on their steer request bits matching the requested torque to avoid a steering fault or lockout and maintain torque. This tests:

• We can’t cut torque for more than one frame

• We can’t cut torque until at least the minimum number of matching steer_req messages

• We can always recover from violations if steer_req=1

test_steer_req_bit_multi_invalid()

For safety modes allowing multiple consecutive invalid frames, this ensures that once a valid frame is sent after an invalid frame (even without sending the max number of allowed invalid frames), all counters are reset.

test_steer_req_bit_realtime()

Realtime safety for cutting steer request bit. This tests:

• That we allow messages with mismatching steer request bit if time from last is >= MIN_VALID_STEERING_RT_INTERVAL

• That frame mismatch safety does not interfere with this test

class panda.tests.safety.common.TorqueSteeringSafetyTestBase(methodName='runTest')

Bases: PandaSafetyTestBase, ABC

MAX_RATE_DOWN = 0

MAX_RATE_UP = 0

MAX_RT_DELTA = 0

MAX_TORQUE = 0

NO_STEER_REQ_BIT = False

RT_INTERVAL = 0

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_non_realtime_limit_up()

test_steer_req_bit()

Asserts all torque safety modes check the steering request bit

test_steer_safety_check()

panda.tests.safety.common.add_regen_tests(cls)

Dynamically adds regen tests for all user brake tests.

panda.tests.safety.common.make_msg(bus, addr, length=8, dat=None)

panda.tests.safety.common.sign_of(a)

panda.tests.safety.hyundai_common module

class panda.tests.safety.hyundai_common.Buttons

Bases: object

CANCEL = 4

NONE = 0

RESUME = 1

SET = 2

class panda.tests.safety.hyundai_common.HyundaiButtonBase

Bases: object

BUTTONS_TX_BUS = 0

SCC_BUS = 0

test_button_sends()

Only RES and CANCEL buttons are allowed - RES allowed while controls allowed - CANCEL allowed while cruise is enabled

test_enable_control_allowed_from_cruise()

Hyundai non-longitudinal only enables on PCM rising edge and recent button press. Tests PCM enabling with: - disallowed: No buttons - disallowed: Buttons that don’t enable cruise - allowed: Buttons that do enable cruise - allowed: Main button with all above combinations

test_sampling_cruise_buttons()

Test that we allow controls on recent button press, but not as button leaves sliding window

class panda.tests.safety.hyundai_common.HyundaiLongitudinalBase(methodName='runTest')

Bases: LongitudinalAccelSafetyTest

DISABLED_ECU_ACTUATION_MSG: tuple[int, int]

DISABLED_ECU_UDS_MSG: tuple[int, int]

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_button_sends()

test_cancel_button()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_disabled_ecu_alive()

If the ECU knockout failed, make sure the relay malfunction is shown

test_enable_control_allowed_from_cruise()

test_sampling_cruise_buttons()

test_set_resume_buttons()

SET and RESUME enter controls allowed on their falling edge.

test_tester_present_allowed()

Ensure tester present diagnostic message is allowed to keep ECU knocked out for longitudinal control.

panda.tests.safety.test_body module

class panda.tests.safety.test_body.TestBody(methodName='runTest')

Bases: PandaSafetyTest

TX_MSGS: list[list[int]] | None = [[592, 0], [593, 0], [848, 0], [849, 0], [1, 0], [1, 1], [1, 2], [1, 3]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_can_flasher()

test_rx_hook()

test_tx_hook()

panda.tests.safety.test_chrysler module

class panda.tests.safety.test_chrysler.TestChryslerRamDTSafety(methodName='runTest')

Bases: TestChryslerSafety

DAS_BUS = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [166, 250]}

LKAS_ACTIVE_VALUE = 2

MAX_RATE_DOWN = 6

MAX_RATE_UP = 6

MAX_TORQUE = 350

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (166,)}

TX_MSGS: list[list[int]] | None = [[177, 2], [166, 0], [250, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_chrysler.TestChryslerRamHDSafety(methodName='runTest')

Bases: TestChryslerSafety

DAS_BUS = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [629, 630]}

LKAS_ACTIVE_VALUE = 2

MAX_RATE_DOWN = 14

MAX_RATE_UP = 14

MAX_RT_DELTA = 182

MAX_TORQUE = 361

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (630,)}

TX_MSGS: list[list[int]] | None = [[629, 0], [630, 0], [570, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_chrysler.TestChryslerSafety(methodName='runTest')

Bases: PandaCarSafetyTest, MotorTorqueSteeringSafetyTest

DAS_BUS = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [658, 678]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

LKAS_ACTIVE_VALUE = 1

MAX_RATE_DOWN = 3

MAX_RATE_UP = 3

MAX_RT_DELTA = 112

MAX_TORQUE = 261

MAX_TORQUE_ERROR = 80

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (658,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0

TX_MSGS: list[list[int]] | None = [[571, 0], [658, 0], [678, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_buttons()

panda.tests.safety.test_defaults module

class panda.tests.safety.test_defaults.TestAllOutput(methodName='runTest')

Bases: TestDefaultRxHookBase

TX_MSGS: list[list[int]] | None = [[0, 0], [0, 1], [0, 2], [0, 3], [1, 0], [1, 1], [1, 2], [1, 3], [2, 0], [2, 1], [2, 2], [2, 3], [3, 0], [3, 1], [3, 2], [3, 3], [4, 0], [4, 1], [4, 2], [4, 3], [5, 0], [5, 1], [5, 2], [5, 3], [6, 0], [6, 1], [6, 2], [6, 3], [7, 0], [7, 1], [7, 2], [7, 3], [8, 0], [8, 1], [8, 2], [8, 3], [9, 0], [9, 1], [9, 2], [9, 3], [10, 0], [10, 1], [10, 2], [10, 3], [11, 0], [11, 1], [11, 2], [11, 3], [12, 0], [12, 1], [12, 2], [12, 3], [13, 0], [13, 1], [13, 2], [13, 3], [14, 0], [14, 1], [14, 2], [14, 3], [15, 0], [15, 1], [15, 2], [15, 3], [16, 0], [16, 1], [16, 2], [16, 3], [17, 0], [17, 1], [17, 2], [17, 3], [18, 0], [18, 1], [18, 2], [18, 3], [19, 0], [19, 1], [19, 2], [19, 3], [20, 0], [20, 1], [20, 2], [20, 3], [21, 0], [21, 1], [21, 2], [21, 3], [22, 0], [22, 1], [22, 2], [22, 3], [23, 0], [23, 1], [23, 2], [23, 3], [24, 0], [24, 1], [24, 2], [24, 3], [25, 0], [25, 1], [25, 2], [25, 3], [26, 0], [26, 1], [26, 2], [26, 3], [27, 0], [27, 1], [27, 2], [27, 3], [28, 0], [28, 1], [28, 2], [28, 3], [29, 0], [29, 1], [29, 2], [29, 3], [30, 0], [30, 1], [30, 2], [30, 3], [31, 0], [31, 1], [31, 2], [31, 3], [32, 0], [32, 1], [32, 2], [32, 3], [33, 0], [33, 1], [33, 2], [33, 3], [34, 0], [34, 1], [34, 2], [34, 3], [35, 0], [35, 1], [35, 2], [35, 3], [36, 0], [36, 1], [36, 2], [36, 3], [37, 0], [37, 1], [37, 2], [37, 3], [38, 0], [38, 1], [38, 2], [38, 3], [39, 0], [39, 1], [39, 2], [39, 3], [40, 0], [40, 1], [40, 2], [40, 3], [41, 0], [41, 1], [41, 2], [41, 3], [42, 0], [42, 1], [42, 2], [42, 3], [43, 0], [43, 1], [43, 2], [43, 3], [44, 0], [44, 1], [44, 2], [44, 3], [45, 0], [45, 1], [45, 2], [45, 3], [46, 0], [46, 1], [46, 2], [46, 3], [47, 0], [47, 1], [47, 2], [47, 3], [48, 0], [48, 1], [48, 2], [48, 3], [49, 0], [49, 1], [49, 2], [49, 3], [50, 0], [50, 1], [50, 2], [50, 3], [51, 0], [51, 1], [51, 2], [51, 3], [52, 0], [52, 1], [52, 2], [52, 3], [53, 0], [53, 1], [53, 2], [53, 3], [54, 0], [54, 1], [54, 2], [54, 3], [55, 0], [55, 1], [55, 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[13207, 2], [13207, 3], [13208, 0], [13208, 1], [13208, 2], [13208, 3], [13209, 0], [13209, 1], [13209, 2], [13209, 3], [13210, 0], [13210, 1], [13210, 2], [13210, 3], [13211, 0], [13211, 1], [13211, 2], [13211, 3], [13212, 0], [13212, 1], [13212, 2], [13212, 3], [13213, 0], [13213, 1], [13213, 2], [13213, 3], [13214, 0], [13214, 1], [13214, 2], [13214, 3], [13215, 0], [13215, 1], [13215, 2], [13215, 3], [13216, 0], [13216, 1], [13216, 2], [13216, 3], [13217, 0], [13217, 1], [13217, 2], [13217, 3], [13218, 0], [13218, 1], [13218, 2], [13218, 3], [13219, 0], [13219, 1], [13219, 2], [13219, 3], [13220, 0], [13220, 1], [13220, 2], [13220, 3], [13221, 0], [13221, 1], [13221, 2], [13221, 3], [13222, 0], [13222, 1], [13222, 2], [13222, 3], [13223, 0], [13223, 1], [13223, 2], [13223, 3], [13224, 0], [13224, 1], [13224, 2], [13224, 3], [13225, 0], [13225, 1], [13225, 2], [13225, 3], [13226, 0], [13226, 1], [13226, 2], [13226, 3], [13227, 0], [13227, 1], [13227, 2], [13227, 3], [13228, 0], [13228, 1], [13228, 2], [13228, 3], [13229, 0], [13229, 1], [13229, 2], [13229, 3], [13230, 0], [13230, 1], [13230, 2], [13230, 3], [13231, 0], [13231, 1], [13231, 2], [13231, 3], [13232, 0], [13232, 1], [13232, 2], [13232, 3], [13233, 0], [13233, 1], [13233, 2], [13233, 3], [13234, 0], [13234, 1], [13234, 2], [13234, 3], [13235, 0], [13235, 1], [13235, 2], [13235, 3], [13236, 0], [13236, 1], [13236, 2], [13236, 3], [13237, 0], [13237, 1], [13237, 2], [13237, 3], [13238, 0], [13238, 1], [13238, 2], [13238, 3], [13239, 0], [13239, 1], [13239, 2], [13239, 3], [13240, 0], [13240, 1], [13240, 2], [13240, 3], [13241, 0], [13241, 1], [13241, 2], [13241, 3], [13242, 0], [13242, 1], [13242, 2], [13242, 3], [13243, 0], [13243, 1], [13243, 2], [13243, 3], [13244, 0], [13244, 1], [13244, 2], [13244, 3], [13245, 0], [13245, 1], [13245, 2], [13245, 3], [13246, 0], [13246, 1], [13246, 2], [13246, 3], [13247, 0], [13247, 1], [13247, 2], [13247, 3], [13248, 0], [13248, 1], [13248, 2], [13248, 3], [13249, 0], [13249, 1], [13249, 2], [13249, 3], [13250, 0], [13250, 1], [13250, 2], [13250, 3], [13251, 0], [13251, 1], [13251, 2], [13251, 3], [13252, 0], [13252, 1], [13252, 2], [13252, 3], [13253, 0], [13253, 1], [13253, 2], [13253, 3], [13254, 0], [13254, 1], [13254, 2], [13254, 3], [13255, 0], [13255, 1], [13255, 2], [13255, 3], [13256, 0], [13256, 1], [13256, 2], [13256, 3], [13257, 0], [13257, 1], [13257, 2], [13257, 3], [13258, 0], [13258, 1], [13258, 2], [13258, 3], [13259, 0], [13259, 1], [13259, 2], [13259, 3], [13260, 0], [13260, 1], [13260, 2], [13260, 3], [13261, 0], [13261, 1], [13261, 2], [13261, 3], [13262, 0], [13262, 1], [13262, 2], [13262, 3], [13263, 0], [13263, 1], [13263, 2], [13263, 3], [13264, 0], [13264, 1], [13264, 2], [13264, 3], [13265, 0], [13265, 1], [13265, 2], [13265, 3], [13266, 0], [13266, 1], [13266, 2], [13266, 3], [13267, 0], [13267, 1], [13267, 2], [13267, 3], [13268, 0], [13268, 1], [13268, 2], [13268, 3], [13269, 0], [13269, 1], [13269, 2], [13269, 3], [13270, 0], [13270, 1], [13270, 2], [13270, 3], [13271, 0], [13271, 1], [13271, 2], [13271, 3], [13272, 0], [13272, 1], [13272, 2], [13272, 3], [13273, 0], [13273, 1], [13273, 2], [13273, 3], [13274, 0], [13274, 1], [13274, 2], [13274, 3], [13275, 0], [13275, 1], [13275, 2], [13275, 3], [13276, 0], [13276, 1], [13276, 2], [13276, 3], [13277, 0], [13277, 1], [13277, 2], [13277, 3], [13278, 0], [13278, 1], [13278, 2], [13278, 3], [13279, 0], [13279, 1], [13279, 2], [13279, 3], [13280, 0], [13280, 1], [13280, 2], [13280, 3], [13281, 0], [13281, 1], [13281, 2], [13281, 3], [13282, 0], [13282, 1], [13282, 2], [13282, 3], [13283, 0], [13283, 1], [13283, 2], [13283, 3], [13284, 0], [13284, 1], [13284, 2], [13284, 3], [13285, 0], [13285, 1], [13285, 2], [13285, 3], [13286, 0], [13286, 1], [13286, 2], [13286, 3], [13287, 0], [13287, 1], [13287, 2], [13287, 3], [13288, 0], [13288, 1], [13288, 2], [13288, 3], [13289, 0], [13289, 1], [13289, 2], [13289, 3], [13290, 0], [13290, 1], [13290, 2], [13290, 3], [13291, 0], [13291, 1], [13291, 2], [13291, 3], [13292, 0], [13292, 1], [13292, 2], [13292, 3], [13293, 0], [13293, 1], [13293, 2], [13293, 3], [13294, 0], [13294, 1], [13294, 2], [13294, 3], [13295, 0], [13295, 1], [13295, 2], [13295, 3], [13296, 0], [13296, 1], [13296, 2], [13296, 3], [13297, 0], [13297, 1], [13297, 2], [13297, 3], [13298, 0], [13298, 1], [13298, 2], [13298, 3], [13299, 0], [13299, 1], [13299, 2], [13299, 3], [13300, 0], [13300, 1], [13300, 2], [13300, 3], [13301, 0], [13301, 1], [13301, 2], [13301, 3], [13302, 0], [13302, 1], [13302, 2], [13302, 3], [13303, 0], [13303, 1], [13303, 2], [13303, 3], [13304, 0], [13304, 1], [13304, 2], [13304, 3], [13305, 0], [13305, 1], [13305, 2], [13305, 3], [13306, 0], [13306, 1], [13306, 2], [13306, 3], [13307, 0], [13307, 1], [13307, 2], [13307, 3], [13308, 0], [13308, 1], [13308, 2], [13308, 3], [13309, 0], [13309, 1], [13309, 2], [13309, 3], [13310, 0], [13310, 1], [13310, 2], [13310, 3], [13311, 0], [13311, 1], [13311, 2], [13311, 3]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_default_controls_not_allowed()

test_spam_can_buses()

test_tx_hook_on_wrong_safety_mode()

class panda.tests.safety.test_defaults.TestAllOutputPassthrough(methodName='runTest')

