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Fix lack of test coverage for angle_meas scaling in subaru.h #3084

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jacobwaller wants to merge 4 commits into from
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Fix lack of test coverage for angle_meas scaling in subaru.h #3084

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5473f2d
Fix mutant tests & demonstrate passing
Jan 29, 2026
0747932
Use cleaner test
Jan 29, 2026
cbe6a93
unneeded code
Jan 29, 2026
c9983d7
DRY
Jan 31, 2026
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2 changes: 1 addition & 1 deletion opendbc/safety/modes/subaru.h
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ static void subaru_rx_hook(const CANPacket_t *msg) {

int angle_meas_new = (GET_BYTES(msg, 4, 2) & 0xFFFFU);
// convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
angle_meas_new = ROUND(-2.17 * to_signed(angle_meas_new, 16));
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@jacobwaller jacobwaller Jan 29, 2026

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This change is not needed, but is there to demonstrate that the tests added cover the mutant tests for this line

Feel free to accept this suggestion to undo the change:

Suggested change
angle_meas_new = ROUND(-2.17 * to_signed(angle_meas_new, 16));
angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);

update_sample(&angle_meas, angle_meas_new);
}

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12 changes: 6 additions & 6 deletions opendbc/safety/tests/common.py
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Expand Up @@ -656,10 +656,14 @@ def test_vehicle_speed_measurements(self):
# TODO: lower tolerance on these tests
self._common_measurement_test(self._speed_msg, 0, 80, 1, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)

class AngleScalingSafetyTest(SafetyTestBase):
STEER_ANGLE_MAX: float = 300

class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
def test_steering_angle_measurements(self):
self._common_measurement_test(self._angle_meas_msg, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX, self.DEG_TO_CAN,
self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)

STEER_ANGLE_MAX: float = 300
class AngleSteeringSafetyTest(VehicleSpeedSafetyTest, AngleScalingSafetyTest):
STEER_ANGLE_TEST_MAX: float | None = None
DEG_TO_CAN: float
ANGLE_RATE_BP: list[float]
Expand Down Expand Up @@ -698,10 +702,6 @@ def _reset_speed_measurement(self, speed):
for _ in range(MAX_SAMPLE_VALS):
self._rx(self._speed_msg(speed))

def test_steering_angle_measurements(self):
self._common_measurement_test(self._angle_meas_msg, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX, self.DEG_TO_CAN,
self.safety.get_angle_meas_min, self.safety.get_angle_meas_max)

def test_angle_cmd_when_enabled(self):
# when controls are allowed, angle cmd rate limit is enforced
speeds = [0., 1., 5., 10., 15., 50.]
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3 changes: 1 addition & 2 deletions opendbc/safety/tests/test_subaru.py
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Expand Up @@ -59,7 +59,7 @@ def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS):
return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}


class TestSubaruSafetyBase(common.CarSafetyTest):
class TestSubaruSafetyBase(common.CarSafetyTest, common.AngleScalingSafetyTest):
FLAGS = 0
RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
SubaruMsg.ES_Infotainment)}
Expand Down Expand Up @@ -111,7 +111,6 @@ def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_safety("CruiseControl", self.ALT_MAIN_BUS, values)


class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
def _cancel_msg(self, cancel, cruise_throttle=0):
values = {"Cruise_Cancel": cancel, "Cruise_Throttle": cruise_throttle}
Expand Down