safety tests: clean up measurement tests

tests/safety/common.py

@@ -99,6 +99,22 @@ def _generic_limit_safety_check(self, msg_function: MessageFunction, min_allowed
         should_tx = (should_tx or v == inactive_value) and msg_allowed
         self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, should_tx, v))
 
+  def _common_measurement_test(self, msg_func: Callable, min_value: float, max_value: float, factor: int,
+                               meas_min_func: Callable[[], int], meas_max_func: Callable[[], int]):
+    """Tests accurate measurement parsing, and that it's reset on safety mode init"""
+    for val in np.arange(min_value, max_value, 0.5):
+      for i in range(MAX_SAMPLE_VALS):
+        self.assertTrue(self._rx(msg_func(val + i * 0.1)))
+
+      # assert close by one decimal place
+      self.assertAlmostEqual(meas_min_func() / factor, val, delta=0.1)
+      self.assertAlmostEqual(meas_max_func() / factor - 0.5, val, delta=0.1)
+
+      # ensure sample_t is reset on safety init
+      self._reset_safety_hooks()
+      self.assertEqual(meas_min_func(), 0)
+      self.assertEqual(meas_max_func(), 0)
+
 
 class InterceptorSafetyTest(PandaSafetyTestBase):
 
@@ -620,45 +636,10 @@ def test_reset_torque_measurements(self):
     self.assertEqual(self.safety.get_torque_meas_min(), 0)
     self.assertEqual(self.safety.get_torque_meas_max(), 0)
 
-class MeasurementSafetyTest(PandaSafetyTestBase):
-  DEG_TO_CAN: float = 1
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "MeasurementSafetyTest":
-      cls.safety = None
-      raise unittest.SkipTest
-
-  @abc.abstractmethod
-  def _angle_meas_msg(self, angle: float):
-    pass
 
-  @abc.abstractmethod
-  def _speed_msg(self, speed):
-    pass
+class AngleSteeringSafetyTest(PandaSafetyTestBase):
 
-  def common_measurement_test(self, msg_func, min_value, max_value, factor, get_min_func, get_max_func):
-    for val in np.arange(min_value, max_value, 0.5):
-      for i in range(MAX_SAMPLE_VALS):
-        self.assertTrue(self._rx(msg_func(val + i * 0.1)))
-
-      # assert close by one decimal place
-      self.assertAlmostEqual(get_min_func() / factor, val, delta=0.1)
-      self.assertAlmostEqual(get_max_func() / factor - 0.5, val, delta=0.1)
-
-      # ensure sample_t is reset on safety init
-      self._reset_safety_hooks()
-      self.assertEqual(get_min_func(), 0)
-      self.assertEqual(get_max_func(), 0)
-
-  def test_vehicle_speed_measurements(self):
-    self.common_measurement_test(self._speed_msg, 0, 80, VEHICLE_SPEED_FACTOR, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
-
-  def test_steering_angle_measurements(self):
-    self.common_measurement_test(self._angle_meas_msg, -180, 180, self.DEG_TO_CAN, self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)
-
-
-class AngleSteeringSafetyTest(MeasurementSafetyTest):
+  DEG_TO_CAN: int
   ANGLE_RATE_BP: List[float]
   ANGLE_RATE_UP: List[float]  # windup limit
   ANGLE_RATE_DOWN: List[float]  # unwind limit
@@ -669,10 +650,18 @@ def setUpClass(cls):
       cls.safety = None
       raise unittest.SkipTest
 
+  @abc.abstractmethod
+  def _speed_msg(self, speed):
+    pass
+
   @abc.abstractmethod
   def _angle_cmd_msg(self, angle: float, enabled: bool):
     pass
 
+  @abc.abstractmethod
+  def _angle_meas_msg(self, angle: float):
+    pass
+
   def _set_prev_desired_angle(self, t):
     t = int(t * self.DEG_TO_CAN)
     self.safety.set_desired_angle_last(t)
@@ -685,6 +674,12 @@ def _reset_speed_measurement(self, speed):
     for _ in range(MAX_SAMPLE_VALS):
       self._rx(self._speed_msg(speed))
 
+  def test_vehicle_speed_measurements(self):
+    self._common_measurement_test(self._speed_msg, 0, 80, VEHICLE_SPEED_FACTOR, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
+
+  def test_steering_angle_measurements(self):
+    self._common_measurement_test(self._angle_meas_msg, -180, 180, self.DEG_TO_CAN, self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)
+
   def test_angle_cmd_when_enabled(self):
     # when controls are allowed, angle cmd rate limit is enforced
     speeds = [0., 1., 5., 10., 15., 50.]

tests/safety/test_subaru.py

@@ -4,7 +4,7 @@
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
-from panda.tests.safety.common import CANPackerPanda, MeasurementSafetyTest
+from panda.tests.safety.common import CANPackerPanda
 from functools import partial
 
 class SubaruMsg(enum.IntEnum):
@@ -52,7 +52,7 @@ def gen2_long_additional_tx_msgs():
 def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS):
   return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}
 
-class TestSubaruSafetyBase(common.PandaSafetyTest, MeasurementSafetyTest):
+class TestSubaruSafetyBase(common.PandaSafetyTest):
   FLAGS = 0
   STANDSTILL_THRESHOLD = 0 # kph
   RELAY_MALFUNCTION_ADDR = SubaruMsg.ES_LKAS