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try to combine tests

This commit is contained in:
Shane Smiskol 2022-10-10 17:19:27 -07:00
parent 35ec8313a6
commit f147955b94
1 changed files with 27 additions and 21 deletions
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48
tests/safety/common.py
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@ -201,30 +201,36 @@ class TorqueSteeringSafetyTestBase(PandaSafetyTestBase):
raise unittest.SkipTest("Safety mode does not implement tolerance for steer request bit safety")
for min_valid_steer_frames in range(self.MIN_VALID_STEERING_FRAMES * 2):
# Reset match count and rt timer to allow cut (valid_steer_req_count, ts_steer_req_mismatch_last)
self.safety.init_tests()
self.safety.set_timer(self.MIN_VALID_STEERING_RT_INTERVAL)
for max_invalid_steer_frames in range(self.MAX_INVALID_STEERING_FRAMES * 2):
# Reset match count and rt timer to allow cut (valid_steer_req_count, ts_steer_req_mismatch_last)
self.safety.init_tests()
self.safety.set_timer(self.MIN_VALID_STEERING_RT_INTERVAL)
self.safety.set_controls_allowed(True)
self._set_prev_torque(self.MAX_TORQUE)
for _ in range(min_valid_steer_frames):
self.safety.set_controls_allowed(True)
self._set_prev_torque(self.MAX_TORQUE)
for _ in range(min_valid_steer_frames):
self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
# Test we've sent enough valid frames, and not too many invalid consecutive frames
should_tx = min_valid_steer_frames >= self.MIN_VALID_STEERING_FRAMES
for idx in range(max_invalid_steer_frames):
tx = self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))
self.assertEqual(should_tx and idx < self.MAX_INVALID_STEERING_FRAMES, tx)
# Send rest of expected needed invalid frames
for _ in range(self.MAX_INVALID_STEERING_FRAMES - max_invalid_steer_frames):
should_tx = min_valid_steer_frames >= self.MIN_VALID_STEERING_FRAMES
self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
# Keep blocking after one steer_req mismatch
for _ in range(100):
self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
# Make sure we can recover
self.assertTrue(self._tx(self._torque_cmd_msg(0, steer_req=1)))
self._set_prev_torque(self.MAX_TORQUE)
self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
# Test we've sent enough valid frames, and not too many invalid consecutive frames
should_tx = min_valid_steer_frames >= self.MIN_VALID_STEERING_FRAMES
for idx in range(self.MAX_INVALID_STEERING_FRAMES * 2):
tx = self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))
self.assertEqual(should_tx and idx < self.MAX_INVALID_STEERING_FRAMES, tx)
# Keep blocking after one steer_req mismatch
for _ in range(100):
self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)))
# Make sure we can recover
self.assertTrue(self._tx(self._torque_cmd_msg(0, steer_req=1)))
self._set_prev_torque(self.MAX_TORQUE)
self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1)))
def test_steer_req_bit_multi_invalid(self):
"""
For safety modes that allow multiple consecutive invalid frames, we need to make sure