use class inheritance to define test specific safety variables

tests/safety/common.py

@@ -10,12 +10,14 @@ from panda.tests.safety import libpandasafety_py
 
 MAX_WRONG_COUNTERS = 5
 
+
 class ALTERNATIVE_EXPERIENCE:
   DEFAULT = 0
   DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
 
+
 def package_can_msg(msg):
   addr, _, dat, bus = msg
   ret = libpandasafety_py.ffi.new('CANPacket_t *')
@@ -27,9 +29,11 @@ def package_can_msg(msg):
 
   return ret
 
+
 def make_msg(bus, addr, length=8):
   return package_can_msg([addr, 0, b'\x00' * length, bus])
 
+
 class CANPackerPanda(CANPacker):
   def make_can_msg_panda(self, name_or_addr, bus, values, counter=-1, fix_checksum=None):
     msg = self.make_can_msg(name_or_addr, bus, values, counter=-1)
@@ -37,13 +41,26 @@ class CANPackerPanda(CANPacker):
       msg = fix_checksum(msg)
     return package_can_msg(msg)
 
+
 class PandaSafetyTestBase(unittest.TestCase):
+
+  SAFETY_PARAM = 0
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "PandaSafetyTestBase":
       cls.safety = None
       raise unittest.SkipTest
 
+  def setUp(self):
+    self.packer = CANPackerPanda(self.DBC)
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(self.SAFETY_MODE, self.SAFETY_PARAM)
+    if 'Honda' in self.__class__.__name__:
+      self.safety._init_tests_honda()
+    else:
+      self.safety.init_tests()
+
   def _rx(self, msg):
     return self.safety.safety_rx_hook(msg)
 

tests/safety/test_honda.py

@@ -288,18 +288,15 @@ class TestHondaNidecSafetyBase(HondaBase):
 
   INTERCEPTOR_THRESHOLD = 344
 
+  DBC = "honda_civic_touring_2016_can_generated"
+  SAFETY_MODE = Panda.SAFETY_HONDA_NIDEC
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestHondaNidecSafetyBase":
       cls.safety = None
       raise unittest.SkipTest
 
-  def setUp(self):
-    self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated")
-    self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
-    self.safety.init_tests_honda()
-
   # Honda gas gains are the different
   def _interceptor_msg(self, gas, addr):
     to_send = make_msg(0, addr, 6)
@@ -398,11 +395,9 @@ class TestHondaNidecAltSafety(TestHondaNidecSafety):
   """
     Covers the Honda Nidec safety mode with alt SCM messages
   """
-  def setUp(self):
+
-    self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
+  DBC = "acura_ilx_2016_can_generated"
-    self.safety = libpandasafety_py.libpandasafety
+  SAFETY_PARAM = Panda.FLAG_HONDA_NIDEC_ALT
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
-    self.safety.init_tests_honda()
 
   def _acc_state_msg(self, main_on):
     values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
@@ -419,11 +414,6 @@ class TestHondaNidecAltInterceptorSafety(TestHondaNidecSafety, common.Intercepto
   """
     Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor
   """
-  def setUp(self):
-    self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
-    self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
-    self.safety.init_tests_honda()
 
   def _acc_state_msg(self, main_on):
     values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
@@ -447,6 +437,9 @@ class TestHondaBoschSafetyBase(HondaBase):
   TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0], [0x33DA, 0], [0x33DB, 0]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
 
+  DBC = "honda_accord_2018_can_generated"
+  SAFETY_MODE = Panda.SAFETY_HONDA_BOSCH
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "TestHondaBoschSafetyBase":
@@ -454,10 +447,6 @@ class TestHondaBoschSafetyBase(HondaBase):
       cls.safety = None
       raise unittest.SkipTest
 
-  def setUp(self):
-    self.packer = CANPackerPanda("honda_accord_2018_can_generated")
-    self.safety = libpandasafety_py.libpandasafety
-
   def _alt_brake_msg(self, brake):
     values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4}
     self.__class__.cnt_brake += 1
@@ -491,10 +480,6 @@ class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
   """
     Covers the Honda Bosch safety mode with stock longitudinal
   """
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
-    self.safety.init_tests_honda()
 
   def test_spam_cancel_safety_check(self):
     self.safety.set_controls_allowed(0)
@@ -518,10 +503,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
   TX_MSGS = [[0xE4, 1], [0x1DF, 1], [0x1EF, 1], [0x1FA, 1], [0x30C, 1], [0x33D, 1], [0x33DA, 1], [0x33DB, 1], [0x39F, 1], [0x18DAB0F1, 1]]
   FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
 
-  def setUp(self):
+  SAFETY_PARAM = Panda.FLAG_HONDA_BOSCH_LONG
-    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
-    self.safety.init_tests_honda()
 
   def _send_gas_brake_msg(self, gas, accel):
     values = {

tests/safety/test_toyota.py

@@ -33,11 +33,9 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
   TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conversative for rounding
   EPS_SCALE = 0.73
 
-  def setUp(self):
+  DBC = 'toyota_nodsu_pt_generated'
-    self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
+  SAFETY_MODE = Panda.SAFETY_TOYOTA
-    self.safety = libpandasafety_py.libpandasafety
+  SAFETY_PARAM = 73
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 73)
-    self.safety.init_tests()
 
   def _torque_meas_msg(self, torque):
     values = {"STEER_TORQUE_EPS": (torque/self.EPS_SCALE)}