base class for different panda safety tests
parent
bd98fe6031
commit
0632710acd
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@ -41,7 +41,20 @@ class CANPackerPanda(CANPacker):
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msg = self.make_can_msg(name_or_addr, bus, values, counter=-1)
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msg = self.make_can_msg(name_or_addr, bus, values, counter=-1)
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return package_can_msg(msg)
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return package_can_msg(msg)
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class PandaSafetyTest(unittest.TestCase):
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class PandaSafetyTestBase(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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if cls.__name__ == "PandaSafetyTestBase":
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cls.safety = None
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raise unittest.SkipTest
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def _rx(self, msg):
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return self.safety.safety_rx_hook(msg)
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def _tx(self, msg):
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return self.safety.safety_tx_hook(msg)
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class PandaSafetyTest(PandaSafetyTestBase):
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TX_MSGS = None
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TX_MSGS = None
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STANDSTILL_THRESHOLD = None
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STANDSTILL_THRESHOLD = None
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GAS_PRESSED_THRESHOLD = 0
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GAS_PRESSED_THRESHOLD = 0
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@ -56,12 +69,6 @@ class PandaSafetyTest(unittest.TestCase):
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cls.safety = None
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cls.safety = None
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raise unittest.SkipTest
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raise unittest.SkipTest
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def _rx(self, msg):
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return self.safety.safety_rx_hook(msg)
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def _tx(self, msg):
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return self.safety.safety_tx_hook(msg)
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@abc.abstractmethod
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@abc.abstractmethod
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def _brake_msg(self, brake):
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def _brake_msg(self, brake):
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pass
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pass
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@ -42,11 +42,11 @@ class TestToyotaSafety(common.PandaSafetyTest):
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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@classmethod
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@classmethod
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def setUp(cls):
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def setUp(self):
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cls.packer = CANPackerPanda("toyota_prius_2017_pt_generated")
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self.packer = CANPackerPanda("toyota_prius_2017_pt_generated")
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cls.safety = libpandasafety_py.libpandasafety
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self.safety = libpandasafety_py.libpandasafety
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cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 66)
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self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 66)
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cls.safety.init_tests_toyota()
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self.safety.init_tests_toyota()
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def _set_prev_torque(self, t):
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def _set_prev_torque(self, t):
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self.safety.set_toyota_desired_torque_last(t)
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self.safety.set_toyota_desired_torque_last(t)
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@ -42,11 +42,11 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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@classmethod
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@classmethod
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def setUp(cls):
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def setUp(self):
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cls.packer = CANPackerPanda("vw_mqb_2010")
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self.packer = CANPackerPanda("vw_mqb_2010")
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cls.safety = libpandasafety_py.libpandasafety
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self.safety = libpandasafety_py.libpandasafety
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cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
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self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
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cls.safety.init_tests_volkswagen()
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self.safety.init_tests_volkswagen()
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def _set_prev_torque(self, t):
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def _set_prev_torque(self, t):
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self.safety.set_volkswagen_desired_torque_last(t)
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self.safety.set_volkswagen_desired_torque_last(t)
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