Bases: TestAllOutput

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_defaults.TestDefaultRxHookBase(methodName='runTest')

Bases: PandaSafetyTest

test_rx_hook()

class panda.tests.safety.test_defaults.TestNoOutput(methodName='runTest')

Bases: TestDefaultRxHookBase

TX_MSGS: list[list[int]] | None = []

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_defaults.TestSilent(methodName='runTest')

Bases: TestNoOutput

SILENT uses same hooks as NOOUTPUT

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_elm327 module

class panda.tests.safety.test_elm327.TestElm327(methodName='runTest')

Bases: TestDefaultRxHookBase

TX_MSGS: list[list[int]] | None = [[587, 0], [587, 1], [587, 2], [587, 3], [1536, 0], [1536, 1], [1536, 2], [1536, 3], [1537, 0], [1537, 1], [1537, 2], [1537, 3], [1538, 0], [1538, 1], [1538, 2], [1538, 3], [1539, 0], [1539, 1], [1539, 2], [1539, 3], [1540, 0], [1540, 1], [1540, 2], [1540, 3], [1541, 0], [1541, 1], [1541, 2], [1541, 3], [1542, 0], [1542, 1], [1542, 2], [1542, 3], [1543, 0], [1543, 1], [1543, 2], [1543, 3], [1544, 0], [1544, 1], [1544, 2], [1544, 3], [1545, 0], [1545, 1], [1545, 2], [1545, 3], [1546, 0], [1546, 1], [1546, 2], [1546, 3], [1547, 0], [1547, 1], [1547, 2], [1547, 3], [1548, 0], [1548, 1], [1548, 2], [1548, 3], [1549, 0], [1549, 1], [1549, 2], [1549, 3], [1550, 0], [1550, 1], [1550, 2], [1550, 3], [1551, 0], [1551, 1], [1551, 2], [1551, 3], [1552, 0], [1552, 1], [1552, 2], [1552, 3], [1553, 0], [1553, 1], [1553, 2], [1553, 3], [1554, 0], [1554, 1], [1554, 2], [1554, 3], [1555, 0], [1555, 1], [1555, 2], [1555, 3], [1556, 0], [1556, 1], [1556, 2], [1556, 3], [1557, 0], [1557, 1], [1557, 2], [1557, 3], [1558, 0], [1558, 1], [1558, 2], [1558, 3], [1559, 0], [1559, 1], [1559, 2], [1559, 3], [1560, 0], [1560, 1], [1560, 2], [1560, 3], [1561, 0], [1561, 1], [1561, 2], [1561, 3], [1562, 0], [1562, 1], [1562, 2], [1562, 3], [1563, 0], [1563, 1], [1563, 2], [1563, 3], [1564, 0], [1564, 1], [1564, 2], [1564, 3], [1565, 0], [1565, 1], [1565, 2], [1565, 3], [1566, 0], [1566, 1], [1566, 2], [1566, 3], [1567, 0], [1567, 1], [1567, 2], [1567, 3], [1568, 0], [1568, 1], [1568, 2], [1568, 3], [1569, 0], [1569, 1], [1569, 2], [1569, 3], [1570, 0], [1570, 1], [1570, 2], [1570, 3], [1571, 0], [1571, 1], [1571, 2], [1571, 3], [1572, 0], [1572, 1], [1572, 2], [1572, 3], [1573, 0], [1573, 1], [1573, 2], [1573, 3], [1574, 0], [1574, 1], [1574, 2], [1574, 3], [1575, 0], [1575, 1], [1575, 2], [1575, 3], [1576, 0], [1576, 1], [1576, 2], [1576, 3], [1577, 0], [1577, 1], [1577, 2], [1577, 3], [1578, 0], [1578, 1], [1578, 2], [1578, 3], [1579, 0], [1579, 1], [1579, 2], [1579, 3], [1580, 0], [1580, 1], [1580, 2], [1580, 3], [1581, 0], [1581, 1], [1581, 2], [1581, 3], [1582, 0], [1582, 1], [1582, 2], [1582, 3], [1583, 0], [1583, 1], [1583, 2], [1583, 3], [1584, 0], [1584, 1], [1584, 2], [1584, 3], [1585, 0], [1585, 1], [1585, 2], [1585, 3], [1586, 0], [1586, 1], [1586, 2], [1586, 3], [1587, 0], [1587, 1], [1587, 2], [1587, 3], [1588, 0], [1588, 1], [1588, 2], [1588, 3], [1589, 0], [1589, 1], [1589, 2], [1589, 3], [1590, 0], [1590, 1], [1590, 2], [1590, 3], [1591, 0], [1591, 1], [1591, 2], [1591, 3], [1592, 0], [1592, 1], [1592, 2], [1592, 3], [1593, 0], [1593, 1], [1593, 2], [1593, 3], [1594, 0], [1594, 1], [1594, 2], [1594, 3], [1595, 0], [1595, 1], [1595, 2], [1595, 3], [1596, 0], [1596, 1], [1596, 2], [1596, 3], [1597, 0], [1597, 1], [1597, 2], [1597, 3], [1598, 0], [1598, 1], [1598, 2], [1598, 3], [1599, 0], [1599, 1], [1599, 2], [1599, 3], [1600, 0], [1600, 1], [1600, 2], [1600, 3], [1601, 0], [1601, 1], [1601, 2], [1601, 3], [1602, 0], [1602, 1], [1602, 2], [1602, 3], [1603, 0], [1603, 1], [1603, 2], [1603, 3], [1604, 0], [1604, 1], [1604, 2], [1604, 3], [1605, 0], [1605, 1], [1605, 2], [1605, 3], [1606, 0], [1606, 1], [1606, 2], [1606, 3], [1607, 0], [1607, 1], [1607, 2], [1607, 3], [1608, 0], [1608, 1], [1608, 2], [1608, 3], [1609, 0], [1609, 1], [1609, 2], [1609, 3], [1610, 0], [1610, 1], [1610, 2], [1610, 3], [1611, 0], [1611, 1], [1611, 2], [1611, 3], [1612, 0], [1612, 1], [1612, 2], [1612, 3], [1613, 0], [1613, 1], [1613, 2], [1613, 3], [1614, 0], [1614, 1], [1614, 2], [1614, 3], [1615, 0], [1615, 1], [1615, 2], [1615, 3], [1616, 0], [1616, 1], [1616, 2], [1616, 3], [1617, 0], [1617, 1], [1617, 2], [1617, 3], [1618, 0], [1618, 1], [1618, 2], [1618, 3], [1619, 0], [1619, 1], [1619, 2], [1619, 3], [1620, 0], [1620, 1], [1620, 2], [1620, 3], [1621, 0], [1621, 1], [1621, 2], [1621, 3], [1622, 0], [1622, 1], [1622, 2], [1622, 3], [1623, 0], [1623, 1], [1623, 2], [1623, 3], [1624, 0], [1624, 1], [1624, 2], [1624, 3], [1625, 0], [1625, 1], [1625, 2], [1625, 3], [1626, 0], [1626, 1], [1626, 2], [1626, 3], [1627, 0], [1627, 1], [1627, 2], [1627, 3], [1628, 0], [1628, 1], [1628, 2], [1628, 3], [1629, 0], [1629, 1], [1629, 2], [1629, 3], [1630, 0], [1630, 1], [1630, 2], [1630, 3], [1631, 0], [1631, 1], [1631, 2], [1631, 3], [1632, 0], [1632, 1], [1632, 2], [1632, 3], [1633, 0], [1633, 1], [1633, 2], [1633, 3], [1634, 0], [1634, 1], [1634, 2], [1634, 3], [1635, 0], [1635, 1], [1635, 2], [1635, 3], [1636, 0], [1636, 1], [1636, 2], [1636, 3], [1637, 0], [1637, 1], [1637, 2], [1637, 3], [1638, 0], [1638, 1], [1638, 2], [1638, 3], [1639, 0], [1639, 1], [1639, 2], [1639, 3], [1640, 0], [1640, 1], [1640, 2], [1640, 3], [1641, 0], [1641, 1], [1641, 2], [1641, 3], [1642, 0], [1642, 1], [1642, 2], [1642, 3], [1643, 0], [1643, 1], [1643, 2], [1643, 3], [1644, 0], [1644, 1], [1644, 2], [1644, 3], [1645, 0], [1645, 1], [1645, 2], [1645, 3], [1646, 0], [1646, 1], [1646, 2], [1646, 3], [1647, 0], [1647, 1], [1647, 2], [1647, 3], 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[417005297, 2], [417005297, 3], [417005553, 0], [417005553, 1], [417005553, 2], [417005553, 3], [417018865, 0], [417018865, 1], [417018865, 2], [417018865, 3]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_tx_hook()

test_tx_hook_on_wrong_safety_mode()

panda.tests.safety.test_ford module

class panda.tests.safety.test_ford.Buttons

Bases: object

CANCEL = 0

RESUME = 1

TJA_TOGGLE = 2

class panda.tests.safety.test_ford.TestFordCANFDLongitudinalSafety(methodName='runTest')

Bases: TestFordLongitudinalSafetyBase

STEER_MESSAGE = 982

TX_MSGS: list[list[int]] | None = [[131, 0], [131, 2], [390, 0], [394, 0], [970, 0], [982, 0], [984, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_ford.TestFordCANFDStockSafety(methodName='runTest')

Bases: TestFordSafetyBase

STEER_MESSAGE = 982

TX_MSGS: list[list[int]] | None = [[131, 0], [131, 2], [394, 0], [970, 0], [982, 0], [984, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_ford.TestFordLongitudinalSafety(methodName='runTest')

Bases: TestFordLongitudinalSafetyBase

STEER_MESSAGE = 979

TX_MSGS: list[list[int]] | None = [[131, 0], [131, 2], [390, 0], [394, 0], [970, 0], [979, 0], [984, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_ford.TestFordLongitudinalSafetyBase(methodName='runTest')

Bases: TestFordSafetyBase

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [390, 394, 970, 979, 982, 984]}

INACTIVE_ACCEL = 0.0

INACTIVE_GAS = -5.0

MAX_ACCEL = 2.0

MAX_GAS = 2.0

MIN_ACCEL = -3.5

MIN_GAS = -0.5

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (390, 394, 970, 979, 982, 984)}

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_brake_safety_check()

test_gas_safety_check()

test_stock_aeb()

class panda.tests.safety.test_ford.TestFordSafetyBase(methodName='runTest')

Bases: PandaCarSafetyTest

ANGLE_RATE_BP = [5.0, 25.0, 25.0]

ANGLE_RATE_DOWN = [0.000225, 0.00015, 0.00015]

ANGLE_RATE_UP = [0.0002, 0.0001, 0.0001]

CURVATURE_ERROR_MIN_SPEED = 10.0

DEG_TO_CAN = 50000

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [394, 970, 979, 982, 984]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

MAX_CURVATURE = 0.02

MAX_CURVATURE_ERROR = 0.002

MAX_SPEED_DELTA = 2.0

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (394, 970, 979, 982, 984)}

STANDSTILL_THRESHOLD: float | None = 1

STEER_MESSAGE = 0

cnt_speed = 0

cnt_speed_2 = 0

cnt_yaw_rate = 0

packer: CANPackerPanda

safety: Panda

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_acc_buttons()

test_angle_measurements()

Tests rx hook correctly parses the curvature measurement from the vehicle speed and yaw rate

test_curvature_rate_limit_down()

test_curvature_rate_limit_up()

When the curvature error is exceeded, commanded curvature must start moving towards meas respecting rate limits. Since panda allows higher rate limits to avoid false positives, we need to allow a lower rate to move towards meas.

test_prevent_lkas_action()

test_rx_hook()

test_rx_hook_speed_mismatch()

test_steer_allowed()

class panda.tests.safety.test_ford.TestFordStockSafety(methodName='runTest')

Bases: TestFordSafetyBase

STEER_MESSAGE = 979

TX_MSGS: list[list[int]] | None = [[131, 0], [131, 2], [394, 0], [970, 0], [979, 0], [984, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_ford.checksum(msg)

panda.tests.safety.test_gm module

class panda.tests.safety.test_gm.Buttons

Bases: object

CANCEL = 6

DECEL_SET = 3

RES_ACCEL = 2

UNPRESS = 1

class panda.tests.safety.test_gm.GmLongitudinalBase(methodName='runTest')

Bases: PandaCarSafetyTest, LongitudinalGasBrakeSafetyTest

MAX_BRAKE: int | None = 400

MAX_POSSIBLE_BRAKE: int | None = 4096

MAX_POSSIBLE_GAS: int | None = 4096

PCM_CRUISE = False

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (384, 715)}

test_cancel_button()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_enable_control_allowed_from_cruise()

test_set_resume_buttons()

SET and RESUME enter controls allowed on their falling and rising edges, respectively.

class panda.tests.safety.test_gm.TestGmAscmSafety(methodName='runTest')

Bases: GmLongitudinalBase, TestGmSafetyBase

BRAKE_BUS = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}

FWD_BUS_LOOKUP: dict[int, int] = {}

INACTIVE_GAS = 1404

MAX_GAS: int | None = 3072

MIN_GAS: int = 1404

TX_MSGS: list[list[int]] | None = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0], [161, 1], [774, 1], [776, 1], [784, 1], [789, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_gm.TestGmCameraLongitudinalSafety(methodName='runTest')

Bases: GmLongitudinalBase, TestGmCameraSafetyBase

BUTTONS_BUS = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {0: [388], 2: [384, 715, 880, 789]}

INACTIVE_GAS = 1554

MAX_GAS: int | None = 3400

MIN_GAS: int = 1514

TX_MSGS: list[list[int]] | None = [[384, 0], [789, 0], [715, 0], [880, 0], [388, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_gm.TestGmCameraSafety(methodName='runTest')

Bases: TestGmCameraSafetyBase

BUTTONS_BUS = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {0: [388], 2: [384]}

TX_MSGS: list[list[int]] | None = [[384, 0], [388, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_buttons()

class panda.tests.safety.test_gm.TestGmCameraSafetyBase(methodName='runTest')

Bases: TestGmSafetyBase

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

class panda.tests.safety.test_gm.TestGmSafetyBase(methodName='runTest')

Bases: PandaCarSafetyTest, DriverTorqueSteeringSafetyTest

BRAKE_BUS = 0

BUTTONS_BUS = 0

DRIVER_TORQUE_ALLOWANCE = 65

DRIVER_TORQUE_FACTOR = 4

MAX_RATE_DOWN = 15

MAX_RATE_UP = 10

MAX_RT_DELTA = 128

MAX_TORQUE = 300

PCM_CRUISE = True

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (384,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0.311

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

panda.tests.safety.test_honda module

class panda.tests.safety.test_honda.Btn

Bases: object

CANCEL = 2

MAIN = 1

NONE = 0

RESUME = 4

SET = 3

class panda.tests.safety.test_honda.HondaBase(methodName='runTest')

Bases: PandaCarSafetyTest

BUTTONS_BUS: int | None = None

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

MAX_BRAKE = 255

PT_BUS: int | None = None

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (228, 404)}

STANDSTILL_THRESHOLD: float | None = 0

STEER_BUS: int | None = None

cnt_acc_state = 0

cnt_brake = 0

cnt_button = 0

cnt_powertrain_data = 0

cnt_speed = 0

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_disengage_on_brake()

test_steer_safety_check()

class panda.tests.safety.test_honda.HondaButtonEnableBase(methodName='runTest')

