Release 260111

opendbc_repo/opendbc/safety/tests/test_nissan.py

@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.car.nissan.values import NissanSafetyFlags
+from opendbc.car.structs import CarParams
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerPanda
+
+
+class TestNissanSafety(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest):
+
+  TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
+  GAS_PRESSED_THRESHOLD = 3
+  RELAY_MALFUNCTION_ADDRS = {0: (0x169,)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x280], 2: [0x169, 0x2b1, 0x4cc]}
+
+  EPS_BUS = 0
+  CRUISE_BUS = 2
+
+  # Angle control limits
+  STEER_ANGLE_MAX = 600  # deg, reasonable limit
+  DEG_TO_CAN = 100
+
+  ANGLE_RATE_BP = [0., 5., 15.]
+  ANGLE_RATE_UP = [5., .8, .15]  # windup limit
+  ANGLE_RATE_DOWN = [5., 3.5, .4]  # unwind limit
+
+  def setUp(self):
+    self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": 1 if enabled else 0}
+    return self.packer.make_can_msg_panda("LKAS", 0, values)
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"STEER_ANGLE": angle}
+    return self.packer.make_can_msg_panda("STEER_ANGLE_SENSOR", self.EPS_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CRUISE_ENABLED": enable}
+    return self.packer.make_can_msg_panda("CRUISE_STATE", self.CRUISE_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"WHEEL_SPEED_%s" % s: speed * 3.6 for s in ["RR", "RL"]}
+    return self.packer.make_can_msg_panda("WHEEL_SPEEDS_REAR", self.EPS_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"USER_BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_panda("DOORS_LIGHTS", self.EPS_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL": gas}
+    return self.packer.make_can_msg_panda("GAS_PEDAL", self.EPS_BUS, values)
+
+  def _acc_button_cmd(self, cancel=0, propilot=0, flw_dist=0, _set=0, res=0):
+    no_button = not any([cancel, propilot, flw_dist, _set, res])
+    values = {"CANCEL_BUTTON": cancel, "PROPILOT_BUTTON": propilot,
+              "FOLLOW_DISTANCE_BUTTON": flw_dist, "SET_BUTTON": _set,
+              "RES_BUTTON": res, "NO_BUTTON_PRESSED": no_button}
+    return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 2, values)
+
+  def test_acc_buttons(self):
+    btns = [
+      ("cancel", True),
+      ("propilot", False),
+      ("flw_dist", False),
+      ("_set", False),
+      ("res", False),
+      (None, False),
+    ]
+    for controls_allowed in (True, False):
+      for btn, should_tx in btns:
+        self.safety.set_controls_allowed(controls_allowed)
+        args = {} if btn is None else {btn: 1}
+        tx = self._tx(self._acc_button_cmd(**args))
+        self.assertEqual(tx, should_tx)
+
+
+class TestNissanSafetyAltEpsBus(TestNissanSafety):
+  """Altima uses different buses"""
+
+  EPS_BUS = 1
+  CRUISE_BUS = 1
+
+  def setUp(self):
+    self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, NissanSafetyFlags.ALT_EPS_BUS)
+    self.safety.init_tests()
+
+
+class TestNissanLeafSafety(TestNissanSafety):
+
+  def setUp(self):
+    self.packer = CANPackerPanda("nissan_leaf_2018_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
+    self.safety.init_tests()
+
+  def _user_brake_msg(self, brake):
+    values = {"USER_BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL": gas}
+    return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 0, values)
+
+  # TODO: leaf should use its own safety param
+  def test_acc_buttons(self):
+    pass
+
+
+if __name__ == "__main__":
+  unittest.main()