relay malfunction test centralized

tests/safety/common.py

@@ -10,10 +10,12 @@ def make_msg(bus, addr, length):
 
 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
+  # the relay_malfunction protection logic: both tx_hook and fwd_hook are
+  # expected to return failure
   test.assertFalse(test.safety.get_relay_malfunction())
   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(make_msg(b, a, 8)))
+      test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))

tests/safety/test_chrysler.py

@@ -179,25 +179,19 @@ def test_torque_measurements(self):
   def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
-    relay_malfunction = [0, 1]
-
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      blocked_msgs = [658, 678]
-      for b in buss:
-        for m in msgs:
-          if not rm:
-            if b == 0:
-              fwd_bus = 2
-            elif b == 1:
-              fwd_bus = -1
-            elif b == 2:
-              fwd_bus = -1 if m in blocked_msgs else 0
-          else:
-            fwd_bus = -1
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+    blocked_msgs = [658, 678]
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_honda.py

@@ -254,36 +254,30 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     long_controls_allowed = [0, 1]
-    relay_malfunction = [0, 1]
     fwd_brake = [False, True]
 
     self.safety.set_honda_bosch_hardware(0)
 
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      for f in fwd_brake:
-        self.safety.set_honda_fwd_brake(f)
-        for l in long_controls_allowed:
-          self.safety.set_long_controls_allowed(l)
-          blocked_msgs = [0xE4, 0x194, 0x33D]
-          if l:
-            blocked_msgs += [0x30C, 0x39F]
-            if not f:
-              blocked_msgs += [0x1FA]
-          for b in buss:
-            for m in msgs:
-              if not rm:
-                if b == 0:
-                  fwd_bus = 2
-                elif b == 1:
-                  fwd_bus = -1
-                elif b == 2:
-                  fwd_bus = -1 if m in blocked_msgs else 0
-              else:
-                fwd_bus = -1
-
-              # assume len 8
-              self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+    for f in fwd_brake:
+      self.safety.set_honda_fwd_brake(f)
+      for l in long_controls_allowed:
+        self.safety.set_long_controls_allowed(l)
+        blocked_msgs = [0xE4, 0x194, 0x33D]
+        if l:
+          blocked_msgs += [0x30C, 0x39F]
+          if not f:
+            blocked_msgs += [0x1FA]
+        for b in buss:
+          for m in msgs:
+            if b == 0:
+              fwd_bus = 2
+            elif b == 1:
+              fwd_bus = -1
+            elif b == 2:
+              fwd_bus = -1 if m in blocked_msgs else 0
+
+            # assume len 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)

tests/safety/test_honda_bosch.py

@@ -21,25 +21,19 @@ def test_fwd_hook(self):
     bus_rdr_cam = 2 if has_relay else 1
     bus_rdr_car = 0 if has_relay else 2
     bus_pt = 1 if has_relay else 0
-    relay_malfunction = [0, 1]
 
     blocked_msgs = [0xE4, 0x33D]
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      for b in buss:
-        for m in msgs:
-          if not rm:
-            if b == bus_pt:
-              fwd_bus = -1
-            elif b == bus_rdr_cam:
-              fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
-            elif b == bus_rdr_car:
-              fwd_bus = bus_rdr_cam
-          else:
-            fwd_bus = -1
+    for b in buss:
+      for m in msgs:
+        if b == bus_pt:
+          fwd_bus = -1
+        elif b == bus_rdr_cam:
+          fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
+        elif b == bus_rdr_car:
+          fwd_bus = bus_rdr_cam
 
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_hyundai.py

@@ -189,25 +189,19 @@ def test_fwd_hook(self):
 
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
-    relay_malfunction = [0, 1]
-
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      blocked_msgs = [832]
-      for b in buss:
-        for m in msgs:
-          if not rm:
-            if b == 0:
-              fwd_bus = 2
-            elif b == 1:
-              fwd_bus = -1
-            elif b == 2:
-              fwd_bus = -1 if m in blocked_msgs else 0
-          else:
-            fwd_bus = -1
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+    blocked_msgs = [832]
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_subaru.py

@@ -175,23 +175,17 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     blocked_msgs = [290, 356, 545, 802]
-    relay_malfunction = [0, 1]
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      for b in buss:
-        for m in msgs:
-          if not rm:
-            if b == 0:
-              fwd_bus = 2
-            elif b == 1:
-              fwd_bus = -1
-            elif b == 2:
-              fwd_bus = -1 if m in blocked_msgs else 0
-          else:
-            fwd_bus = -1
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_toyota.py

@@ -282,29 +282,23 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     long_controls_allowed = [0, 1]
-    relay_malfunction = [0, 1]
-
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      for lca in long_controls_allowed:
-        self.safety.set_long_controls_allowed(lca)
-        blocked_msgs = [0x2E4, 0x412, 0x191]
-        if lca:
-          blocked_msgs += [0x343]
-        for b in buss:
-          for m in msgs:
-            if not rm:
-              if b == 0:
-                fwd_bus = 2
-              elif b == 1:
-                fwd_bus = -1
-              elif b == 2:
-                fwd_bus = -1 if m in blocked_msgs else 0
-            else:
-              fwd_bus = -1
-
-            # assume len 8
-            self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+    for lca in long_controls_allowed:
+      self.safety.set_long_controls_allowed(lca)
+      blocked_msgs = [0x2E4, 0x412, 0x191]
+      if lca:
+        blocked_msgs += [0x343]
+      for b in buss:
+        for m in msgs:
+          if b == 0:
+            fwd_bus = 2
+          elif b == 1:
+            fwd_bus = -1
+          elif b == 2:
+            fwd_bus = -1 if m in blocked_msgs else 0
+
+          # assume len 8
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
     self.safety.set_long_controls_allowed(True)
 

tests/safety/test_volkswagen.py

@@ -227,23 +227,17 @@ def test_fwd_hook(self):
     msgs = list(range(0x1, 0x800))
     blocked_msgs_0to2 = []
     blocked_msgs_2to0 = [0x126, 0x397]
-    relay_malfunction = [0, 1]
-    for rm in relay_malfunction:
-      self.safety.set_relay_malfunction(rm)
-      for b in buss:
-        for m in msgs:
-          if not rm:
-            if b == 0:
-              fwd_bus = -1 if m in blocked_msgs_0to2 else 2
-            elif b == 1:
-              fwd_bus = -1
-            elif b == 2:
-              fwd_bus = -1 if m in blocked_msgs_2to0 else 0
-          else:
-            fwd_bus = -1
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = -1 if m in blocked_msgs_0to2 else 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs_2to0 else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":