def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_prev_gas_interceptor(self):
self.safety.safety_rx_hook(interceptor_msg(0x0, 0x201))
self.assertFalse(self.safety.get_gas_interceptor_prev())
self.safety.safety_rx_hook(interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_gas_interceptor_prev())
self.safety.safety_rx_hook(interceptor_msg(0x0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self._rx(interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_disengage_on_gas_interceptor(self):
for g in range(0, 0x1000):
self.safety.safety_rx_hook(interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(interceptor_msg(g, 0x201))
remain_enabled = g <= INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled,
self.safety.get_controls_allowed())
self.safety.safety_rx_hook(interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
for pedal in ['brake', 'gas', 'interceptor']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
allow_ctrl = False
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
allow_ctrl = True
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD + 1, 0x201))
self.safety.safety_rx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD + 1, 0x201))
allow_ctrl = True
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertEqual(
allow_ctrl,
self.safety.safety_tx_hook(
self._send_brake_msg_nidec(0, 1, NIDEC_MAX_BRAKE)))
self.assertEqual(
allow_ctrl,
self.safety.safety_tx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertEqual(
allow_ctrl,
self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.safety_tx_hook(self._send_brake_msg_nidec(0, 1, 0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas', 'interceptor']:
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD + 1, 0x201))
self.safety.safety_rx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD + 1, 0x201))
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertFalse(
self.safety.safety_tx_hook(
self._send_brake_msg_nidec(0, 1, NIDEC_MAX_BRAKE)))
self.assertFalse(
self.safety.safety_tx_hook(
interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertFalse(
self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.safety_tx_hook(self._send_brake_msg_nidec(0, 1, 0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
def test_gas_interceptor_safety_check(self):
if self.safety.get_honda_hw() == HONDA_N_HW:
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(
send,
self.safety.safety_tx_hook(interceptor_msg(gas,
0x200)))
def test_gas_interceptor_safety_check(self):
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(interceptor_msg(0, 0x200)))
self.assertFalse(self._tx(interceptor_msg(0x1000, 0x200)))
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(interceptor_msg(0x1000, 0x200)))
def test_prev_gas_interceptor(self):
self._rx(interceptor_msg(0x0, 0x201))
self.assertFalse(self.safety.get_gas_interceptor_prev())
self._rx(interceptor_msg(0x1000, 0x201))
self.assertTrue(self.safety.get_gas_interceptor_prev())
self._rx(interceptor_msg(0x0, 0x201))