Bases: PandaCarSafetyTest

test_buttons_with_main_off()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_disengage_on_main()

test_enable_control_allowed_from_cruise()

test_main_cancel_buttons()

Both MAIN and CANCEL should exit controls immediately.

test_rx_hook()

test_set_resume_buttons()

Both SET and RES should enter controls allowed on their falling edge.

class panda.tests.safety.test_honda.HondaPcmEnableBase(methodName='runTest')

Bases: PandaCarSafetyTest

test_buttons()

Buttons should only cancel in this configuration, since our state is tied to the PCM’s cruise state.

class panda.tests.safety.test_honda.TestHondaBoschAltBrakeSafety(methodName='runTest')

Bases: HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase

Covers the Honda Bosch safety mode with stock longitudinal and an alternate brake message

class panda.tests.safety.test_honda.TestHondaBoschAltBrakeSafetyBase(methodName='runTest')

Bases: TestHondaBoschSafetyBase

Base Bosch safety test class with an alternate brake message

setUp()

Hook method for setting up the test fixture before exercising it.

test_alt_brake_rx_hook()

class panda.tests.safety.test_honda.TestHondaBoschLongSafety(methodName='runTest')

Bases: HondaButtonEnableBase, TestHondaBoschSafetyBase

Covers the Honda Bosch safety mode with longitudinal control

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [228, 229, 829, 13274, 13275]}

MAX_ACCEL = 2.0

MAX_GAS = 2000

MIN_ACCEL = -3.5

NO_GAS = -30000

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (228, 404), 1: (479,)}

STEER_BUS: int | None = 1

TX_MSGS: list[list[int]] | None = [[228, 1], [479, 1], [495, 1], [506, 1], [780, 1], [829, 1], [13274, 1], [13275, 1], [927, 1], [416985329, 1]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_brake_safety_check()

test_diagnostics()

test_gas_safety_check()

test_spam_cancel_safety_check()

class panda.tests.safety.test_honda.TestHondaBoschRadarlessAltBrakeSafety(methodName='runTest')

Bases: HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase

Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_honda.TestHondaBoschRadarlessLongSafety(methodName='runTest')

Bases: LongitudinalAccelSafetyTest, HondaButtonEnableBase, TestHondaBoschRadarlessSafetyBase

Covers the Honda Bosch Radarless safety mode with longitudinal control

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [228, 229, 829, 13274, 13275, 456, 780]}

TX_MSGS: list[list[int]] | None = [[228, 0], [829, 0], [456, 0], [780, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_spam_cancel_safety_check()

class panda.tests.safety.test_honda.TestHondaBoschRadarlessSafety(methodName='runTest')

Bases: HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase

Covers the Honda Bosch Radarless safety mode with stock longitudinal

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_honda.TestHondaBoschRadarlessSafetyBase(methodName='runTest')

Bases: TestHondaBoschSafetyBase

Base class for radarless Honda Bosch

BUTTONS_BUS: int | None = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [228, 229, 829, 13274, 13275]}

PT_BUS: int | None = 0

STEER_BUS: int | None = 0

TX_MSGS: list[list[int]] | None = [[228, 0], [662, 2], [829, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_honda.TestHondaBoschSafety(methodName='runTest')

Bases: HondaPcmEnableBase, TestHondaBoschSafetyBase

Covers the Honda Bosch safety mode with stock longitudinal

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_honda.TestHondaBoschSafetyBase(methodName='runTest')

Bases: HondaBase

BUTTONS_BUS: int | None = 1

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [228, 229, 829, 13274, 13275]}

PT_BUS: int | None = 1

STEER_BUS: int | None = 0

TX_MSGS: list[list[int]] | None = [[228, 0], [229, 0], [662, 1], [829, 0], [13274, 0], [13275, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_alt_disengage_on_brake()

test_spam_cancel_safety_check()

class panda.tests.safety.test_honda.TestHondaNidecPcmAltSafety(methodName='runTest')

Bases: TestHondaNidecPcmSafety

Covers the Honda Nidec safety mode with alt SCM messages

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_honda.TestHondaNidecPcmSafety(methodName='runTest')

Bases: HondaPcmEnableBase, TestHondaNidecSafetyBase

Covers the Honda Nidec safety mode

test_disable_control_allowed_from_cruise()

class panda.tests.safety.test_honda.TestHondaNidecSafetyBase(methodName='runTest')

Bases: HondaBase

BUTTONS_BUS: int | None = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [228, 404, 829, 780]}

MAX_GAS = 198

PT_BUS: int | None = 0

STEER_BUS: int | None = 0

TX_MSGS: list[list[int]] | None = [[228, 0], [404, 0], [506, 0], [780, 0], [829, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_acc_hud_safety_check()

test_brake_safety_check()

test_fwd_hook()

test_honda_fwd_brake_latching()

panda.tests.safety.test_hyundai module

class panda.tests.safety.test_hyundai.TestHyundaiLegacySafety(methodName='runTest')

Bases: TestHyundaiSafety

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai.TestHyundaiLegacySafetyEV(methodName='runTest')

Bases: TestHyundaiSafety

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai.TestHyundaiLegacySafetyHEV(methodName='runTest')

Bases: TestHyundaiSafety

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai.TestHyundaiLongitudinalSafety(methodName='runTest')

Bases: HyundaiLongitudinalBase, TestHyundaiSafety

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (1057, 0)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (2000, 0)

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (832, 1057)}

TX_MSGS: list[list[int]] | None = [[832, 0], [1265, 0], [1157, 0], [1056, 0], [1057, 0], [1290, 0], [905, 0], [1186, 0], [909, 0], [1155, 0], [2000, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_no_aeb_fca11()

test_no_aeb_scc12()

class panda.tests.safety.test_hyundai.TestHyundaiSafety(methodName='runTest')

Bases: HyundaiButtonBase, PandaCarSafetyTest, DriverTorqueSteeringSafetyTest, SteerRequestCutSafetyTest

DRIVER_TORQUE_ALLOWANCE = 50

DRIVER_TORQUE_FACTOR = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [832, 1157]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

MAX_INVALID_STEERING_FRAMES: int = 2

MAX_RATE_DOWN = 7

MAX_RATE_UP = 3

MAX_RT_DELTA = 112

MAX_TORQUE = 384

MIN_VALID_STEERING_FRAMES: int = 89

MIN_VALID_STEERING_RT_INTERVAL: int = 810000

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (832,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 12

TX_MSGS: list[list[int]] | None = [[832, 0], [1265, 0], [1157, 0]]

cnt_brake = 0

cnt_button = 0

cnt_cruise = 0

cnt_gas = 0

cnt_speed = 0

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai.TestHyundaiSafetyAltLimits(methodName='runTest')

Bases: TestHyundaiSafety

MAX_RATE_DOWN = 3

MAX_RATE_UP = 2

MAX_TORQUE = 270

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai.TestHyundaiSafetyCameraSCC(methodName='runTest')

Bases: TestHyundaiSafety

BUTTONS_TX_BUS = 2

SCC_BUS = 2

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_hyundai.checksum(msg)

panda.tests.safety.test_hyundai_canfd module

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdBase(methodName='runTest')

Bases: HyundaiButtonBase, PandaCarSafetyTest, DriverTorqueSteeringSafetyTest, SteerRequestCutSafetyTest

BUTTONS_TX_BUS = 1

DRIVER_TORQUE_ALLOWANCE = 250

DRIVER_TORQUE_FACTOR = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [80, 676]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

GAS_MSG = ('', '')

MAX_INVALID_STEERING_FRAMES: int = 2

MAX_RATE_DOWN = 3

MAX_RATE_UP = 2

MAX_RT_DELTA = 112

MAX_TORQUE = 270

MIN_VALID_STEERING_FRAMES: int = 89

MIN_VALID_STEERING_RT_INTERVAL: int = 810000

PT_BUS = 0

RT_INTERVAL = 250000

SCC_BUS = 2

STANDSTILL_THRESHOLD: float | None = 12

STEER_BUS = 0

STEER_MSG = ''

