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Cleanup pedal nomenclature (#467) 

* consolidate gas and brake nomenclature

* fixes in code and tests
master
rbiasini 2020-03-08 23:48:00 -07:00 committed by GitHub
parent ceff91d3c5
commit 0f21b19bb3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
17 changed files with 78 additions and 128 deletions
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14
board/safety/safety_chrysler.h
View File

@ -21,8 +21,6 @@ const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_r
int chrysler_rt_torque_last = 0;
int chrysler_desired_torque_last = 0;
int chrysler_cruise_engaged_last = 0;
bool chrysler_gas_prev = false;
bool chrysler_brake_prev = false;
int chrysler_speed = 0;
uint32_t chrysler_ts_last = 0;
struct sample_t chrysler_torque_meas; // last few torques measured
@ -108,20 +106,20 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 308) {
bool gas = (GET_BYTE(to_push, 5) & 0x7F) != 0;
if (gas && !chrysler_gas_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
controls_allowed = 0;
}
chrysler_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
// exit controls on rising edge of brake press
if (addr == 320) {
bool brake = (GET_BYTE(to_push, 0) & 0x7) == 5;
if (brake && (!chrysler_brake_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
controls_allowed = 0;
}
chrysler_brake_prev = brake;
brake_pressed_prev = brake_pressed;
}
// check if stock camera ECU is on bus 0

16
board/safety/safety_ford.h
View File

@ -7,8 +7,6 @@
// brake rising edge
// brake > 0mph
int ford_brake_prev = 0;
int ford_gas_prev = 0;
bool ford_moving = false;
static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@ -39,20 +37,20 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 0x165) {
int brake = GET_BYTE(to_push, 0) & 0x20;
if (brake && (!(ford_brake_prev) || ford_moving)) {
int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
controls_allowed = 0;
}
ford_brake_prev = brake;
brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of gas press
if (addr == 0x204) {
int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
if (gas && !(ford_gas_prev)) {
bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
ford_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
@ -74,7 +72,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
if (relay_malfunction) {

19
board/safety/safety_gm.h
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@ -33,8 +33,6 @@ AddrCheckStruct gm_rx_checks[] = {
};
const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
int gm_brake_prev = 0;
int gm_gas_prev = 0;
bool gm_moving = false;
int gm_rt_torque_last = 0;
int gm_desired_torque_last = 0;
@ -81,25 +79,22 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press or on brake press when
// speed > 0
if (addr == 241) {
int brake = GET_BYTE(to_push, 1);
// Brake pedal's potentiometer returns near-zero reading
// even when pedal is not pressed
if (brake < 10) {
brake = 0;
}
if (brake && (!gm_brake_prev || gm_moving)) {
bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
controls_allowed = 0;
}
gm_brake_prev = brake;
brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gm_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
// exit controls on regen paddle
@ -143,7 +138,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
bool current_controls_allowed = controls_allowed && !pedal_pressed;
// BRAKE: safety check

16
board/safety/safety_honda.h
View File

@ -28,8 +28,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
int honda_brake = 0;
int honda_gas_prev = 0;
bool honda_brake_pressed_prev = false;
bool honda_moving = false;
bool honda_alt_brake_msg = false;
bool honda_fwd_brake = false;
@ -112,10 +110,10 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
if (is_user_brake_msg) {
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
controls_allowed = 0;
}
honda_brake_pressed_prev = brake_pressed;
brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@ -133,11 +131,11 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press if no interceptor
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = GET_BYTE(to_push, 0);
if (gas && !honda_gas_prev) {
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
honda_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
}
if ((bus == 2) && (addr == 0x1FA)) {
@ -194,8 +192,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(honda_brake_pressed_prev && honda_moving);
int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(brake_pressed_prev && honda_moving);
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check

14
board/safety/safety_hyundai.h
View File

@ -22,8 +22,6 @@ int hyundai_rt_torque_last = 0;
int hyundai_desired_torque_last = 0;
int hyundai_cruise_engaged_last = 0;
int hyundai_speed = 0;
bool hyundai_gas_last = false;
bool hyundai_brake_last = false;
uint32_t hyundai_ts_last = 0;
struct sample_t hyundai_torque_driver; // last few driver torques measured
@ -56,11 +54,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 608) {
bool gas = (GET_BYTE(to_push, 7) >> 6) != 0;
if (gas && ! hyundai_gas_last) {
bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
hyundai_gas_last = gas;
gas_pressed_prev = gas_pressed;
}
// sample subaru wheel speed, averaging opposite corners
@ -72,11 +70,11 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press
if (addr == 916) {
bool brake = (GET_BYTE(to_push, 6) >> 7) != 0;
if (brake && (!hyundai_brake_last || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
controls_allowed = 0;
}
hyundai_brake_last = brake;
brake_pressed_prev = brake_pressed;
}
// check if stock camera ECU is on bus 0

14
board/safety/safety_nissan.h
View File

@ -29,8 +29,6 @@ float nissan_speed = 0;
uint32_t nissan_ts_angle_last = 0;
int nissan_cruise_engaged_last = 0;
int nissan_desired_angle_last = 0;
int nissan_gas_prev = 0;
int nissan_brake_prev = 0;
struct sample_t nissan_angle_meas; // last 3 steer angles
@ -64,11 +62,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x15c) {
int gas = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
if ((gas > 0) && (nissan_gas_prev == 0)) {
bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
nissan_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
// 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
@ -91,11 +89,11 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press, or if speed > 0 and brake
if (addr == 0x454) {
int brake = (GET_BYTE(to_push, 2) & 0x80);
if ((brake > 0) && ((nissan_brake_prev == 0) || (nissan_speed > 0.))) {
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
controls_allowed = 0;
}
nissan_brake_prev = brake;
brake_pressed_prev = brake_pressed;
}
}
}

14
board/safety/safety_subaru.h
View File

@ -35,8 +35,6 @@ int subaru_rt_torque_last = 0;
int subaru_desired_torque_last = 0;
int subaru_speed = 0;
uint32_t subaru_ts_last = 0;
bool subaru_gas_last = false;
bool subaru_brake_last = false;
bool subaru_global = false;
struct sample_t subaru_torque_driver; // last few driver torques measured
@ -106,22 +104,22 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of brake press (TODO: missing check for unsupported legacy models)
if ((addr == 0x139) && subaru_global) {
bool brake = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
if (brake && (!subaru_brake_last || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
if (brake_pressed && (!brake_pressed_prev || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
controls_allowed = 0;
}
subaru_brake_last = brake;
brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of gas press
if (((addr == 0x40) && subaru_global) ||
((addr == 0x140) && !subaru_global)) {
int byte = subaru_global ? 4 : 0;
bool gas = GET_BYTE(to_push, byte) != 0;
if (gas && !subaru_gas_last) {
bool gas_pressed = GET_BYTE(to_push, byte) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
subaru_gas_last = gas;
gas_pressed_prev = gas_pressed;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&

2
board/safety/safety_tesla.h
View File

@ -34,8 +34,6 @@ float tesla_ts_angle_last = 0;
int tesla_controls_allowed_last = 0;
int tesla_brake_prev = 0;
int tesla_gas_prev = 0;
int tesla_speed = 0;
int eac_status = 0;

14
board/safety/safety_toyota.h
View File

@ -40,8 +40,6 @@ int toyota_desired_torque_last = 0; // last desired steer torque
int toyota_rt_torque_last = 0; // last desired torque for real time check
uint32_t toyota_ts_last = 0;
int toyota_cruise_engaged_last = 0; // cruise state
bool toyota_gas_prev = false;
bool toyota_brake_prev = false;
bool toyota_moving = false;
struct sample_t toyota_torque_meas; // last 3 motor torques produced by the eps
@ -112,11 +110,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
if ((addr == 0x224) || (addr == 0x226)) {
int byte = (addr == 0x224) ? 0 : 4;
bool brake = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
if (brake && (!toyota_brake_prev || toyota_moving)) {
bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
controls_allowed = 0;
}
toyota_brake_prev = brake;
brake_pressed_prev = brake_pressed;
}
// exit controls on rising edge of interceptor gas press
@ -132,11 +130,11 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
bool gas = GET_BYTE(to_push, 6) != 0;
if (gas && !toyota_gas_prev && !gas_interceptor_detected) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
controls_allowed = 0;
}
toyota_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
// 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed

12
board/safety/safety_volkswagen.h
View File

@ -36,8 +36,6 @@ int volkswagen_rt_torque_last = 0;
int volkswagen_desired_torque_last = 0;
uint32_t volkswagen_ts_last = 0;
bool volkswagen_moving = false;
bool volkswagen_brake_pressed_prev = false;
int volkswagen_gas_prev = 0;
int volkswagen_torque_msg = 0;
int volkswagen_lane_msg = 0;
uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
@ -137,21 +135,21 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Exit controls on rising edge of gas press
// Signal: Motor_20.MO_Fahrpedalrohwert_01
if (addr == MSG_MOTOR_20) {
int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
if ((gas > 0) && (volkswagen_gas_prev == 0)) {
bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
volkswagen_gas_prev = gas;
gas_pressed_prev = gas_pressed;
}
// Exit controls on rising edge of brake press
// Signal: ESP_05.ESP_Fahrer_bremst
if (addr == MSG_ESP_05) {
bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
if (brake_pressed && (!(volkswagen_brake_pressed_prev) || volkswagen_moving)) {
if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
controls_allowed = 0;
}
volkswagen_brake_pressed_prev = brake_pressed;
brake_pressed_prev = brake_pressed;
}
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem

2
board/safety_declarations.h
View File

@ -85,6 +85,8 @@ bool controls_allowed = false;
bool relay_malfunction = false;
bool gas_interceptor_detected = false;
int gas_interceptor_prev = 0;
bool gas_pressed_prev = false;
bool brake_pressed_prev = false;
// time since safety mode has been changed
uint32_t safety_mode_cnt = 0U;

8
tests/safety/libpandasafety_py.py
View File

@ -37,6 +37,8 @@ bool get_relay_malfunction(void);
void set_gas_interceptor_detected(bool c);
bool get_gas_interceptor_detetcted(void);
int get_gas_interceptor_prev(void);
bool get_gas_pressed_prev(void);
bool get_brake_pressed_prev(void);
int get_hw_type(void);
void set_timer(uint32_t t);
@ -48,15 +50,12 @@ int set_safety_hooks(uint16_t mode, int16_t param);
void init_tests_toyota(void);
int get_toyota_torque_meas_min(void);
int get_toyota_torque_meas_max(void);
bool get_toyota_gas_prev(void);
void set_toyota_torque_meas(int min, int max);
void set_toyota_desired_torque_last(int t);
void set_toyota_rt_torque_last(int t);
void init_tests_honda(void);
bool get_honda_moving(void);
bool get_honda_brake_pressed_prev(void);
int get_honda_gas_prev(void);
void set_honda_fwd_brake(bool);
void set_honda_alt_brake_msg(bool);
int get_honda_hw(void);
@ -89,18 +88,15 @@ void set_subaru_rt_torque_last(int t);
bool get_subaru_global(void);
void init_tests_volkswagen(void);
int get_volkswagen_gas_prev(void);
int get_volkswagen_torque_driver_min(void);
int get_volkswagen_torque_driver_max(void);
bool get_volkswagen_moving(void);
bool get_volkswagen_brake_pressed_prev(void);
void set_volkswagen_desired_torque_last(int t);
void set_volkswagen_rt_torque_last(int t);
void set_volkswagen_torque_driver(int min, int max);
void init_tests_nissan(void);
void set_nissan_desired_angle_last(int t);
void set_nissan_brake_prev(int t);
""")

41
tests/safety/test.c
View File

@ -101,6 +101,14 @@ int get_gas_interceptor_prev(void){
return gas_interceptor_prev;
}
bool get_gas_pressed_prev(void){
return gas_pressed_prev;
}
bool get_brake_pressed_prev(void){
return brake_pressed_prev;
}
int get_hw_type(void){
return hw_type;
}
@ -159,10 +167,6 @@ int get_chrysler_torque_meas_max(void){
return chrysler_torque_meas.max;
}
bool get_toyota_gas_prev(void){
return toyota_gas_prev;
}
int get_toyota_torque_meas_min(void){
return toyota_torque_meas.min;
}
@ -231,26 +235,10 @@ int get_volkswagen_moving(void){
return volkswagen_moving;
}
int get_volkswagen_brake_pressed_prev(void){
return volkswagen_brake_pressed_prev;
}
int get_volkswagen_gas_prev(void){
return volkswagen_gas_prev;
}
bool get_honda_moving(void){
return honda_moving;
}
bool get_honda_brake_pressed_prev(void){
return honda_brake_pressed_prev;
}
int get_honda_gas_prev(void){
return honda_gas_prev;
}
void set_honda_alt_brake_msg(bool c){
honda_alt_brake_msg = c;
}
@ -263,10 +251,6 @@ void set_honda_fwd_brake(bool c){
honda_fwd_brake = c;
}
void set_nissan_brake_prev(bool c){
nissan_brake_prev = c;
}
void set_nissan_desired_angle_last(int t){
nissan_desired_angle_last = t;
}
@ -275,6 +259,8 @@ void init_tests(void){
// get HW_TYPE from env variable set in test.sh
hw_type = atoi(getenv("HW_TYPE"));
safety_mode_cnt = 2U; // avoid ignoring relay_malfunction logic
gas_pressed_prev = false;
brake_pressed_prev = false;
}
void init_tests_toyota(void){
@ -319,7 +305,6 @@ void init_tests_hyundai(void){
void init_tests_chrysler(void){
init_tests();
chrysler_gas_prev = false;
chrysler_speed = 0;
chrysler_torque_meas.min = 0;
chrysler_torque_meas.max = 0;
@ -342,8 +327,6 @@ void init_tests_subaru(void){
void init_tests_volkswagen(void){
init_tests();
volkswagen_moving = false;
volkswagen_brake_pressed_prev = false;
volkswagen_gas_prev = 0;
volkswagen_torque_driver.min = 0;
volkswagen_torque_driver.max = 0;
volkswagen_desired_torque_last = 0;
@ -355,8 +338,6 @@ void init_tests_volkswagen(void){
void init_tests_honda(void){
init_tests();
honda_moving = false;
honda_brake_pressed_prev = false;
honda_gas_prev = 0;
honda_fwd_brake = false;
}
@ -365,8 +346,6 @@ void init_tests_nissan(void){
nissan_angle_meas.min = 0;
nissan_angle_meas.max = 0;
nissan_desired_angle_last = 0;
nissan_gas_prev = 0;
nissan_brake_prev = 0;
set_timer(0);
}

8
tests/safety/test_honda.py
View File

@ -145,9 +145,9 @@ class TestHondaSafety(unittest.TestCase):
self.assertEqual(1, self.safety.get_honda_moving())
def test_prev_brake(self):
self.assertFalse(self.safety.get_honda_brake_pressed_prev())
self.assertFalse(self.safety.get_brake_pressed_prev())
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_honda_brake_pressed_prev())
self.assertTrue(self.safety.get_brake_pressed_prev())
def test_disengage_on_brake(self):
self.safety.set_controls_allowed(1)
@ -171,9 +171,9 @@ class TestHondaSafety(unittest.TestCase):
def test_prev_gas(self):
self.safety.safety_rx_hook(self._gas_msg(False))
self.assertFalse(self.safety.get_honda_gas_prev())
self.assertFalse(self.safety.get_gas_pressed_prev())
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_honda_gas_prev())
self.assertTrue(self.safety.get_gas_pressed_prev())
def test_prev_gas_interceptor(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))

4
tests/safety/test_nissan.py
View File

@ -43,10 +43,6 @@ class TestNissanSafety(unittest.TestCase):
t = int(t * -100)
self.safety.set_nissan_desired_angle_last(t)
def _set_brake_prev(self, state):
state = bool(state)
self.safety.set_nissan_brake_prev(state)
def _angle_meas_msg_array(self, angle):
for i in range(6):
self.safety.safety_rx_hook(self._angle_meas_msg(angle))

2
tests/safety/test_toyota.py
View File

@ -137,7 +137,7 @@ class TestToyotaSafety(unittest.TestCase):
def test_prev_gas(self):
for g in range(0, 256):
self.safety.safety_rx_hook(self._send_gas_msg(g))
self.assertEqual(True if g > 0 else False, self.safety.get_toyota_gas_prev())
self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
def test_prev_gas_interceptor(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))

6
tests/safety/test_volkswagen_mqb.py
View File

@ -154,7 +154,7 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
def test_prev_gas(self):
for g in range(0, 256):
self.safety.safety_rx_hook(self._motor_20_msg(g))
self.assertEqual(g, self.safety.get_volkswagen_gas_prev())
self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
@ -184,9 +184,9 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
self.assertEqual(1, self.safety.get_volkswagen_moving())
def test_prev_brake(self):
self.assertFalse(self.safety.get_volkswagen_brake_pressed_prev())
self.assertFalse(self.safety.get_brake_pressed_prev())
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_volkswagen_brake_pressed_prev())
self.assertTrue(self.safety.get_brake_pressed_prev())
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)