From 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 19 Jul 2022 17:18:42 -0700
Subject: [PATCH] Subaru: cleanup counter handling (#992)

---
 Dockerfile.panda                   |  2 +-
 tests/safety/test_subaru.py        | 30 +++++++++---------------------
 tests/safety/test_subaru_legacy.py |  7 ++-----
 3 files changed, 12 insertions(+), 27 deletions(-)

diff --git a/Dockerfile.panda b/Dockerfile.panda
index 8ded718f2..c604d2695 100644
--- a/Dockerfile.panda
+++ b/Dockerfile.panda
@@ -46,7 +46,7 @@ ENV LC_ALL en_US.UTF-8
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 ENV OPENPILOT_REF="1b0167ce24afb037b36464c40f9c5e0d657e77d9"
-ENV OPENDBC_REF="2afccacd528758ffe4cbdb78b9cb9fe712744bcc"
+ENV OPENDBC_REF="e2465cc701e878fdae5b4e363496c2fa5d2f7c08"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.8.10 && \
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 040d58c26..a90031dc6 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -7,12 +7,6 @@ from panda.tests.safety.common import CANPackerPanda
 
 
 class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  cnt_gas = 0
-  cnt_torque_driver = 0
-  cnt_cruise = 0
-  cnt_speed = 0
-  cnt_brake = 0
-
   TX_MSGS = [[0x122, 0], [0x221, 0], [0x322, 0]]
   STANDSTILL_THRESHOLD = 20  # 1kph (see dbc file)
   RELAY_MALFUNCTION_ADDR = 0x122
@@ -42,35 +36,29 @@ class TestSubaruSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
 
   # TODO: this is unused
   def _torque_driver_msg(self, torque):
-    values = {"Steer_Torque_Sensor": torque, "Counter": self.cnt_torque_driver % 4}
-    self.__class__.cnt_torque_driver += 1
-    return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
+    values = {"Steer_Torque_Sensor": torque}
+    return self.packer.make_can_msg_panda("Steering_Torque", 0, values, counter=True)
 
   def _speed_msg(self, speed):
     # subaru safety doesn't use the scaled value, so undo the scaling
     values = {s: speed * 0.057 for s in ["FR", "FL", "RR", "RL"]}
-    values["Counter"] = self.cnt_speed % 4
-    self.__class__.cnt_speed += 1
-    return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
+    return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values, counter=True)
 
   def _user_brake_msg(self, brake):
-    values = {"Brake": brake, "Counter": self.cnt_brake % 4}
-    self.__class__.cnt_brake += 1
-    return self.packer.make_can_msg_panda("Brake_Status", 0, values)
+    values = {"Brake": brake}
+    return self.packer.make_can_msg_panda("Brake_Status", 0, values, counter=True)
 
   def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"LKAS_Output": torque}
     return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
 
   def _user_gas_msg(self, gas):
-    values = {"Throttle_Pedal": gas, "Counter": self.cnt_gas % 4}
-    self.__class__.cnt_gas += 1
-    return self.packer.make_can_msg_panda("Throttle", 0, values)
+    values = {"Throttle_Pedal": gas}
+    return self.packer.make_can_msg_panda("Throttle", 0, values, counter=True)
 
   def _pcm_status_msg(self, enable):
-    values = {"Cruise_Activated": enable, "Counter": self.cnt_cruise % 4}
-    self.__class__.cnt_cruise += 1
-    return self.packer.make_can_msg_panda("CruiseControl", 0, values)
+    values = {"Cruise_Activated": enable}
+    return self.packer.make_can_msg_panda("CruiseControl", 0, values, counter=True)
 
 
 if __name__ == "__main__":
diff --git a/tests/safety/test_subaru_legacy.py b/tests/safety/test_subaru_legacy.py
index 93230a047..fbbbf776b 100755
--- a/tests/safety/test_subaru_legacy.py
+++ b/tests/safety/test_subaru_legacy.py
@@ -7,8 +7,6 @@ from panda.tests.safety.common import CANPackerPanda
 
 
 class TestSubaruLegacySafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  cnt_gas = 0
-
   TX_MSGS = [[0x161, 0], [0x164, 0]]
   STANDSTILL_THRESHOLD = 20  # 1kph (see dbc file)
   RELAY_MALFUNCTION_ADDR = 0x164
@@ -55,9 +53,8 @@ class TestSubaruLegacySafety(common.PandaSafetyTest, common.DriverTorqueSteering
     return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
 
   def _user_gas_msg(self, gas):
-    values = {"Throttle_Pedal": gas, "Counter": self.cnt_gas % 4}
-    self.__class__.cnt_gas += 1
-    return self.packer.make_can_msg_panda("Throttle", 0, values)
+    values = {"Throttle_Pedal": gas}
+    return self.packer.make_can_msg_panda("Throttle", 0, values, counter=True)
 
   def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}