TX_MSGS: list[list[int]] | None = [[80, 0], [463, 1], [676, 0]]

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1(methodName='runTest')

Bases: TestHyundaiCanfdHDA1Base

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons(methodName='runTest')

Bases: TestHyundaiCanfdHDA1Base

SAFETY_PARAM: int

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_0(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR_BRAKE_ALT', 'ACCELERATOR_PEDAL_PRESSED')

SAFETY_PARAM: int = 4

SCC_BUS = 0

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_1(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 5

SCC_BUS = 0

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_2(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR_ALT', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 6

SCC_BUS = 0

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_3(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR_BRAKE_ALT', 'ACCELERATOR_PEDAL_PRESSED')

SAFETY_PARAM: int = 8

SCC_BUS = 2

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_4(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 9

SCC_BUS = 2

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1AltButtons_5(methodName='runTest')

Bases: TestHyundaiCanfdHDA1AltButtons

GAS_MSG = ('ACCELERATOR_ALT', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 10

SCC_BUS = 2

setUp()

Hook method for setting up the test fixture before exercising it.

test_button_sends()

No button send allowed with alt buttons.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1Base(methodName='runTest')

Bases: TestHyundaiCanfdBase

BUTTONS_TX_BUS = 2

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [298, 480]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (298,)}

SAFETY_PARAM: int

STEER_MSG = 'LFA'

TX_MSGS: list[list[int]] | None = [[298, 0], [416, 1], [463, 0], [480, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1Long(methodName='runTest')

Bases: HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (416, 0)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (1840, 1)

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [298, 480, 416]}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (298, 416)}

SCC_BUS = 2

STEER_BUS = 0

STEER_MSG = 'LFA'

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1Long_0(methodName='runTest')

Bases: TestHyundaiCanfdHDA1Long

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (416, 0)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (1840, 1)

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [298, 480, 416]}

GAS_MSG = ('ACCELERATOR_BRAKE_ALT', 'ACCELERATOR_PEDAL_PRESSED')

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (298, 416)}

SAFETY_PARAM: int = 4

SCC_BUS = 2

STEER_BUS = 0

STEER_MSG = 'LFA'

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_tester_present_allowed()

Ensure tester present diagnostic message is allowed to keep ECU knocked out for longitudinal control.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1Long_1(methodName='runTest')

Bases: TestHyundaiCanfdHDA1Long

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (416, 0)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (1840, 1)

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [298, 480, 416]}

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (298, 416)}

SAFETY_PARAM: int = 5

SCC_BUS = 2

STEER_BUS = 0

STEER_MSG = 'LFA'

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_tester_present_allowed()

Ensure tester present diagnostic message is allowed to keep ECU knocked out for longitudinal control.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1Long_2(methodName='runTest')

Bases: TestHyundaiCanfdHDA1Long

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (416, 0)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (1840, 1)

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [298, 480, 416]}

GAS_MSG = ('ACCELERATOR_ALT', 'ACCELERATOR_PEDAL')

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (298, 416)}

SAFETY_PARAM: int = 6

SCC_BUS = 2

STEER_BUS = 0

STEER_MSG = 'LFA'

setUp()

Hook method for setting up the test fixture before exercising it.

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_tester_present_allowed()

Ensure tester present diagnostic message is allowed to keep ECU knocked out for longitudinal control.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_0(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR_BRAKE_ALT', 'ACCELERATOR_PEDAL_PRESSED')

SAFETY_PARAM: int = 4

SCC_BUS = 0

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_1(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 5

SCC_BUS = 0

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_2(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR_ALT', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 6

SCC_BUS = 0

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_3(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR_BRAKE_ALT', 'ACCELERATOR_PEDAL_PRESSED')

SAFETY_PARAM: int = 8

SCC_BUS = 2

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_4(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 9

SCC_BUS = 2

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA1_5(methodName='runTest')

Bases: TestHyundaiCanfdHDA1

GAS_MSG = ('ACCELERATOR_ALT', 'ACCELERATOR_PEDAL')

SAFETY_PARAM: int = 10

SCC_BUS = 2

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA2EV(methodName='runTest')

Bases: TestHyundaiCanfdBase

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [80, 676]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

PT_BUS = 1

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (80,)}

SCC_BUS = 1

STEER_MSG = 'LKAS'

TX_MSGS: list[list[int]] | None = [[80, 0], [463, 1], [676, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA2EVAltSteering(methodName='runTest')

Bases: TestHyundaiCanfdBase

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [272, 866]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

PT_BUS = 1

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (272,)}

SCC_BUS = 1

STEER_MSG = 'LKAS_ALT'

TX_MSGS: list[list[int]] | None = [[272, 0], [463, 1], [866, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_hyundai_canfd.TestHyundaiCanfdHDA2LongEV(methodName='runTest')

Bases: HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV

DISABLED_ECU_ACTUATION_MSG: tuple[int, int] = (416, 1)

DISABLED_ECU_UDS_MSG: tuple[int, int] = (1840, 1)

GAS_MSG = ('ACCELERATOR', 'ACCELERATOR_PEDAL')

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (80,), 1: (416,)}

STEER_BUS = 1

STEER_MSG = 'LFA'

TX_MSGS: list[list[int]] | None = [[80, 0], [463, 1], [676, 0], [81, 0], [1840, 1], [298, 1], [352, 1], [480, 1], [416, 1], [490, 1], [512, 1], [837, 1], [474, 1]]

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_mazda module

class panda.tests.safety.test_mazda.TestMazdaSafety(methodName='runTest')

Bases: PandaCarSafetyTest, DriverTorqueSteeringSafetyTest

DRIVER_TORQUE_ALLOWANCE = 15

DRIVER_TORQUE_FACTOR = 1

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [579, 1088]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

MAX_RATE_DOWN = 25

MAX_RATE_UP = 10

MAX_RT_DELTA = 300

MAX_TORQUE = 800

NO_STEER_REQ_BIT = True

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (579,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0.1

TX_MSGS: list[list[int]] | None = [[579, 0], [157, 0], [1088, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_buttons()

panda.tests.safety.test_nissan module

class panda.tests.safety.test_nissan.TestNissanLeafSafety(methodName='runTest')

Bases: TestNissanSafety

setUp()

Hook method for setting up the test fixture before exercising it.

test_acc_buttons()

class panda.tests.safety.test_nissan.TestNissanSafety(methodName='runTest')

Bases: PandaCarSafetyTest, AngleSteeringSafetyTest

ANGLE_RATE_BP: list[float] = [0.0, 5.0, 15.0]

ANGLE_RATE_DOWN: list[float] = [5.0, 3.5, 0.4]

ANGLE_RATE_UP: list[float] = [5.0, 0.8, 0.15]

CRUISE_BUS = 2

DEG_TO_CAN: float = 100

EPS_BUS = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {0: [640], 2: [361, 689, 1228]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

GAS_PRESSED_THRESHOLD = 3

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (361,)}

STANDSTILL_THRESHOLD: float | None = 0

TX_MSGS: list[list[int]] | None = [[361, 0], [689, 0], [1228, 0], [523, 2], [640, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_acc_buttons()

class panda.tests.safety.test_nissan.TestNissanSafetyAltEpsBus(methodName='runTest')

Bases: TestNissanSafety

Altima uses different buses

CRUISE_BUS = 1

EPS_BUS = 1

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_subaru module

class panda.tests.safety.test_subaru.SubaruMsg(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Brake_Status = 316

CruiseControl = 576

ES_Brake = 544

ES_DashStatus = 801

ES_Distance = 545

ES_HighBeamAssist = 289

ES_Infotainment = 803

ES_LKAS = 290

ES_LKAS_ANGLE = 292

ES_LKAS_State = 802

ES_STATIC_1 = 554

ES_STATIC_2 = 805

ES_Status = 546

ES_UDS_Request = 1927

Steering_Torque = 281

Throttle = 64

Wheel_Speeds = 314

class panda.tests.safety.test_subaru.TestSubaruGen1LongitudinalSafety(methodName='runTest')

