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safety replay: fix setting desired torque (#1127) 

* .

* Update tests/safety_replay/helpers.py
This commit is contained in:
Shane Smiskol 2022-11-03 00:23:42 -07:00 committed by GitHub
parent 9147cba1af
commit 73a4099efb
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1 changed files with 1 additions and 15 deletions
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16
tests/safety_replay/helpers.py
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@ -43,20 +43,6 @@ def get_steer_torque(mode, to_send):
ret = to_signed(ret, 13)
return ret
def set_desired_torque_last(safety, mode, torque):
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
pass # honda safety mode doesn't enforce a rate on steering msgs
elif mode == Panda.SAFETY_TOYOTA:
safety.set_toyota_desired_torque_last(torque)
elif mode == Panda.SAFETY_GM:
safety.set_gm_desired_torque_last(torque)
elif mode == Panda.SAFETY_HYUNDAI:
safety.set_hyundai_desired_torque_last(torque)
elif mode == Panda.SAFETY_CHRYSLER:
safety.set_chrysler_desired_torque_last(torque)
elif mode == Panda.SAFETY_SUBARU:
safety.set_subaru_desired_torque_last(torque)
def package_can_msg(msg):
ret = libpandasafety_py.ffi.new('CANPacket_t *')
ret[0].extended = 1 if msg.address >= 0x800 else 0
@ -80,5 +66,5 @@ def init_segment(safety, lr, mode):
torque = get_steer_torque(mode, to_send)
if torque != 0:
safety.set_controls_allowed(1)
set_desired_torque_last(safety, mode, torque)
safety.set_desired_torque_last(torque)
assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"