From 8f7befa9bb737f071e9670de236b0af5965628cd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 8 Nov 2022 19:50:11 -0800
Subject: [PATCH] GM: clean up safety classes (#1143)

* add PCM_CRUISE flag to GM safety tests (like safety code)

* pcm_status_msg

* rm 2
---
 tests/safety/test_gm.py | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 92507e0d10..e8e5430cab 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -15,6 +15,8 @@ class Buttons:
 
 
 class GmLongitudinalBase(common.PandaSafetyTest):
+  PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
+
   # pylint: disable=no-member,abstract-method
   def test_set_resume_buttons(self):
     """
@@ -70,6 +72,8 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   INACTIVE_REGEN = 0
   MAX_BRAKE = 0
 
+  PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestGmSafetyBase":
@@ -85,7 +89,11 @@ def setUp(self):
     self.safety.init_tests()
 
   def _pcm_status_msg(self, enable):
-    raise NotImplementedError
+    if self.PCM_CRUISE:
+      values = {"CruiseState": enable}
+      return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
+    else:
+      raise NotImplementedError
 
   def _speed_msg(self, speed):
     values = {"%sWheelSpd" % s: speed for s in ["RL", "RR"]}
@@ -102,6 +110,9 @@ def _user_regen_msg(self, regen):
 
   def _user_gas_msg(self, gas):
     values = {"AcceleratorPedal2": 1 if gas else 0}
+    if self.PCM_CRUISE:
+      # Fill CruiseState with expected value if the safety mode reads cruise state from gas msg
+      values["CruiseState"] = self.safety.get_controls_allowed()
     return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
 
   def _send_brake_msg(self, brake):
@@ -179,15 +190,6 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
     self.safety.init_tests()
 
-  def _user_gas_msg(self, gas):
-    cruise_active = self.safety.get_controls_allowed()
-    values = {"AcceleratorPedal2": 1 if gas else 0, "CruiseState": cruise_active}
-    return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
-
-  def _pcm_status_msg(self, enable):
-    values = {"CruiseState": enable}
-    return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
-
   def test_buttons(self):
     # Only CANCEL button is allowed while cruise is enabled
     self.safety.set_controls_allowed(0)