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sshanesshane
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Rename to SafetyFlags (#2144)
* safety flags * update ref * fix ltl
1 parent e7940cc commit 72a99e9

16 files changed

+80
-79
lines changed

‎Dockerfile‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -37,7 +37,7 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
3737

3838
# TODO: this should be a "pip install" or not even in this repo at all
3939
RUN git config --global --add safe.directory $PYTHONPATH/panda
40-
ENV OPENDBC_REF="25b3266b0bf95fced1589fd28f824227da62ffc0"
40+
ENV OPENDBC_REF="0eab9bf26e1b36678db4f198986091c82e538967"
4141
RUN cd /tmp/ && \
4242
git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
4343
cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

‎tests/hitl/2_health.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
import time
22
import pytest
33

4-
from opendbc.car.hyundai.values import HyundaiPandaFlags
4+
from opendbc.car.hyundai.values import HyundaiSafetyFlags
55
from panda import Panda
66

77

@@ -37,10 +37,10 @@ def test_hw_type(p):
3737
def test_heartbeat(p, panda_jungle):
3838
panda_jungle.set_ignition(True)
3939
# TODO: add more cases here once the tests aren't super slow
40-
p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
40+
p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiSafetyFlags.FLAG_HYUNDAI_LONG)
4141
p.send_heartbeat()
4242
assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
43-
assert p.health()['safety_param'] == HyundaiPandaFlags.FLAG_HYUNDAI_LONG
43+
assert p.health()['safety_param'] == HyundaiSafetyFlags.FLAG_HYUNDAI_LONG
4444

4545
# shouldn't do anything once we're in a car safety mode
4646
p.set_heartbeat_disabled()

‎tests/safety/test_chrysler.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
33

4-
from opendbc.car.chrysler.values import ChryslerPandaFlags
4+
from opendbc.car.chrysler.values import ChryslerSafetyFlags
55
from panda import Panda
66
from panda.tests.libpanda import libpanda_py
77
import panda.tests.safety.common as common
@@ -91,7 +91,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
9191
def setUp(self):
9292
self.packer = CANPackerPanda("chrysler_ram_dt_generated")
9393
self.safety = libpanda_py.libpanda
94-
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT)
94+
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerSafetyFlags.FLAG_CHRYSLER_RAM_DT)
9595
self.safety.init_tests()
9696

9797
def _speed_msg(self, speed):
@@ -115,7 +115,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
115115
def setUp(self):
116116
self.packer = CANPackerPanda("chrysler_ram_hd_generated")
117117
self.safety = libpanda_py.libpanda
118-
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD)
118+
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerSafetyFlags.FLAG_CHRYSLER_RAM_HD)
119119
self.safety.init_tests()
120120

121121
def _speed_msg(self, speed):

‎tests/safety/test_ford.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44
import unittest
55

66
import panda.tests.safety.common as common
7-
from opendbc.car.ford.values import FordPandaFlags
7+
from opendbc.car.ford.values import FordSafetyFlags
88

99
from panda import Panda
1010
from panda.tests.libpanda import libpanda_py
@@ -366,7 +366,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
366366
def setUp(self):
367367
self.packer = CANPackerPanda("ford_lincoln_base_pt")
368368
self.safety = libpanda_py.libpanda
369-
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_CANFD)
369+
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordSafetyFlags.FLAG_FORD_CANFD)
370370
self.safety.init_tests()
371371

372372

@@ -458,7 +458,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
458458
def setUp(self):
459459
self.packer = CANPackerPanda("ford_lincoln_base_pt")
460460
self.safety = libpanda_py.libpanda
461-
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL | FordPandaFlags.FLAG_FORD_CANFD)
461+
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordSafetyFlags.FLAG_FORD_LONG_CONTROL | FordSafetyFlags.FLAG_FORD_CANFD)
462462
self.safety.init_tests()
463463

464464

‎tests/safety/test_gm.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
33

4-
from opendbc.car.gm.values import GMPandaFlags
4+
from opendbc.car.gm.values import GMSafetyFlags
55
from panda import Panda
66
from panda.tests.libpanda import libpanda_py
77
import panda.tests.safety.common as common
@@ -189,7 +189,7 @@ def setUp(self):
189189
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
190190
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
191191
self.safety = libpanda_py.libpanda
192-
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM)
192+
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMSafetyFlags.FLAG_GM_HW_CAM)
193193
self.safety.init_tests()
194194

195195
def test_buttons(self):
@@ -221,7 +221,7 @@ def setUp(self):
221221
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
222222
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
223223
self.safety = libpanda_py.libpanda
224-
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM | GMPandaFlags.FLAG_GM_HW_CAM_LONG)
224+
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMSafetyFlags.FLAG_GM_HW_CAM | GMSafetyFlags.FLAG_GM_HW_CAM_LONG)
225225
self.safety.init_tests()
226226

227227

‎tests/safety/test_honda.py‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
import unittest
33
import numpy as np
44

5-
from opendbc.car.honda.values import HondaPandaFlags
5+
from opendbc.car.honda.values import HondaSafetyFlags
66
from panda import Panda
77
from panda.tests.libpanda import libpanda_py
88
import panda.tests.safety.common as common
@@ -358,7 +358,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
358358
def setUp(self):
359359
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
360360
self.safety = libpanda_py.libpanda
361-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaPandaFlags.FLAG_HONDA_NIDEC_ALT)
361+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaSafetyFlags.FLAG_HONDA_NIDEC_ALT)
362362
self.safety.init_tests()
363363