Bases: TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase

FLAGS = 2

TX_MSGS: list[list[int]] | None = [[SubaruMsg.ES_LKAS, 0], [SubaruMsg.ES_Distance, 0], [SubaruMsg.ES_DashStatus, 0], [SubaruMsg.ES_LKAS_State, 0], [SubaruMsg.ES_Infotainment, 0], [SubaruMsg.ES_Brake, 0], [SubaruMsg.ES_Status, 0]]

class panda.tests.safety.test_subaru.TestSubaruGen1TorqueStockLongitudinalSafety(methodName='runTest')

Bases: TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase

FLAGS = 0

TX_MSGS: list[list[int]] | None = [[SubaruMsg.ES_LKAS, 0], [SubaruMsg.ES_Distance, 0], [SubaruMsg.ES_DashStatus, 0], [SubaruMsg.ES_LKAS_State, 0], [SubaruMsg.ES_Infotainment, 0]]

class panda.tests.safety.test_subaru.TestSubaruGen2LongitudinalSafety(methodName='runTest')

Bases: TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase

FLAGS = 3

TX_MSGS: list[list[int]] | None = [[SubaruMsg.ES_LKAS, 0], [SubaruMsg.ES_Distance, 1], [SubaruMsg.ES_DashStatus, 0], [SubaruMsg.ES_LKAS_State, 0], [SubaruMsg.ES_Infotainment, 0], [SubaruMsg.ES_Brake, 1], [SubaruMsg.ES_Status, 1], [SubaruMsg.ES_UDS_Request, 2], [SubaruMsg.ES_HighBeamAssist, 0], [SubaruMsg.ES_STATIC_1, 0], [SubaruMsg.ES_STATIC_2, 0]]

test_es_uds_message()

class panda.tests.safety.test_subaru.TestSubaruGen2TorqueSafetyBase(methodName='runTest')

Bases: TestSubaruTorqueSafetyBase

ALT_CAM_BUS = 1

ALT_MAIN_BUS = 1

MAX_RATE_DOWN = 40

MAX_RATE_UP = 40

MAX_TORQUE = 1000

class panda.tests.safety.test_subaru.TestSubaruGen2TorqueStockLongitudinalSafety(methodName='runTest')

Bases: TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase

FLAGS = 1

TX_MSGS: list[list[int]] | None = [[SubaruMsg.ES_LKAS, 0], [SubaruMsg.ES_Distance, 1], [SubaruMsg.ES_DashStatus, 0], [SubaruMsg.ES_LKAS_State, 0], [SubaruMsg.ES_Infotainment, 0]]

class panda.tests.safety.test_subaru.TestSubaruLongitudinalSafetyBase(methodName='runTest')

Bases: TestSubaruSafetyBase, LongitudinalGasBrakeSafetyTest

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_Brake, SubaruMsg.ES_Distance, SubaruMsg.ES_Status, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}

INACTIVE_GAS = 1818

MAX_BRAKE: int | None = 600

MAX_GAS: int | None = 3400

MAX_POSSIBLE_BRAKE: int | None = 65536

MAX_POSSIBLE_GAS: int | None = 8192

MAX_POSSIBLE_RPM = 8192

MAX_RPM = 3600

MIN_BRAKE: int = 0

MIN_GAS: int = 808

MIN_RPM = 0

test_rpm_safety_check()

class panda.tests.safety.test_subaru.TestSubaruSafetyBase(methodName='runTest')

Bases: PandaCarSafetyTest

ALT_CAM_BUS = 2

ALT_MAIN_BUS = 0

DEG_TO_CAN = 100

DRIVER_TORQUE_ALLOWANCE = 60

DRIVER_TORQUE_FACTOR = 50

FLAGS = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

INACTIVE_GAS = 1818

MAX_RT_DELTA = 940

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (SubaruMsg.ES_LKAS,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_subaru.TestSubaruStockLongitudinalSafetyBase(methodName='runTest')

Bases: TestSubaruSafetyBase

test_cancel_message()

class panda.tests.safety.test_subaru.TestSubaruTorqueSafetyBase(methodName='runTest')

Bases: TestSubaruSafetyBase, DriverTorqueSteeringSafetyTest, SteerRequestCutSafetyTest

MAX_INVALID_STEERING_FRAMES: int = 1

MAX_RATE_DOWN = 70

MAX_RATE_UP = 50

MAX_TORQUE = 2047

MIN_VALID_STEERING_FRAMES: int = 7

MIN_VALID_STEERING_RT_INTERVAL: int = 144000

panda.tests.safety.test_subaru.fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS)

panda.tests.safety.test_subaru.gen2_long_additional_tx_msgs()

panda.tests.safety.test_subaru.lkas_tx_msgs(alt_bus, lkas_msg=SubaruMsg.ES_LKAS)

panda.tests.safety.test_subaru.long_tx_msgs(alt_bus)

panda.tests.safety.test_subaru_preglobal module

class panda.tests.safety.test_subaru_preglobal.TestSubaruPreglobalReversedDriverTorqueSafety(methodName='runTest')

Bases: TestSubaruPreglobalSafety

DBC = 'subaru_outback_2019_generated'

FLAGS = 1

class panda.tests.safety.test_subaru_preglobal.TestSubaruPreglobalSafety(methodName='runTest')

Bases: PandaCarSafetyTest, DriverTorqueSteeringSafetyTest

DBC = 'subaru_outback_2015_generated'

DRIVER_TORQUE_ALLOWANCE = 75

DRIVER_TORQUE_FACTOR = 10

FLAGS = 0

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [353, 356]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

MAX_RATE_DOWN = 70

MAX_RATE_UP = 50

MAX_RT_DELTA = 940

MAX_TORQUE = 2047

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (356,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0

TX_MSGS: list[list[int]] | None = [[353, 0], [356, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_tesla module

class panda.tests.safety.test_tesla.CONTROL_LEVER_STATE

Bases: object

DN_1ST = 32

DN_2ND = 8

FWD = 1

IDLE = 0

RWD = 2

UP_1ST = 16

UP_2ND = 4

class panda.tests.safety.test_tesla.TestTeslaChassisLongitudinalSafety(methodName='runTest')

Bases: TestTeslaLongitudinalSafety

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [697, 1160]}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (1160,)}

TX_MSGS: list[list[int]] | None = [[1160, 0], [69, 0], [69, 2], [697, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_tesla.TestTeslaLongitudinalSafety(methodName='runTest')

Bases: TestTeslaSafety

setUp()

Hook method for setting up the test fixture before exercising it.

test_acc_accel_limits()

test_no_aeb()

test_stock_aeb_passthrough()

class panda.tests.safety.test_tesla.TestTeslaPTLongitudinalSafety(methodName='runTest')

Bases: TestTeslaLongitudinalSafety

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [703]}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (703,)}

TX_MSGS: list[list[int]] | None = [[703, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_tesla.TestTeslaRavenSteeringSafety(methodName='runTest')

Bases: TestTeslaSteeringSafety

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_tesla.TestTeslaSafety(methodName='runTest')

Bases: PandaCarSafetyTest

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

GAS_PRESSED_THRESHOLD = 3

STANDSTILL_THRESHOLD: float | None = 0

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_tesla.TestTeslaSteeringSafety(methodName='runTest')

Bases: TestTeslaSafety, AngleSteeringSafetyTest

ANGLE_RATE_BP: list[float] = [0.0, 5.0, 15.0]

ANGLE_RATE_DOWN: list[float] = [10.0, 7.0, 0.8]

ANGLE_RATE_UP: list[float] = [10.0, 1.6, 0.3]

DEG_TO_CAN: float = 10

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [1160]}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (1160,)}

TX_MSGS: list[list[int]] | None = [[1160, 0], [69, 0], [69, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_acc_buttons()

