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Hyundai CAN-FD: more complete tests #1133

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merged 7 commits into from
Nov 4, 2022
Merged

Hyundai CAN-FD: more complete tests #1133

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3ae6bb3
more complete tests
sshane Nov 4, 2022
45905d6
Merge remote-tracking branch 'upstream/master' into complete-canfd-sa…
sshane Nov 4, 2022
dd215c6
use parameterized_class
sshane Nov 4, 2022
4863c59
make clear this only tests EV right now
sshane Nov 4, 2022
711f508
fix python linter
sshane Nov 4, 2022
4f9bad7
rename reference
sshane Nov 4, 2022
8c94b2f
clean up and fix python linter again
sshane Nov 4, 2022
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2 changes: 1 addition & 1 deletion tests/safety/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -718,7 +718,7 @@ def test_tx_hook_on_wrong_safety_mode(self):
continue

# overlapping TX addrs, but they're not actuating messages for either car
if attr == 'TestHyundaiCanfdHDA2Long' and current_test.startswith('TestToyota'):
if attr == 'TestHyundaiCanfdHDA2LongEV' and current_test.startswith('TestToyota'):
tx = list(filter(lambda m: m[0] not in [0x160, ], tx))

# Volkswagen MQB longitudinal actuating message overlaps with the Subaru lateral actuating message
Expand Down
37 changes: 27 additions & 10 deletions tests/safety/test_hyundai_canfd.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
from parameterized import parameterized_class
import unittest
from panda import Panda
from panda.tests.safety import libpandasafety_py
Expand Down Expand Up @@ -34,6 +35,7 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.Dri
SCC_BUS = 2
STEER_BUS = 0
STEER_MSG = ""
GAS_MSG = ""
BUTTONS_TX_BUS = 1

@classmethod
Expand Down Expand Up @@ -61,7 +63,7 @@ def _user_brake_msg(self, brake):

def _user_gas_msg(self, gas):
values = {"ACCELERATOR_PEDAL": gas}
return self.packer.make_can_msg_panda("ACCELERATOR", self.PT_BUS, values)
return self.packer.make_can_msg_panda(self.GAS_MSG, self.PT_BUS, values)

def _pcm_status_msg(self, enable):
values = {"ACCMode": 1 if enable else 0}
Expand All @@ -77,7 +79,7 @@ def _button_msg(self, buttons, main_button=0, bus=None):
return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)


class TestHyundaiCanfdHDA1(TestHyundaiCanfdBase):
class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):

TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
RELAY_MALFUNCTION_ADDR = 0x12A
Expand All @@ -87,24 +89,37 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdBase):

STEER_MSG = "LFA"
BUTTONS_TX_BUS = 2
safety_param: int

@classmethod
def setUpClass(cls):
if cls.__name__ in ("TestHyundaiCanfdHDA1", "TestHyundaiCanfdHDA1AltButtons") or cls.__name__.endswith('Base'):
cls.packer = None
cls.safety = None
raise unittest.SkipTest

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_HYBRID_GAS)
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.safety_param)
self.safety.init_tests()

def _user_gas_msg(self, gas):
values = {"ACCELERATOR_PEDAL": gas}
return self.packer.make_can_msg_panda("ACCELERATOR_ALT", self.PT_BUS, values)

@parameterized_class(("GAS_MSG", "safety_param"), [("ACCELERATOR", Panda.FLAG_HYUNDAI_EV_GAS), ("ACCELERATOR_ALT", Panda.FLAG_HYUNDAI_HYBRID_GAS)])
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
pass


@parameterized_class(("GAS_MSG", "safety_param"), [("ACCELERATOR", Panda.FLAG_HYUNDAI_EV_GAS), ("ACCELERATOR_ALT", Panda.FLAG_HYUNDAI_HYBRID_GAS)])
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):

class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1):
GAS_MSG = "ACCELERATOR"
safety_param: int

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpandasafety_py.libpandasafety
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS)
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.safety_param)
self.safety.init_tests()

def _button_msg(self, buttons, main_button=0, bus=1):
Expand All @@ -124,7 +139,7 @@ def test_button_sends(self):
self.assertFalse(self._tx(self._button_msg(btn)))


class TestHyundaiCanfdHDA2(TestHyundaiCanfdBase):
class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
RELAY_MALFUNCTION_ADDR = 0x50
Expand All @@ -135,6 +150,7 @@ class TestHyundaiCanfdHDA2(TestHyundaiCanfdBase):
PT_BUS = 1
SCC_BUS = 1
STEER_MSG = "LKAS"
GAS_MSG = "ACCELERATOR"

def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
Expand All @@ -143,7 +159,7 @@ def setUp(self):
self.safety.init_tests()


class TestHyundaiCanfdHDA2Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2):
class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):

TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
[0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
Expand All @@ -152,6 +168,7 @@ class TestHyundaiCanfdHDA2Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2):
DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)

STEER_MSG = "LFA"
GAS_MSG = "ACCELERATOR"
STEER_BUS = 1

def setUp(self):
Expand Down