Support for stock AEB message checks

tests/safety/common.py

@@ -3,7 +3,7 @@
 import unittest
 import importlib
 import numpy as np
-from typing import Optional, List, Dict
+from typing import Optional, List, Dict, Tuple
 from opendbc.can.packer import CANPacker  # pylint: disable=import-error
 from panda import LEN_TO_DLC
 from panda.tests.safety import libpandasafety_py
@@ -253,6 +253,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
   RELAY_MALFUNCTION_BUS: Optional[int] = None
   FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}  # {bus: [addr]}
   FWD_BUS_LOOKUP: Dict[int, int] = {}
+  STOCK_AEB_MSGS: Optional[List[Tuple[int, int, Optional[int]]]] = None
 
   @classmethod
   def setUpClass(cls):
@@ -307,6 +308,14 @@ def test_spam_can_buses(self):
         if all(addr != m[0] or bus != m[1] for m in self.TX_MSGS):
           self.assertFalse(self._tx(make_msg(bus, addr, 8)))
 
+  def test_block_aeb(self):
+    if self.STOCK_AEB_MSGS is None:
+      raise unittest.SkipTest("no stock AEB messages found")
+    for addr, target_bus, fwd_source_bus in self.STOCK_AEB_MSGS:
+      self.assertFalse(self._tx(make_msg(target_bus, addr, 8)))
+      if fwd_source_bus is not None:
+        self.assertEqual(target_bus, self.safety.safety_fwd_hook(fwd_source_bus, make_msg(fwd_source_bus, addr, 8)))
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 

tests/safety/test_volkswagen_mqb.py

@@ -18,6 +18,7 @@
 MSG_ESP_19 = 0xB2       # RX from ABS, for wheel speeds
 MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
 MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
+MSG_ACC_10 = 0x117      # TX by stock radar, automated emergency braking
 MSG_TSK_06 = 0x120      # RX from ECU, for ACC status from drivetrain coordinator
 MSG_MOTOR_20 = 0x121    # RX from ECU, for driver throttle input
 MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
@@ -36,6 +37,7 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
   STANDSTILL_THRESHOLD = 1
   RELAY_MALFUNCTION_ADDR = MSG_HCA_01
   RELAY_MALFUNCTION_BUS = 0
+  STOCK_AEB_MSGS = [(MSG_ACC_10, 0, 2)]
 
   @classmethod
   def setUpClass(cls):

tests/safety/test_volkswagen_pq.py

@@ -18,6 +18,7 @@
 MSG_LENKHILFE_3 = 0x0D0  # RX from EPS, for steering angle and driver steering torque
 MSG_HCA_1 = 0x0D2        # TX by OP, Heading Control Assist steering torque
 MSG_MOTOR_2 = 0x288      # RX from ECU, for CC state and brake switch state
+MSG_AWV = 0x366          # TX by stock radar, automated emergency braking
 MSG_MOTOR_3 = 0x380      # RX from ECU, for driver throttle input
 MSG_GRA_NEU = 0x38A      # TX by OP, ACC control buttons for cancel/resume
 MSG_BREMSE_1 = 0x1A0     # RX from ABS, for ego speed
@@ -44,6 +45,7 @@ class TestVolkswagenPqSafety(common.PandaSafetyTest):
   STANDSTILL_THRESHOLD = 1
   RELAY_MALFUNCTION_ADDR = MSG_HCA_1
   RELAY_MALFUNCTION_BUS = 0
+  STOCK_AEB_MSGS = [(MSG_AWV, 0, 2)]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}