FWD (cancel) always allowed.

panda.tests.safety.test_toyota module

class panda.tests.safety.test_toyota.TestToyotaAltBrakeSafety(methodName='runTest')

Bases: TestToyotaSafetyTorque

setUp()

Hook method for setting up the test fixture before exercising it.

test_lta_steer_cmd()

class panda.tests.safety.test_toyota.TestToyotaSafetyAngle(methodName='runTest')

Bases: TestToyotaSafetyBase, AngleSteeringSafetyTest

ANGLE_RATE_BP: list[float] = [5.0, 25.0, 25.0]

ANGLE_RATE_DOWN: list[float] = [0.36, 0.26, 0.26]

ANGLE_RATE_UP: list[float] = [0.3, 0.15, 0.15]

DEG_TO_CAN: float = 17.452007

MAX_LTA_ANGLE = 94.9461

MAX_LTA_DRIVER_TORQUE = 150

MAX_MEAS_TORQUE = 1500

setUp()

Hook method for setting up the test fixture before exercising it.

test_angle_cmd_when_enabled(max_angle=None)

test_angle_measurements()

• Tests angle meas quality flag dictates whether angle measurement is parsed, and if rx is valid

• Tests rx hook correctly clips the angle measurement, since it is to be compared to LTA cmd when inactive

test_lka_steer_cmd()

test_lta_steer_cmd()

Tests the LTA steering command message controls_allowed: * STEER_REQUEST and STEER_REQUEST_2 do not mismatch * TORQUE_WIND_DOWN is only set to 0 or 100 when STEER_REQUEST and STEER_REQUEST_2 are both 1 * Full torque messages are blocked if either EPS torque or driver torque is above the threshold

not controls_allowed: * STEER_REQUEST, STEER_REQUEST_2, and TORQUE_WIND_DOWN are all 0

test_steering_angle_measurements(max_angle=None)

class panda.tests.safety.test_toyota.TestToyotaSafetyBase(methodName='runTest')

Bases: PandaCarSafetyTest, LongitudinalAccelSafetyTest

EPS_SCALE = 73

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [740, 1042, 401, 835]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (740, 835)}

STANDSTILL_THRESHOLD: float | None = 0

TX_MSGS: list[list[int]] | None = [[740, 0], [401, 0], [1042, 0], [835, 0], [466, 0], [643, 0], [742, 0], [743, 0], [830, 0], [836, 0], [869, 0], [870, 0], [1227, 0], [296, 1], [321, 1], [352, 1], [353, 1], [1136, 1], [1041, 0], [1872, 0]]

packer: CANPackerPanda

safety: Panda

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_block_aeb(stock_longitudinal: bool = False)

test_diagnostics(stock_longitudinal: bool = False)

test_lta_steer_cmd()

test_rx_hook()

class panda.tests.safety.test_toyota.TestToyotaSafetyTorque(methodName='runTest')

Bases: TestToyotaSafetyBase, MotorTorqueSteeringSafetyTest, SteerRequestCutSafetyTest

MAX_INVALID_STEERING_FRAMES: int = 1

MAX_RATE_DOWN = 25

MAX_RATE_UP = 15

MAX_RT_DELTA = 450

MAX_TORQUE = 1500

MAX_TORQUE_ERROR = 350

MIN_VALID_STEERING_FRAMES: int = 18

MIN_VALID_STEERING_RT_INTERVAL: int = 170000

RT_INTERVAL = 250000

TORQUE_MEAS_TOLERANCE = 1

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_toyota.TestToyotaStockLongitudinalAngle(methodName='runTest')

Bases: TestToyotaStockLongitudinalBase, TestToyotaSafetyAngle

setUp()

Hook method for setting up the test fixture before exercising it.

class panda.tests.safety.test_toyota.TestToyotaStockLongitudinalBase(methodName='runTest')

Bases: TestToyotaSafetyBase

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [740, 1042, 401]}

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (740,)}

TX_MSGS: list[list[int]] | None = [[740, 0], [401, 0], [1042, 0], [835, 0], [466, 0]]

test_acc_cancel()

Regardless of controls allowed, never allow ACC_CONTROL if cancel bit isn’t set

test_accel_actuation_limits(stock_longitudinal=True)

test_block_aeb(stock_longitudinal: bool = True)

test_diagnostics(stock_longitudinal: bool = True)

class panda.tests.safety.test_toyota.TestToyotaStockLongitudinalTorque(methodName='runTest')

Bases: TestToyotaStockLongitudinalBase, TestToyotaSafetyTorque

setUp()

Hook method for setting up the test fixture before exercising it.

panda.tests.safety.test_volkswagen_mqb module

class panda.tests.safety.test_volkswagen_mqb.TestVolkswagenMqbLongSafety(methodName='runTest')

Bases: TestVolkswagenMqbSafety

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {0: [159], 2: [294, 919, 780, 290, 302]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

INACTIVE_ACCEL = 3.01

TX_MSGS: list[list[int]] | None = [[294, 0], [919, 0], [159, 2], [780, 0], [290, 0], [302, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_accel_safety_check()

test_cancel_button()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_enable_control_allowed_from_cruise()

test_main_switch()

test_set_and_resume_buttons()

class panda.tests.safety.test_volkswagen_mqb.TestVolkswagenMqbSafety(methodName='runTest')

Bases: PandaCarSafetyTest, DriverTorqueSteeringSafetyTest

DRIVER_TORQUE_ALLOWANCE = 80

DRIVER_TORQUE_FACTOR = 3

MAX_RATE_DOWN = 10

MAX_RATE_UP = 4

MAX_RT_DELTA = 75

MAX_TORQUE = 300

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (294,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_redundant_brake_signals()

test_torque_measurements()

class panda.tests.safety.test_volkswagen_mqb.TestVolkswagenMqbStockSafety(methodName='runTest')

Bases: TestVolkswagenMqbSafety

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {0: [159], 2: [294, 919]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

TX_MSGS: list[list[int]] | None = [[294, 0], [919, 0], [159, 2], [299, 0], [299, 2]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_spam_cancel_safety_check()

panda.tests.safety.test_volkswagen_pq module

class panda.tests.safety.test_volkswagen_pq.TestVolkswagenPqLongSafety(methodName='runTest')

Bases: TestVolkswagenPqSafety, LongitudinalAccelSafetyTest

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [210, 1470, 872, 1386]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

INACTIVE_ACCEL: float = 3.01

TX_MSGS: list[list[int]] | None = [[210, 0], [1470, 0], [872, 0], [1386, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_cancel_button()

test_cruise_engaged_prev()

test_disable_control_allowed_from_cruise()

test_enable_control_allowed_from_cruise()

test_main_switch()

test_set_and_resume_buttons()

test_torque_cmd_enable_variants()

class panda.tests.safety.test_volkswagen_pq.TestVolkswagenPqSafety(methodName='runTest')

Bases: PandaCarSafetyTest, DriverTorqueSteeringSafetyTest

DRIVER_TORQUE_ALLOWANCE = 80

DRIVER_TORQUE_FACTOR = 3

MAX_RATE_DOWN = 10

MAX_RATE_UP = 6

MAX_RT_DELTA = 113

MAX_TORQUE = 300

RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {0: (210,)}

RT_INTERVAL = 250000

STANDSTILL_THRESHOLD: float | None = 0

cruise_engaged = False

classmethod setUpClass()

Hook method for setting up class fixture before running tests in the class.

test_torque_measurements()

class panda.tests.safety.test_volkswagen_pq.TestVolkswagenPqStockSafety(methodName='runTest')

Bases: TestVolkswagenPqSafety

FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {2: [210, 1470]}

FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}

TX_MSGS: list[list[int]] | None = [[210, 0], [906, 0], [906, 2], [1470, 0]]

setUp()

Hook method for setting up the test fixture before exercising it.

test_spam_cancel_safety_check()

Module contents