Safety Test Refactor: Volkswagen MQB (commaai#493)

* pull test_volkswagen_mqb.py from safety-test-refactor

* prev_brake is now a standard test

* abstract cruise enable/disable tests

* unused

* move

* hack to get around unittest reporting skipped tests

tests/safety/common.py

@@ -80,6 +80,10 @@ def _speed_msg(self, speed):
   def _gas_msg(self, speed):
     pass
 
+  @abc.abstractmethod
+  def _pcm_status_msg(self, enable):
+    pass
+
   # ***** standard tests for all safety modes *****
 
   def test_relay_malfunction(self):
@@ -119,9 +123,12 @@ def test_manually_enable_controls_allowed(self):
     self.assertTrue(self.safety.get_controls_allowed())
     self.safety.set_controls_allowed(0)
     self.assertFalse(self.safety.get_controls_allowed())
-  
+
   def test_prev_gas(self):
+    self.assertFalse(self.safety.get_gas_pressed_prev())
     for pressed in [True, False]:
+      self._rx(self._gas_msg(not pressed))
+      self.assertEqual(not pressed, self.safety.get_gas_pressed_prev())
       self._rx(self._gas_msg(pressed))
       self.assertEqual(pressed, self.safety.get_gas_pressed_prev())
 
@@ -146,6 +153,25 @@ def test_unsafe_mode_no_disengage_on_gas(self):
     self._rx(self._gas_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
 
+  def test_prev_brake(self):
+    self.assertFalse(self.safety.get_brake_pressed_prev())
+    for pressed in [True, False]:
+      self._rx(self._brake_msg(not pressed))
+      self.assertEqual(not pressed, self.safety.get_brake_pressed_prev())
+      self._rx(self._brake_msg(pressed))
+      self.assertEqual(pressed, self.safety.get_brake_pressed_prev())
+
+  def test_enable_control_allowed_from_cruise(self):
+    self._rx(self._pcm_status_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self._rx(self._pcm_status_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    self.safety.set_controls_allowed(1)
+    self._rx(self._pcm_status_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
   def test_allow_brake_at_zero_speed(self):
     # Brake was already pressed
     self._rx(self._speed_msg(0))

tests/safety/test_toyota.py

@@ -3,8 +3,8 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import CANPackerPanda, PandaSafetyTest, \
-                                      interceptor_msg, UNSAFE_MODE
+import panda.tests.safety.common as common
+from panda.tests.safety.common import CANPackerPanda, interceptor_msg, UNSAFE_MODE
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -22,7 +22,7 @@
 MAX_TORQUE_ERROR = 350
 INTERCEPTOR_THRESHOLD = 475
 
-class TestToyotaSafety(PandaSafetyTest):
+class TestToyotaSafety(common.PandaSafetyTest):
 
   TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
              [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
@@ -71,22 +71,11 @@ def _gas_msg(self, pressed):
     values = {"GAS_RELEASED": not pressed, "CRUISE_ACTIVE": cruise_active}
     return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
 
-  def _pcm_cruise_msg(self, cruise_on):
+  def _pcm_status_msg(self, cruise_on):
     values = {"CRUISE_ACTIVE": cruise_on}
     values["CHECKSUM"] = 1
     return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values)
 
-  def test_enable_control_allowed_from_cruise(self):
-    self._rx(self._pcm_cruise_msg(False))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self._rx(self._pcm_cruise_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_disable_control_allowed_from_cruise(self):
-    self.safety.set_controls_allowed(1)
-    self._rx(self._pcm_cruise_msg(False))
-    self.assertFalse(self.safety.get_controls_allowed())
-
   def test_prev_gas_interceptor(self):
     self._rx(interceptor_msg(0x0, 0x201))
     self.assertFalse(self.safety.get_gas_interceptor_prev())
@@ -237,7 +226,7 @@ def test_rx_hook(self):
       if msg == "trq":
         to_push = self._torque_meas_msg(0)
       if msg == "pcm":
-        to_push = self._pcm_cruise_msg(1)
+        to_push = self._pcm_status_msg(True)
       self.assertTrue(self._rx(to_push))
       to_push[0].RDHR = 0
       self.assertFalse(self._rx(to_push))