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clean up safety tests

master
Riccardo 2019-11-15 00:52:34 -08:00
parent e8f7a3b2a5
commit 8af1a01ac6
11 changed files with 41 additions and 95 deletions
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14
tests/safety/common.py
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@ -1,9 +1,19 @@
from panda.tests.safety import libpandasafety_py
def make_msg(bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def test_relay_malfunction(test, addr):
# input is a test class and the address that, if seen on bus 0, triggers
# the relay_malfunction logic
test.assertFalse(test.safety.get_relay_malfunction())
test.safety.safety_rx_hook(test._send_msg(0, addr, 8))
test.safety.safety_rx_hook(make_msg(0, addr, 8))
test.assertTrue(test.safety.get_relay_malfunction())
for a in range(1, 0x800):
for b in range(0, 3):
test.assertFalse(test.safety.safety_tx_hook(test._send_msg(b, a, 8)))
test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))

13
tests/safety/test_cadillac.py
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@ -1,8 +1,10 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import make_msg
MAX_RATE_UP = 2
MAX_RATE_DOWN = 5
@ -35,13 +37,6 @@ class TestCadillacSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_CADILLAC, 0)
cls.safety.init_tests_cadillac()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _set_prev_torque(self, t):
self.safety.set_cadillac_desired_torque_last(t)
self.safety.set_cadillac_rt_torque_last(t)
@ -190,7 +185,7 @@ class TestCadillacSafety(unittest.TestCase):
for b in buss:
for m in msgs:
# assume len 8
self.assertEqual(-1, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

13
tests/safety/test_chrysler.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
@ -38,13 +38,6 @@ class TestChryslerSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
cls.safety.init_tests_chrysler()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _button_msg(self, buttons):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 1265 << 21
@ -204,7 +197,7 @@ class TestChryslerSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

13
tests/safety/test_gm.py
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@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@ -37,13 +37,6 @@ class TestGmSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
cls.safety.init_tests_gm()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _speed_msg(self, speed):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 842 << 21
@ -293,7 +286,7 @@ class TestGmSafety(unittest.TestCase):
for b in buss:
for m in msgs:
# assume len 8
self.assertEqual(-1, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

14
tests/safety/test_honda.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_BRAKE = 255
@ -16,14 +16,6 @@ class TestHondaSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA, 0)
cls.safety.init_tests_honda()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _speed_msg(self, speed):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 0x158 << 21
@ -291,7 +283,7 @@ class TestHondaSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 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)

13
tests/safety/test_honda_bosch.py
View File

@ -1,7 +1,8 @@
#!/usr/bin/env python3
import unittest
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import make_msg
MAX_BRAKE = 255
@ -12,14 +13,6 @@ class TestHondaSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
cls.safety.init_tests_honda()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def test_fwd_hook(self):
buss = range(0x0, 0x3)
msgs = range(0x1, 0x800)
@ -46,7 +39,7 @@ class TestHondaSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

13
tests/safety/test_hyundai.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
@ -34,13 +34,6 @@ class TestHyundaiSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
cls.safety.init_tests_hyundai()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _button_msg(self, buttons):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = 1265 << 21
@ -214,7 +207,7 @@ class TestHyundaiSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

13
tests/safety/test_subaru.py
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@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
@ -34,13 +34,6 @@ class TestSubaruSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
cls.safety.init_tests_subaru()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _set_prev_torque(self, t):
self.safety.set_subaru_desired_torque_last(t)
self.safety.set_subaru_rt_torque_last(t)
@ -198,7 +191,7 @@ class TestSubaruSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":

13
tests/safety/test_toyota.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
@ -38,13 +38,6 @@ class TestToyotaSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 100)
cls.safety.init_tests_toyota()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _set_prev_torque(self, t):
self.safety.set_toyota_desired_torque_last(t)
self.safety.set_toyota_rt_torque_last(t)
@ -311,7 +304,7 @@ class TestToyotaSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
self.safety.set_long_controls_allowed(True)

2
tests/safety/test_toyota_ipas.py
View File

@ -1,8 +1,8 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety import libpandasafety_py
IPAS_OVERRIDE_THRESHOLD = 200

15
tests/safety/test_volkswagen.py
View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
import libpandasafety_py # pylint: disable=import-error
from panda import Panda
from panda.tests.safety.common import test_relay_malfunction
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import test_relay_malfunction, make_msg
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
@ -28,13 +28,6 @@ class TestVolkswagenSafety(unittest.TestCase):
cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN, 0)
cls.safety.init_tests_volkswagen()
def _send_msg(self, bus, addr, length):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
to_send[0].RIR = addr << 21
to_send[0].RDTR = length
to_send[0].RDTR = bus << 4
return to_send
def _set_prev_torque(self, t):
self.safety.set_volkswagen_desired_torque_last(t)
self.safety.set_volkswagen_rt_torque_last(t)
@ -250,9 +243,7 @@ class TestVolkswagenSafety(unittest.TestCase):
fwd_bus = -1
# assume len 8
if fwd_bus != self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)):
print(b, hex(m), fwd_bus)
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":