VW MQB: Prep for longitudinal safety (#788)

tests/safety/common.py

@@ -299,7 +299,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
         fwd_bus = self.FWD_BUS_LOOKUP.get(bus, -1)
         if bus in self.FWD_BLACKLISTED_ADDRS and addr in self.FWD_BLACKLISTED_ADDRS[bus]:
           fwd_bus = -1
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, msg))
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, msg), f"{addr=:#x} from {bus=} to {fwd_bus=}")
 
   def test_spam_can_buses(self):
     for addr in range(1, 0x800):
@@ -426,16 +426,16 @@ class PandaSafetyTest(PandaSafetyTestBase):
             # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
             if attr in ['TestHondaBoschLongGiraffeSafety', 'TestHondaNidecSafety']:
               tx = list(filter(lambda m: m[0] not in [0x1FA, 0x30C], tx))
-            all_tx.append(tx)
+            all_tx.append(list([m[0], m[1], attr[4:]] for m in tx))
 
     # make sure we got all the msgs
     self.assertTrue(len(all_tx) >= len(test_files)-1)
 
     for tx_msgs in all_tx:
-      for addr, bus in tx_msgs:
+      for addr, bus, test_name in tx_msgs:
         msg = make_msg(bus, addr)
         self.safety.set_controls_allowed(1)
         # TODO: this should be blocked
         if current_test in ["TestNissanSafety", "TestNissanLeafSafety"] and [addr, bus] in self.TX_MSGS:
           continue
-        self.assertFalse(self._tx(msg), f"{addr=} {bus=} got through")
+        self.assertFalse(self._tx(msg), f"transmit of {addr=:#x} {bus=} from {test_name} was allowed")

tests/safety/test_volkswagen_mqb.py

@@ -24,6 +24,7 @@ MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
 MSG_GRA_ACC_01 = 0x12B  # TX by OP, ACC control buttons for cancel/resume
 MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
 
+
 class TestVolkswagenMqbSafety(common.PandaSafetyTest):
   cnt_lh_eps_03 = 0
   cnt_esp_05 = 0
@@ -32,20 +33,16 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
   cnt_hca_01 = 0
   cnt_gra_acc_01 = 0
 
-  # Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep
-  # compatibility with gateway and camera integration
-  TX_MSGS = [[MSG_HCA_01, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_LDW_02, 0]]
   STANDSTILL_THRESHOLD = 1
   RELAY_MALFUNCTION_ADDR = MSG_HCA_01
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
-  FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
-  def setUp(self):
-    self.packer = CANPackerPanda("vw_mqb_2010")
-    self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
-    self.safety.init_tests()
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestVolkswagenMqbSafety":
+      cls.packer = None
+      cls.safety = None
+      raise unittest.SkipTest
 
   def _set_prev_torque(self, t):
     self.safety.set_desired_torque_last(t)
@@ -105,15 +102,6 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
         else:
           self.assertTrue(self._tx(self._hca_01_msg(t)))
 
-  def test_spam_cancel_safety_check(self):
-    self.safety.set_controls_allowed(0)
-    self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
-    self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1)))
-    self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1)))
-    # do not block resume if we are engaged already
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
-
   def test_non_realtime_limit_up(self):
     self.safety.set_torque_driver(0, 0)
     self.safety.set_controls_allowed(True)
@@ -259,5 +247,26 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest):
     self.assertTrue(self.safety.get_controls_allowed())
 
 
+class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  def setUp(self):
+    self.packer = CANPackerPanda("vw_mqb_2010")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
+    self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1)))
+    self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
+
+
 if __name__ == "__main__":
   unittest.main()