def _send_gas_msg(self, gas):
to_send = make_msg(0, 0x2C1)
to_send[0].RDHR = (gas & 0xFF) << 16
return to_send
def _speed_msg(self, speed): to_send = make_msg(0, 902) to_send[0].RDLR = speed & 0x3FFF; to_send[0].RDHR = (speed & 0x3FFF) << 16; return to_send
def _torque_msg(self, torque): to_send = make_msg(0, 832) to_send[0].RDLR = (torque + 1024) << 16 return to_send
def test_disable_control_allowed_from_cruise(self): to_push = make_msg(0, 1057) self.safety.set_controls_allowed(1) self.safety.safety_rx_hook(to_push) self.assertFalse(self.safety.get_controls_allowed())
def _gas_msg(self, val): to_send = make_msg(0, 608) to_send[0].RDHR = (val & 0x3) << 30; return to_send
def _alt_brake_msg(self, brake):
to_send = make_msg(0, 0x1BE)
to_send[0].RDLR = 0x10 if brake else 0
return to_send
def _send_steer_msg(self, steer):
to_send = make_msg(0, 0xE4, 6)
to_send[0].RDLR = steer
return to_send
def _gas_msg(self, gas):
to_send = make_msg(0, 308)
to_send[0].RDHR = (gas & 0x7F) << 8
to_send[0].RDHR |= (self.cnt_gas % 16) << 20
self.__class__.cnt_gas += 1
return to_send
def _gas_msg(self, gas):
to_send = make_msg(0, 0x121)
to_send[0].RDLR = (gas & 0xFF) << 12
return to_send
def _torque_msg(self, torque):
to_send = make_msg(0, 0x292)
to_send[0].RDLR = ((torque + 1024) >> 8) + ((
(torque + 1024) & 0xff) << 8)
return to_send
def _speed_msg(self, speed):
speed = int(speed / 0.071028)
to_send = make_msg(0, 514, 4)
to_send[0].RDLR = ((speed & 0xFF0) >> 4) + ((speed & 0xF) << 12) + \
((speed & 0xFF0) << 12) + ((speed & 0xF) << 28)
return to_send
def _accel_msg(self, accel):
to_send = make_msg(0, 0x343)
a = twos_comp(accel, 16)
to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
return to_send
def _torque_msg(self, torque):
t = twos_comp(torque, 16)
to_send = make_msg(0, 0x2E4)
to_send[0].RDLR = t | ((t & 0xFF) << 16)
return to_send
def _pcm_cruise_msg(self, cruise_on):
to_send = make_msg(0, 0x1D2)
to_send[0].RDLR = cruise_on << 5
to_send[0].RDHR = to_send[0].RDHR | (
toyota_checksum(to_send[0], 0x1D2, 8) << 24)
return to_send
def _speed_msg(self, speed):
to_send = make_msg(0, 0x1a0)
speed = int(speed / 0.103)
to_send[0].RDLR = (speed & 0xFFF)
return to_send
def _button_msg(self, bit):
to_send = make_msg(2, 0x12B)
to_send[0].RDLR = 1 << bit
return to_send
def _brake_msg(self, brake):
to_send = make_msg(0, 168)
to_send[0].RDHR = (brake * 0x3) << (61 - 32)
return to_send
def test_enable_control_allowed_from_cruise(self):
to_push = make_msg(0, 0x122)
to_push[0].RDHR = 0x30000000
self.safety.safety_rx_hook(to_push)
self.assertTrue(self.safety.get_controls_allowed())
def _send_brake_msg(self, brake):
to_send = make_msg(0, 0x1FA)
to_send[0].RDLR = ((brake & 0x3) << 14) | ((brake & 0x3FF) >> 2)
return to_send
def _lkas_state_msg(self, state):
to_send = make_msg(0, 0x1b6)
to_send[0].RDHR = (state & 0x1) << 6
return to_send
def _interceptor_msg(self, gas, addr):
to_send = make_msg(0, addr, 6)
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
((gas & 0xff) << 24) | ((gas & 0xff00) << 8)
return to_send
def _speed_msg(self, speed):
to_send = make_msg(0, 0x29a)
speed = int(speed / 0.00555 * 3.6)
to_send[0].RDLR = ((speed & 0xFF) << 24) | ((speed & 0xFF00) << 8)
return to_send
def _button_msg(self, buttons): to_send = make_msg(0, 1265) to_send[0].RDLR = buttons return to_send
def _brake_msg(self, brake):
to_send = make_msg(1, 0x454)
to_send[0].RDLR = ((brake & 0x1) << 23)
return to_send
def _brake_msg(self, brake): to_send = make_msg(0, 916) to_send[0].RDHR = brake << 23; return to_send
def _send_gas_cmd(self, gas):
to_send = make_msg(0, 0x15c)
to_send[0].RDHR = ((gas & 0x3fc) << 6) | ((gas & 0x3) << 22)
return to_send
def _torque_driver_msg(self, torque): to_send = make_msg(0, 897) to_send[0].RDLR = (torque + 2048) << 11 return to_send
def _acc_button_cmd(self, buttons):
to_send = make_msg(2, 0x20b)
to_send[0].RDLR = (buttons << 8)
return to_send
def test_enable_control_allowed_from_cruise(self): to_push = make_msg(0, 1057) to_push[0].RDLR = 1 << 13 self.safety.safety_rx_hook(to_push) self.assertTrue(self.safety.get_controls_allowed())
def _brake_msg(self, brake):
to_send = make_msg(0, MSG_MOTOR_2)
to_send[0].RDLR = (0x1 << 16) if brake else 0
# since this siganl's used for engagement status, preserve current state
to_send[0].RDLR |= (self.safety.get_controls_allowed() & 0x3) << 22
return to_send