def test_startup_alert(self, expected_event, car_model, toggle_enabled,
fw_versions):
# TODO: this should be done without any real sockets
controls_sock = messaging.sub_sock("controlsState")
pm = messaging.PubMaster(['can', 'pandaStates'])
params = Params()
params.clear_all()
params.put_bool("Passive", False)
params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("CommunityFeaturesToggle", toggle_enabled)
# Build capnn version of FW array
if fw_versions is not None:
car_fw = []
cp = car.CarParams.new_message()
for ecu, addr, subaddress, version in fw_versions:
f = car.CarParams.CarFw.new_message()
f.ecu = ecu
f.address = addr
f.fwVersion = version
if subaddress is not None:
f.subAddress = subaddress
car_fw.append(f)
cp.carVin = "1" * 17
cp.carFw = car_fw
params.put("CarParamsCache", cp.to_bytes())
time.sleep(2) # wait for controlsd to be ready
msg = messaging.new_message('pandaStates', 1)
msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
pm.send('pandaStates', msg)
# fingerprint
if (car_model is None) or (fw_versions is not None):
finger = {addr: 1 for addr in range(1, 100)}
else:
finger = _FINGERPRINTS[car_model][0]
for _ in range(1000):
msgs = [[addr, 0, b'\x00' * length, 0]
for addr, length in finger.items()]
pm.send('can', can_list_to_can_capnp(msgs))
time.sleep(0.01)
msgs = messaging.drain_sock(controls_sock)
if len(msgs):
event_name = msgs[0].controlsState.alertType.split("/")[0]
self.assertEqual(
EVENT_NAME[expected_event], event_name,
f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
)
break
else:
self.fail(f"failed to fingerprint {car_model}")
def can_function(pm, speed, angle, idx, cruise_button, is_engaged, left_blinker, right_blinker):
msg = []
# *** powertrain bus ***
speed = speed * 3.6 # convert m/s to kph
msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
"WHEEL_SPEED_FL": speed,
"WHEEL_SPEED_FR": speed,
"WHEEL_SPEED_RL": speed,
"WHEEL_SPEED_RR": speed
}, -1))
msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
values = {"COUNTER_PEDAL": idx & 0xF}
checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
values["CHECKSUM_PEDAL"] = checksum
msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1, "LEFT_BLINKER": left_blinker, "RIGHT_BLINKER": right_blinker}, idx))
msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
# *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
# *** radar bus ***
if idx % 5 == 0:
msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
for i in range(16):
msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
# fill in the rest for fingerprint
done = set([x[0] for x in msg])
for k, v in FINGERPRINTS[CAR.CIVIC][0].items():
if k not in done and k not in [0xE4, 0x194]:
msg.append([k, 0, b'\x00'*v, 0])
pm.send('can', can_list_to_can_capnp(msg))
def test_startup_alert(self, expected_event, car, toggle_enabled):
# TODO: this should be done without any real sockets
controls_sock = messaging.sub_sock("controlsState")
pm = messaging.PubMaster(['can', 'health'])
params = Params()
params.clear_all()
params.put("Passive", b"0")
params.put("OpenpilotEnabledToggle", b"1")
params.put("CommunityFeaturesToggle", b"1" if toggle_enabled else b"0")
time.sleep(2) # wait for controlsd to be ready
health = messaging.new_message('health')
health.health.hwType = log.HealthData.HwType.uno
pm.send('health', health)
# fingerprint
if car is None:
finger = {addr: 1 for addr in range(1, 100)}
else:
finger = _FINGERPRINTS[car][0]
for _ in range(500):
msgs = [[addr, 0, b'\x00' * length, 0]
for addr, length in finger.items()]
pm.send('can', can_list_to_can_capnp(msgs))
time.sleep(0.01)
msgs = messaging.drain_sock(controls_sock)
if len(msgs):
event_name = msgs[0].controlsState.alertType.split("/")[0]
self.assertEqual(
EVENT_NAME[expected_event], event_name,
f"expected {EVENT_NAME[expected_event]} for '{car}', got {event_name}"
)
break
else:
self.fail(f"failed to fingerprint {car}")
def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
msg = []
msg.append(packer.make_can_msg("PCM_CRUISE_2", 0, {"SET_SPEED": speed, "MAIN_ON": 1}, -1))
msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0,
{"WHEEL_SPEED_FL": speed,
"WHEEL_SPEED_FR": speed,
"WHEEL_SPEED_RL": speed,
"WHEEL_SPEED_RR": speed}, -1))
if os.path.exists('/tmp/op_lc'):
msg.append(packer.make_can_msg("STEERING_LEVERS", 0, {"TURN_SIGNALS": 2}, -1))
msg.append(packer.make_can_msg("STEER_ANGLE_SENSOR", 0, {"STEER_ANGLE": angle_to_sangle(angle)}, -1))
