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can also test with txing brake

This commit is contained in:
Shane Smiskol 2023-10-31 20:04:14 -07:00
parent 56e78269d6
commit f75eb6eb56
1 changed files with 8 additions and 4 deletions
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12
tests/safety/test_honda.py
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@ -322,7 +322,8 @@ class TestHondaNidecSafetyBase(HondaBase):
def test_honda_fwd_brake_latching(self):
# Shouldn't fwd stock Honda requesting brake without AEB
self.assertTrue(self._rx(self._rx_brake_msg(self.MAX_BRAKE, aeb_req=0)))
self.assertFalse(self.safety.get_honda_fwd_brake())
# self.assertFalse(self.safety.get_honda_fwd_brake())
self.assertTrue(self._tx(self._send_brake_msg(0)))
# Now allow controls and request some brake
openpilot_brake = round(self.MAX_BRAKE / 2.0)
@ -333,15 +334,18 @@ class TestHondaNidecSafetyBase(HondaBase):
for stock_honda_brake in range(self.MAX_BRAKE + 1):
self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
should_fwd_brake = stock_honda_brake >= openpilot_brake
self.assertEqual(should_fwd_brake, self.safety.get_honda_fwd_brake())
# self.assertEqual(should_fwd_brake, self.safety.get_honda_fwd_brake())
self.assertNotEqual(should_fwd_brake, self._tx(self._send_brake_msg(openpilot_brake)))
# Shouldn't stop fwding until AEB event is over
for stock_honda_brake in range(self.MAX_BRAKE + 1)[::-1]:
self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
self.assertTrue(self.safety.get_honda_fwd_brake())
# self.assertTrue(self.safety.get_honda_fwd_brake())
self.assertFalse(self._tx(self._send_brake_msg(openpilot_brake)))
self.assertTrue(self._rx(self._rx_brake_msg(0, aeb_req=0)))
self.assertFalse(self.safety.get_honda_fwd_brake())
# self.assertFalse(self.safety.get_honda_fwd_brake())
self.assertTrue(self._tx(self._send_brake_msg(openpilot_brake)))
def test_brake_safety_check(self):
for fwd_brake in [False, True]: