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tests

This commit is contained in:
Shane Smiskol 2023-11-11 00:20:41 -08:00
parent 2965bcae43
commit 31955d84a6
2 changed files with 12 additions and 20 deletions
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31
tests/safety/common.py
View File

@ -225,7 +225,6 @@ class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
should_tx = False
else:
should_tx = controls_allowed and min_accel <= accel <= max_accel
should_tx = should_tx or accel == self.INACTIVE_ACCEL
self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
@ -239,15 +238,13 @@ class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
self._rx(self._user_brake_msg(1))
# Test we allow brake but not positive accel
for valid_accel in np.concatenate((np.arange(self.MIN_ACCEL, self.MAX_ACCEL, 0.1), [self.INACTIVE_ACCEL])):
valid_accel = round(valid_accel, 2) # floats might not hit exact boundary conditions without rounding
should_tx = valid_accel <= 0
self.assertEqual(should_tx, self._tx(self._accel_msg(valid_accel)))
for valid_accel in (self.MIN_ACCEL, 0, self.INACTIVE_ACCEL):
self.assertTrue(self._tx(self._accel_msg(valid_accel)))
self.assertFalse(self._tx(self._accel_msg(self.MAX_ACCEL)))
# Make sure we can re-gain longitudinal actuation
self._rx(self._user_brake_msg(0))
for valid_accel in np.concatenate((np.arange(self.MIN_ACCEL, self.MAX_ACCEL, 0.1), [self.INACTIVE_ACCEL])):
valid_accel = round(valid_accel, 2) # floats might not hit exact boundary conditions without rounding
for valid_accel in (self.MIN_ACCEL, self.MAX_ACCEL, 0, self.INACTIVE_ACCEL):
self.assertTrue(self._tx(self._accel_msg(valid_accel)))
@ -293,23 +290,17 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
self._rx(self._user_brake_msg(1))
# Test we allow brake but not gas
self.assertFalse(self._tx(self._send_gas_msg(0)))
for brake in (self.MIN_BRAKE, self.MAX_BRAKE, 0):
self.assertTrue(self._tx(self._send_brake_msg(brake)))
self.assertTrue(self._tx(self._send_gas_msg(self.INACTIVE_GAS)))
if self.INACTIVE_GAS != self.MIN_GAS:
self.assertFalse(self._tx(self._send_gas_msg(self.MIN_GAS)))
self.assertTrue(self._tx(self._send_brake_msg(0)))
self.assertTrue(self._tx(self._send_brake_msg(self.MIN_BRAKE)))
self.assertTrue(self._tx(self._send_brake_msg(self.MAX_BRAKE)))
# for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL):
# self.assertTrue(self._tx(self._accel_msg(valid_accel)))
# self.assertFalse(self._tx(self._accel_msg(self.MAX_ACCEL)))
#
# # Make sure we can re-gain longitudinal actuation
# self._rx(self._user_brake_msg(0))
# for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL, self.MAX_ACCEL):
# self.assertTrue(self._tx(self._accel_msg(valid_accel)))
# Make sure we can re-gain longitudinal actuation
self._rx(self._user_brake_msg(0))
for gas in (self.MIN_GAS, self.MAX_GAS, self.INACTIVE_GAS):
self.assertTrue(self._tx(self._send_gas_msg(gas)))
class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):

1
tests/safety/test_toyota.py
View File

@ -186,6 +186,7 @@ class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
super().test_accel_actuation_limits(stock_longitudinal=stock_longitudinal)
def test_brake_preenable(self):
# Stock long blocks longitudinal actuation
raise unittest.SkipTest
def test_acc_cancel(self):