msg.append(packer.make_can_msg("STEER_TORQUE_SENSOR", 0, {"STEER_ANGLE": angle_to_sangle(angle)}, -1))
msg.append(packer.make_can_msg("EPS_STATUS", 0, {"LKA_STATE": 5}, -1))
msg.append(packer.make_can_msg("GEAR_PACKET", 0, {"GEAR": 0}, -1))
msg.append(packer.make_can_msg("PCM_CRUISE", 0, {"CRUISE_ACTIVE": int(is_engaged), "GAS_RELEASED": 1}, -1))
#print(msg)
# cam bus
msg.append(packer.make_can_msg("PRE_COLLISION", 2, {}, -1))
msg.append(packer.make_can_msg("STEERING_LKA", 2, {}, -1))
if idx % 10 == 0 :
# radar
i = 0
for i in range(16):
msg.append(rpacker.make_can_msg("TRACK_A_%d" % i, 1, {"VALID":60, "LONG_DIST": 255.5}, -1))
j = 0
for j in range(16):
msg.append(rpacker.make_can_msg("TRACK_B_%d" % j, 1, {"SCORE":100}, -1))
# fill in the rest for fingerprint
done = set([x[0] for x in msg])
#for k, v in FINGERPRINTS[CAR.HIGHLANDER][0].items():
#if k not in done and k not in [0xFFF]:
# msg.append([k, 0, b'\x00'*v, 0])
pm.send('can', can_list_to_can_capnp(msg))
def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=0):
msg = []
msg.append(
packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
msg.append(
packer.make_can_msg(
"WHEEL_SPEEDS", 0, {
"WHEEL_SPEED_FL": speed,
"WHEEL_SPEED_FR": speed,
"WHEEL_SPEED_RL": speed,
"WHEEL_SPEED_RR": speed
}, -1))
msg.append(
packer.make_can_msg("SCM_BUTTONS", 0,
{"CRUISE_BUTTONS": cruise_button}, idx))
values = {"COUNTER_PEDAL": idx & 0xF}
checksum = crc8_pedal(
packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF},
-1)[2][:-1])
values["CHECKSUM_PEDAL"] = checksum
msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
msg.append(
packer.make_can_msg("GEARBOX", 0, {
"GEAR": 4,
"GEAR_SHIFTER": 8
}, idx))
msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
msg.append(
packer.make_can_msg("SEATBELT_STATUS", 0,
{"SEATBELT_DRIVER_LATCHED": 1}, idx))
# 1201 makes op think steer wheel is pressed
msg.append(
packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": 1201},
idx))
msg.append(
packer.make_can_msg("STEERING_SENSORS", 0,
{"STEER_ANGLE": angle_to_sangle(angle)}, idx))
msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
msg.append(
packer.make_can_msg("CRUISE", 0, {"CRUISE_SPEED_PCM": speed}, idx))
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
msg.append(
packer.make_can_msg("POWERTRAIN_DATA", 0,
{"ACC_STATUS": int(is_engaged)}, idx))
#print(msg)
# cam bus
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
# radar
if idx % 5 == 0:
msg.append(
rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79},
-1))
for i in range(16):
msg.append(
rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5},
-1))
# fill in the rest for fingerprint
done = set([x[0] for x in msg])
#for k, v in FINGERPRINTS[CAR.CIVIC][0].items():
#if k not in done and k not in [0xE4, 0x194]:
#msg.append([k, 0, b'\x00'*v, 0])
pm.send('can', can_list_to_can_capnp(msg))
def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
msg = []
# *** powertrain bus ***
speed = speed * 3.6 # convert m/s to kph
msg.append(packer.make_can_msg("ENGINE_DATA", 0,
{"XMISSION_SPEED": speed}))
msg.append(
packer.make_can_msg(
"WHEEL_SPEEDS", 0, {
"WHEEL_SPEED_FL": speed,
"WHEEL_SPEED_FR": speed,
"WHEEL_SPEED_RL": speed,
"WHEEL_SPEED_RR": speed
}))
msg.append(
packer.make_can_msg("SCM_BUTTONS", 0,
{"CRUISE_BUTTONS": cruise_button}))
values = {"COUNTER_PEDAL": idx & 0xF}
checksum = crc8_pedal(
packer.make_can_msg("GAS_SENSOR", 0,
{"COUNTER_PEDAL": idx & 0xF})[2][:-1])
values["CHECKSUM_PEDAL"] = checksum
msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
msg.append(
packer.make_can_msg("GEARBOX", 0, {
"GEAR": 4,
"GEAR_SHIFTER": 8
}))
msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
msg.append(
packer.make_can_msg("SEATBELT_STATUS", 0,
{"SEATBELT_DRIVER_LATCHED": 1}))
msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
msg.append(
packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
msg.append(
packer.make_can_msg("STANDSTILL", 0,
{"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
msg.append(packer.make_can_msg("CRUISE", 0, {}))
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
msg.append(
packer.make_can_msg("POWERTRAIN_DATA", 0,
{"ACC_STATUS": int(is_engaged)}))
msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
# *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
# *** radar bus ***
if idx % 5 == 0:
msg.append(
rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
for i in range(16):
msg.append(
rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
pm.send('can', can_list_to_can_capnp(msg))
