added long_controls_allowed tests in GM

commaai · Jun 5, 2019 · 07fd31e · 07fd31e
1 parent 6ce580a
commit 07fd31e
Showing 1 changed file with 29 additions and 18 deletions.
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
@@ -138,10 +138,15 @@ def test_not_allow_brake_when_moving(self):
     self.safety.gm_rx_hook(self._brake_msg(False))
 
   def test_disengage_on_gas(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.gm_rx_hook(self._gas_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.gm_rx_hook(self._gas_msg(False))
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.set_controls_allowed(1)
+      self.safety.gm_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.gm_rx_hook(self._gas_msg(False))
 
   def test_allow_engage_with_gas_pressed(self):
     self.safety.gm_rx_hook(self._gas_msg(True))
@@ -151,22 +156,28 @@ def test_allow_engage_with_gas_pressed(self):
     self.safety.gm_rx_hook(self._gas_msg(False))
 
   def test_brake_safety_check(self):
-    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.gm_tx_hook(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self.safety.gm_tx_hook(self._send_brake_msg(b)))
+    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.gm_tx_hook(self._send_brake_msg(b)))
+          else:
+            self.assertTrue(self.safety.gm_tx_hook(self._send_brake_msg(b)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_gas_safety_check(self):
-    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.gm_tx_hook(self._send_gas_msg(g)))
-        else:
-          self.assertTrue(self.safety.gm_tx_hook(self._send_gas_msg(g)))
+    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.gm_tx_hook(self._send_gas_msg(g)))
+          else:
+            self.assertTrue(self.safety.gm_tx_hook(self._send_gas_msg(g)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_steer_safety_check(self):
     for enabled in [0, 1]: