From 61590b681ae40582d8a02c9287361f6368044917 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 10 Aug 2023 23:49:28 -0700
Subject: [PATCH] GM: clean up longitudinal safety test (#1573)

* clean up gm long safety test

* move to long base

* common brake
---
 tests/safety/test_gm.py | 55 +++++++++++++++++------------------------
 1 file changed, 23 insertions(+), 32 deletions(-)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index f6b604ad3..f3adc55cb 100755
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -17,6 +17,11 @@ class Buttons:
 class GmLongitudinalBase(common.PandaSafetyTest):
   # pylint: disable=no-member,abstract-method
 
+  MAX_GAS = 0
+  MAX_REGEN = 0
+  INACTIVE_REGEN = 0
+  MAX_BRAKE = 400
+
   PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
 
   def test_set_resume_buttons(self):
@@ -41,6 +46,24 @@ class GmLongitudinalBase(common.PandaSafetyTest):
     self._rx(self._button_msg(Buttons.CANCEL))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_brake_safety_check(self):
+    for enabled in [0, 1]:
+      for b in range(0, 500):
+        self.safety.set_controls_allowed(enabled)
+        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
+          self.assertFalse(self._tx(self._send_brake_msg(b)))
+        else:
+          self.assertTrue(self._tx(self._send_brake_msg(b)))
+
+  def test_gas_safety_check(self):
+    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
+    for enabled in [0, 1]:
+      for gas_regen in range(0, 2 ** 12 - 1):
+        self.safety.set_controls_allowed(enabled)
+        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
+                     gas_regen == self.INACTIVE_REGEN)
+        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
+
   # override these tests from PandaSafetyTest, GM longitudinal uses button enable
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -70,11 +93,6 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   DRIVER_TORQUE_ALLOWANCE = 65
   DRIVER_TORQUE_FACTOR = 4
 
-  MAX_GAS = 0
-  MAX_REGEN = 0
-  INACTIVE_REGEN = 0
-  MAX_BRAKE = 0
-
   PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
 
   @classmethod
@@ -138,24 +156,6 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
-  def test_brake_safety_check(self):
-    for enabled in [0, 1]:
-      for b in range(0, 500):
-        self.safety.set_controls_allowed(enabled)
-        if abs(b) > self.MAX_BRAKE or (not enabled and b != 0):
-          self.assertFalse(self._tx(self._send_brake_msg(b)))
-        else:
-          self.assertTrue(self._tx(self._send_brake_msg(b)))
-
-  def test_gas_safety_check(self):
-    # Block if enabled and out of actuation range, disabled and not inactive regen, or if stock longitudinal
-    for enabled in [0, 1]:
-      for gas_regen in range(0, 2 ** 12 - 1):
-        self.safety.set_controls_allowed(enabled)
-        should_tx = ((enabled and self.MAX_REGEN <= gas_regen <= self.MAX_GAS) or
-                     gas_regen == self.INACTIVE_REGEN)
-        self.assertEqual(should_tx, self._tx(self._send_gas_msg(gas_regen)), (enabled, gas_regen))
-
 
 class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
@@ -169,7 +169,6 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
   MAX_GAS = 3072
   MAX_REGEN = 1404
   INACTIVE_REGEN = 1404
-  MAX_BRAKE = 400
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
@@ -222,13 +221,6 @@ class TestGmCameraSafety(TestGmCameraSafetyBase):
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
-  # GM Cam safety mode does not allow longitudinal messages
-  def test_brake_safety_check(self):
-    pass
-
-  def test_gas_safety_check(self):
-    pass
-
 
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
   TX_MSGS = [[384, 0], [789, 0], [715, 0], [880, 0],  # pt bus
@@ -239,7 +231,6 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
   MAX_GAS = 3400
   MAX_REGEN = 1514
   INACTIVE_REGEN = 1554
-  MAX_BRAKE = 400
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")