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remove long_controls_allowed unused param and reduce technical debt

master
Riccardo 2019-12-20 16:17:37 -08:00
parent d19fd3e6bd
commit 110ca03160
12 changed files with 112 additions and 192 deletions
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8
board/main.c
View File

@ -477,14 +477,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
}
break;
// **** 0xdf: set long controls allowed
case 0xdf:
#ifdef ALLOW_DEBUG
if (hardwired) {
long_controls_allowed = setup->b.wValue.w & 1U;
}
#endif
break;
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);

6
board/safety/safety_gm.h
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@ -82,7 +82,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 417) {
int gas = GET_BYTE(to_push, 6);
if (gas && !gm_gas_prev && long_controls_allowed) {
if (gas && !gm_gas_prev) {
controls_allowed = 0;
}
gm_gas_prev = gas;
@ -134,7 +134,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (addr == 789) {
int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
brake = (0x1000 - brake) & 0xFFF;
if (!current_controls_allowed || !long_controls_allowed) {
if (!current_controls_allowed) {
if (brake != 0) {
tx = 0;
}
@ -197,7 +197,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
// Disabled message is !engaged with gas
// value that corresponds to max regen.
if (!current_controls_allowed || !long_controls_allowed) {
if (!current_controls_allowed) {
bool apply = GET_BYTE(to_send, 0) & 1U;
if (apply || (gas_regen != GM_MAX_REGEN)) {
tx = 0;

13
board/safety/safety_honda.h
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@ -69,8 +69,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
@ -80,7 +79,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = GET_BYTE(to_push, 0);
if (gas && !(honda_gas_prev) && long_controls_allowed) {
if (gas && !honda_gas_prev) {
controls_allowed = 0;
}
honda_gas_prev = gas;
@ -149,7 +148,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// BRAKE: safety check
if ((addr == 0x1FA) && (bus == 0)) {
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
if (!current_controls_allowed || !long_controls_allowed) {
if (!current_controls_allowed) {
if (honda_brake != 0) {
tx = 0;
}
@ -174,7 +173,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// GAS: safety check
if (addr == 0x200) {
if (!current_controls_allowed || !long_controls_allowed) {
if (!current_controls_allowed) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
@ -229,9 +228,7 @@ static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
bool is_brake_msg = addr == 0x1FA;
bool block_fwd = is_lkas_msg ||
(is_acc_hud_msg && long_controls_allowed) ||
(is_brake_msg && long_controls_allowed && !honda_fwd_brake);
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
if (!block_fwd) {
bus_fwd = 0;
}

11
board/safety/safety_toyota.h
View File

@ -75,8 +75,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
@ -85,7 +84,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
int gas = GET_BYTE(to_push, 6) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
controls_allowed = 0;
}
toyota_gas_prev = gas;
@ -116,7 +115,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// GAS PEDAL: safety check
if (addr == 0x200) {
if (!controls_allowed || !long_controls_allowed) {
if (!controls_allowed) {
if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
tx = 0;
}
@ -127,7 +126,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if (addr == 0x343) {
int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
desired_accel = to_signed(desired_accel, 16);
if (!controls_allowed || !long_controls_allowed) {
if (!controls_allowed) {
if (desired_accel != 0) {
tx = 0;
}
@ -210,7 +209,7 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
// in TSS2 the camera does ACC as well, so filter 0x343
int is_acc_msg = (addr == 0x343);
int block_msg = is_lkas_msg || (is_acc_msg && long_controls_allowed);
int block_msg = is_lkas_msg || is_acc_msg;
if (!block_msg) {
bus_fwd = 0;
}

2
board/safety/safety_volkswagen.h
View File

@ -50,7 +50,7 @@ static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press. Bits [12-20)
if (addr == MSG_MOTOR_20) {
int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
if ((gas > 0) && (volkswagen_gas_prev == 0) && long_controls_allowed) {
if ((gas > 0) && (volkswagen_gas_prev == 0)) {
controls_allowed = 0;
}
volkswagen_gas_prev = gas;

3
board/safety_declarations.h
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@ -52,9 +52,6 @@ bool relay_malfunction = false;
bool gas_interceptor_detected = false;
int gas_interceptor_prev = 0;
// This is set by USB command 0xdf
bool long_controls_allowed = true;
// time since safety mode has been changed
uint32_t safety_mode_cnt = 0U;
// allow 1s of transition timeout after relay changes state before assessing malfunctioning

2
tests/safety/libpandasafety_py.py
View File

@ -36,8 +36,6 @@ void set_controls_allowed(bool c);
bool get_controls_allowed(void);
void set_relay_malfunction(bool c);
bool get_relay_malfunction(void);
void set_long_controls_allowed(bool c);
bool get_long_controls_allowed(void);
void set_gas_interceptor_detected(bool c);
bool get_gas_interceptor_detetcted(void);
int get_gas_interceptor_prev(void);

8
tests/safety/test.c
View File

@ -86,10 +86,6 @@ void set_relay_malfunction(bool c){
relay_malfunction = c;
}
void set_long_controls_allowed(bool c){
long_controls_allowed = c;
}
void set_gas_interceptor_detected(bool c){
gas_interceptor_detected = c;
}
@ -106,10 +102,6 @@ bool get_relay_malfunction(void){
return relay_malfunction;
}
bool get_long_controls_allowed(void){
return long_controls_allowed;
}
bool get_gas_interceptor_detected(void){
return gas_interceptor_detected;
}

