safety tests: add common longitudinal accel class (#1298)

* add longitudinal safety test class

* rename to accel_cmd_msg

* line

* do hyundai

* set default min and max accel

* revert

* thanks pylint

tests/safety/common.py

@@ -131,6 +131,40 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
         self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
 
 
+class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
+
+  MIN_ACCEL: float = 2.0
+  MAX_ACCEL: float = -3.5
+  INACTIVE_ACCEL: float = 0.0
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "LongitudinalAccelSafetyTest":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  @abc.abstractmethod
+  def _accel_msg(self, accel: float):
+    pass
+
+  def test_accel_actuation_limits(self, stock_longitudinal=False):
+    limits = ((self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
+              (self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
+
+    for min_accel, max_accel, alternative_experience in limits:
+      for accel in np.arange(min_accel - 1, max_accel + 1, 0.05):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          self.safety.set_alternative_experience(alternative_experience)
+          if stock_longitudinal:
+            should_tx = False
+          elif controls_allowed:
+            should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
+          else:
+            should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
+          self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
+
+
 class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
 
   MAX_RATE_UP = 0

tests/safety/hyundai_common.py

@@ -1,6 +1,7 @@
-import numpy as np
 from typing import Tuple
+import unittest
 
+import panda.tests.safety.common as common
 from panda.tests.libpanda import libpanda_py
 from panda.tests.safety.common import make_msg
 
@@ -12,8 +13,6 @@ class Buttons:
   CANCEL = 4
 
 
-MAX_ACCEL = 2.0
-MIN_ACCEL = -3.5
 PREV_BUTTON_SAMPLES = 8
 ENABLE_BUTTONS = (Buttons.RESUME, Buttons.SET, Buttons.CANCEL)
 
@@ -75,12 +74,18 @@ class HyundaiButtonBase:
       self._rx(self._button_msg(Buttons.NONE))
 
 
-class HyundaiLongitudinalBase:
+class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
   # pylint: disable=no-member,abstract-method
 
   DISABLED_ECU_UDS_MSG: Tuple[int, int]
   DISABLED_ECU_ACTUATION_MSG: Tuple[int, int]
 
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "HyundaiLongitudinalBase":
+      cls.safety = None
+      raise unittest.SkipTest
+
   # override these tests from PandaSafetyTest, hyundai longitudinal uses button enable
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -128,14 +133,6 @@ class HyundaiLongitudinalBase:
     self._rx(self._button_msg(Buttons.CANCEL))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_accel_safety_check(self):
-    for controls_allowed in [True, False]:
-      for accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.01):
-        accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding
-        self.safety.set_controls_allowed(controls_allowed)
-        send = MIN_ACCEL <= accel <= MAX_ACCEL if controls_allowed else accel == 0
-        self.assertEqual(send, self._tx(self._accel_msg(accel)), (controls_allowed, accel))
-
   def test_tester_present_allowed(self):
     """
       Ensure tester present diagnostic message is allowed to keep ECU knocked out

tests/safety/test_toyota.py

@@ -7,10 +7,7 @@ import itertools
 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, make_msg, ALTERNATIVE_EXPERIENCE
-
-MAX_ACCEL = 2.0
-MIN_ACCEL = -3.5
+from panda.tests.safety.common import CANPackerPanda, make_msg
 
 
 def interceptor_msg(gas, addr):
@@ -22,7 +19,8 @@ def interceptor_msg(gas, addr):
   return to_send
 
 
-class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest):
+class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest,
+                           common.LongitudinalAccelSafetyTest):
 
   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
@@ -94,23 +92,6 @@ class TestToyotaSafetyBase(common.PandaSafetyTest, common.InterceptorSafetyTest)
           msg = libpanda_py.make_CANPacket(0x283, 0, bytes(dat))
           self.assertEqual(not bad, self._tx(msg))
 
-  def test_accel_actuation_limits(self, stock_longitudinal=False):
-    limits = ((MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
-              (MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
-
-    for min_accel, max_accel, alternative_experience in limits:
-      for accel in np.arange(min_accel - 1, max_accel + 1, 0.1):
-        for controls_allowed in [True, False]:
-          self.safety.set_controls_allowed(controls_allowed)
-          self.safety.set_alternative_experience(alternative_experience)
-          if stock_longitudinal:
-            should_tx = False
-          elif controls_allowed:
-            should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
-          else:
-            should_tx = np.isclose(accel, 0, atol=0.0001)
-          self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
-
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):
     for engaged, req, req2, setme_x64, angle in itertools.product([True, False],
@@ -211,7 +192,7 @@ class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
     """
     for controls_allowed in [True, False]:
       self.safety.set_controls_allowed(controls_allowed)
-      for accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
+      for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.1):
         self.assertFalse(self._tx(self._accel_msg(accel)))
         should_tx = np.isclose(accel, 0, atol=0.0001)
         self.assertEqual(should_tx, self._tx(self._accel_msg(accel, cancel_req=1)))

tests/safety/test_volkswagen_pq.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import numpy as np
 import unittest
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
@@ -17,8 +16,6 @@ MSG_MOTOR_5 = 0x480           # RX from ECU, for ACC main switch state
 MSG_ACC_GRA_ANZEIGE = 0x56A   # TX by OP, ACC HUD
 MSG_LDW_1 = 0x5BE             # TX by OP, Lane line recognition and text alerts
 
-MAX_ACCEL = 2.0
-MIN_ACCEL = -3.5
 
 class TestVolkswagenPqSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   cruise_engaged = False
@@ -142,7 +139,7 @@ class TestVolkswagenPqStockSafety(TestVolkswagenPqSafety):
     self.assertTrue(self._tx(self._button_msg(resume=True)))
 
 
-class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety):
+class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAccelSafetyTest):
   TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
@@ -192,15 +189,6 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety):
     self._rx(self._motor_5_msg(main_switch=False))
     self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
 
-  def test_accel_safety_check(self):
-    for controls_allowed in [True, False]:
-      for accel in np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.005):
-        accel = round(accel, 2)  # floats might not hit exact boundary conditions without rounding
-        send = MIN_ACCEL <= accel <= MAX_ACCEL if controls_allowed else accel == self.INACTIVE_ACCEL
-        self.safety.set_controls_allowed(controls_allowed)
-        # primary accel request used by ECU
-        self.assertEqual(send, self._tx(self._accel_msg(accel)), (controls_allowed, accel))
-
 
 if __name__ == "__main__":
   unittest.main()