add rivian safety test

tests/safety/test_rivian.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import unittest
+from panda import Panda
+from panda.tests.libpanda import libpanda_py
+import panda.tests.safety.common as common
+from panda.tests.safety.common import CANPackerPanda
+
+
+class TestRivianSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+
+  TX_MSGS = [[0x120, 0]]
+  STANDSTILL_THRESHOLD = 0
+  RELAY_MALFUNCTION_ADDRS = {0: (0x120,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x120]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  MAX_RATE_UP = 8
+  MAX_RATE_DOWN = 8
+  MAX_TORQUE = 350
+
+  MAX_RT_DELTA = 300
+  RT_INTERVAL = 250000
+
+  DRIVER_TORQUE_ALLOWANCE = 15
+  DRIVER_TORQUE_FACTOR = 1
+
+  def setUp(self):
+    self.packer = CANPackerPanda("rivian_can")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_RIVIAN, 0)
+    self.safety.init_tests()
+
+  def _torque_driver_msg(self, torque):
+    values = {"EPAS_SystemStatus": torque}
+    return self.packer.make_can_msg_panda("EPAS_TorsionBarTorque", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"ACM_lkaStrToqReq": torque, "ACM_lkaActToi": steer_req}
+    return self.packer.make_can_msg_panda("ACM_lkaHbaCmd", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {"ESP_Status": speed * 3.6}
+    return self.packer.make_can_msg_panda("ESP_Vehicle_Speed", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"iBESP2_BrakePedalApplied": brake}
+    return self.packer.make_can_msg_panda("iBESP2", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"VDM_AcceleratorPedalPosition": gas}
+    return self.packer.make_can_msg_panda("VDM_PropStatus", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"ACM_FeatureStatus": enable}
+    return self.packer.make_can_msg_panda("ACM_Status", 2, values)
+
+if __name__ == "__main__":
+  unittest.main()