github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
84 lines
2.8 KiB
Python
84 lines
2.8 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import numpy as np
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import unittest
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from opendbc.safety.tests.common import CANPackerSafety, CarSafetyTest
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class GasInterceptorSafetyTest(CarSafetyTest):
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INTERCEPTOR_THRESHOLD = 0
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cnt_gas_cmd = 0
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cnt_user_gas = 0
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packer: CANPackerSafety
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "GasInterceptorSafetyTest" or cls.__name__.endswith("Base"):
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cls.safety = None
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raise unittest.SkipTest
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def _interceptor_gas_cmd(self, gas: int):
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values: dict[str, float | int] = {"PEDAL_COUNTER": self.__class__.cnt_gas_cmd & 0xF}
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if gas > 0:
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values["GAS_COMMAND"] = gas * 255.
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values["GAS_COMMAND2"] = gas * 255.
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self.__class__.cnt_gas_cmd += 1
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return self.packer.make_can_msg_safety("GAS_COMMAND", 0, values)
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def _interceptor_user_gas(self, gas: int):
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values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
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"PEDAL_COUNTER": self.__class__.cnt_user_gas}
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self.__class__.cnt_user_gas += 1
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return self.packer.make_can_msg_safety("GAS_SENSOR", 0, values)
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# Skip non-interceptor user gas tests
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def test_prev_gas(self):
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pass
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def test_no_disengage_on_gas(self):
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pass
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def test_prev_gas_interceptor(self):
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self._rx(self._interceptor_user_gas(0x0))
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self.assertFalse(self.safety.get_gas_interceptor_prev())
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self._rx(self._interceptor_user_gas(0x1000))
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self.assertTrue(self.safety.get_gas_interceptor_prev())
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self._rx(self._interceptor_user_gas(0x0))
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def test_no_disengage_on_gas_interceptor(self):
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self.safety.set_controls_allowed(True)
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for g in range(0x1000):
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self._rx(self._interceptor_user_gas(g))
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# Test we allow lateral, but not longitudinal
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self.assertTrue(self.safety.get_controls_allowed())
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self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_longitudinal_allowed())
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# Make sure we can re-gain longitudinal actuation
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self._rx(self._interceptor_user_gas(0))
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self.assertTrue(self.safety.get_longitudinal_allowed())
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def test_allow_engage_with_gas_interceptor_pressed(self):
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self._rx(self._interceptor_user_gas(0x1000))
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self.safety.set_controls_allowed(True)
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self._rx(self._interceptor_user_gas(0x1000))
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self.assertTrue(self.safety.get_controls_allowed())
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self._rx(self._interceptor_user_gas(0))
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def test_gas_interceptor_safety_check(self):
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for gas in np.arange(0, 4000, 100):
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for controls_allowed in [True, False]:
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self.safety.set_controls_allowed(controls_allowed)
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if controls_allowed:
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send = True
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else:
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send = gas == 0
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self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
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