47
tests/safety/test_gm.py
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@ -141,15 +141,10 @@ class TestGmSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._brake_msg(False))
def test_disengage_on_gas(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(True))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(True))
@ -159,28 +154,22 @@ class TestGmSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(False))
def test_brake_safety_check(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for enabled in [0, 1]:
for b in range(0, 500):
self.safety.set_controls_allowed(enabled)
if abs(b) > MAX_BRAKE or ((not enabled or not long_controls_allowed) and b != 0):
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(b)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_brake_msg(b)))
self.safety.set_long_controls_allowed(True)
for enabled in [0, 1]:
for b in range(0, 500):
self.safety.set_controls_allowed(enabled)
if abs(b) > MAX_BRAKE or (not enabled and b != 0):
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(b)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_brake_msg(b)))
def test_gas_safety_check(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for enabled in [0, 1]:
for g in range(0, 2**12-1):
self.safety.set_controls_allowed(enabled)
if abs(g) > MAX_GAS or ((not enabled or not long_controls_allowed) and g != MAX_REGEN):
self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(g)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_gas_msg(g)))
self.safety.set_long_controls_allowed(True)
for enabled in [0, 1]:
for g in range(0, 2**12-1):
self.safety.set_controls_allowed(enabled)
if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN):
self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(g)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._send_gas_msg(g)))
def test_steer_safety_check(self):
for enabled in [0, 1]:

109
tests/safety/test_honda.py
View File

@ -151,16 +151,10 @@ class TestHondaSafety(unittest.TestCase):
self.safety.set_gas_interceptor_detected(False)
def test_disengage_on_gas(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(1))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_long_controls_allowed(True)
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(1))
@ -169,17 +163,14 @@ class TestHondaSafety(unittest.TestCase):
self.assertTrue(self.safety.get_controls_allowed())
def test_disengage_on_gas_interceptor(self):
for long_controls_allowed in [0, 1]:
for g in range(0, 0x1000):
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_long_controls_allowed(True)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = g <= INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
@ -192,33 +183,27 @@ class TestHondaSafety(unittest.TestCase):
def test_brake_safety_check(self):
for fwd_brake in [False, True]:
self.safety.set_honda_fwd_brake(fwd_brake)
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for brake in np.arange(0, MAX_BRAKE + 10, 1):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if fwd_brake:
send = False # block openpilot brake msg when fwd'ing stock msg
elif controls_allowed and long_controls_allowed:
send = MAX_BRAKE >= brake >= 0
else:
send = brake == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
self.safety.set_long_controls_allowed(True)
for brake in np.arange(0, MAX_BRAKE + 10, 1):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if fwd_brake:
send = False # block openpilot brake msg when fwd'ing stock msg
elif controls_allowed:
send = MAX_BRAKE >= brake >= 0
else:
send = brake == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
self.safety.set_honda_fwd_brake(False)
def test_gas_interceptor_safety_check(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed and long_controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
self.safety.set_long_controls_allowed(True)
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
def test_steer_safety_check(self):
self.safety.set_controls_allowed(0)
@ -242,36 +227,30 @@ class TestHondaSafety(unittest.TestCase):
def test_fwd_hook(self):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
long_controls_allowed = [0, 1]
fwd_brake = [False, True]
self.safety.set_honda_bosch_hardware(0)
for f in fwd_brake:
self.safety.set_honda_fwd_brake(f)
for l in long_controls_allowed:
self.safety.set_long_controls_allowed(l)
blocked_msgs = [0xE4, 0x194, 0x33D]
if l:
blocked_msgs += [0x30C, 0x39F]
if not f:
blocked_msgs += [0x1FA]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
blocked_msgs = [0xE4, 0x194, 0x33D]
blocked_msgs += [0x30C, 0x39F]
if not f:
blocked_msgs += [0x1FA]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
self.safety.set_long_controls_allowed(True)
self.safety.set_honda_fwd_brake(False)
if __name__ == "__main__":
unittest.main()

81
tests/safety/test_toyota.py
View File

@ -120,16 +120,10 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.set_gas_interceptor_detected(False)
def test_disengage_on_gas(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_gas_msg(1))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_long_controls_allowed(True)
self.safety.safety_rx_hook(self._send_gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._send_gas_msg(1))
@ -140,17 +134,14 @@ class TestToyotaSafety(unittest.TestCase):
self.assertTrue(self.safety.get_controls_allowed())
def test_disengage_on_gas_interceptor(self):
for long_controls_allowed in [0, 1]:
for g in range(0, 0x1000):
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_long_controls_allowed(True)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
remain_enabled = g <= INTERCEPTOR_THRESHOLD
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
@ -161,17 +152,14 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.set_gas_interceptor_detected(False)
def test_accel_actuation_limits(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed and long_controls_allowed:
send = MIN_ACCEL <= accel <= MAX_ACCEL
else:
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
self.safety.set_long_controls_allowed(True)
for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = MIN_ACCEL <= accel <= MAX_ACCEL
else:
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
def test_torque_absolute_limits(self):
for controls_allowed in [True, False]:
@ -275,26 +263,21 @@ class TestToyotaSafety(unittest.TestCase):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
long_controls_allowed = [0, 1]
for lca in long_controls_allowed:
self.safety.set_long_controls_allowed(lca)
blocked_msgs = [0x2E4, 0x412, 0x191]
if lca:
blocked_msgs += [0x343]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
blocked_msgs = [0x2E4, 0x412, 0x191]
blocked_msgs += [0x343]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
self.safety.set_long_controls_allowed(True)
if __name__ == "__main__":

14
tests/safety/test_volkswagen.py
View File

@ -87,16 +87,10 @@ class TestVolkswagenSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_disengage_on_gas(self):
for long_controls_allowed in [0, 1]:
self.safety.set_long_controls_allowed(long_controls_allowed)
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._gas_msg(1))
if long_controls_allowed:
self.assertFalse(self.safety.get_controls_allowed())
else:
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_long_controls_allowed(True)
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(1))