364364
def _acc_state_msg(self, main_on):
@@ -423,7 +423,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
423423
"""
424424
def setUp(self):
425425
super().setUp()
426-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
426+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_ALT_BRAKE)
427427
self.safety.init_tests()
428428

429429
def _user_brake_msg(self, brake):
@@ -472,7 +472,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
472472

473473
def setUp(self):
474474
super().setUp()
475-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
475+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG)
476476
self.safety.init_tests()
477477

478478
def _send_gas_brake_msg(self, gas, accel):
@@ -532,7 +532,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS
532532

533533
def setUp(self):
534534
super().setUp()
535-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS)
535+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS)
536536
self.safety.init_tests()
537537

538538

@@ -543,7 +543,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa
543543

544544
def setUp(self):
545545
super().setUp()
546-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
546+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS | HondaSafetyFlags.FLAG_HONDA_ALT_BRAKE)
547547
self.safety.init_tests()
548548

549549

@@ -557,7 +557,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
557557

558558
def setUp(self):
559559
super().setUp()
560-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
560+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS | HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG)
561561
self.safety.init_tests()
562562

563563
def _accel_msg(self, accel):

‎tests/safety/test_hyundai.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
import random
33
import unittest
44

5-
from opendbc.car.hyundai.values import HyundaiPandaFlags
5+
from opendbc.car.hyundai.values import HyundaiSafetyFlags
66
from panda import Panda
77
from panda.tests.libpanda import libpanda_py
88
import panda.tests.safety.common as common
@@ -123,7 +123,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
123123
def setUp(self):
124124
self.packer = CANPackerPanda("hyundai_kia_generic")
125125
self.safety = libpanda_py.libpanda
126-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
126+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_ALT_LIMITS)
127127
self.safety.init_tests()
128128

129129

@@ -134,7 +134,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
134134
def setUp(self):
135135
self.packer = CANPackerPanda("hyundai_kia_generic")
136136
self.safety = libpanda_py.libpanda
137-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC)
137+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC)
138138
self.safety.init_tests()
139139

140140

@@ -180,7 +180,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
180180
def setUp(self):
181181
self.packer = CANPackerPanda("hyundai_kia_generic")
182182
self.safety = libpanda_py.libpanda
183-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
183+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_LONG)
184184
self.safety.init_tests()
185185

186186
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

‎tests/safety/test_hyundai_canfd.py‎

Lines changed: 31 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
from parameterized import parameterized_class
33
import unittest
44

5-
from opendbc.car.hyundai.values import HyundaiPandaFlags
5+
from opendbc.car.hyundai.values import HyundaiSafetyFlags
66
from panda import Panda
77
from panda.tests.libpanda import libpanda_py
88
import panda.tests.safety.common as common
@@ -109,34 +109,35 @@ def setUp(self):
109109

110110
@parameterized_class([
111111
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
112-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
113-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
114-
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
115-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
116-
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
112+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
113+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
114+
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
115+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
116+
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
117117
# Camera SCC
118-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
119-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
120-
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
121-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
122-
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
118+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
119+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
120+
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
121+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
122+
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
123123
])
124124
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
125125
pass
126126

127127

128128
@parameterized_class([
129129
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
130-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
131-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
132-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
133-
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
130+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
131+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
132+
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
133+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
134+
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
134135
# Camera SCC
135-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
136-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
137-
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
138-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
139-
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
136+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
137+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
138+
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
139+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
140+
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
140141
])
141142
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
142143

@@ -145,7 +146,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
145146
def setUp(self):
146147
self.packer = CANPackerPanda("hyundai_canfd")
147148
self.safety = libpanda_py.libpanda
148-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
149+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
149150
self.safety.init_tests()
150151

151152
def _button_msg(self, buttons, main_button=0, bus=1):
@@ -180,7 +181,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
180181
def setUp(self):
181182
self.packer = CANPackerPanda("hyundai_canfd")
182183
self.safety = libpanda_py.libpanda
183-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
184+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS)
184185
self.safety.init_tests()
185186

186187

@@ -200,8 +201,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
200201
def setUp(self):
201202
self.packer = CANPackerPanda("hyundai_canfd")
202203
self.safety = libpanda_py.libpanda
203-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
204-
HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
204+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
205+
HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
205206
self.safety.init_tests()
206207

207208

@@ -222,8 +223,8 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
222223
def setUp(self):
223224
self.packer = CANPackerPanda("hyundai_canfd")
224225
self.safety = libpanda_py.libpanda
225-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 |
226-
HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
226+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 |
227+
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS)
227228
self.safety.init_tests()
228229

229230
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -237,9 +238,9 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
237238
# Tests HDA1 longitudinal for ICE, hybrid, EV
238239
@parameterized_class([
239240
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
240-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
241-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS},
242-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS},
241+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
242+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS},
243+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS},
243244
])
244245
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
245246

@@ -263,7 +264,7 @@ def setUpClass(cls):
263264
def setUp(self):
264265
self.packer = CANPackerPanda("hyundai_canfd")
265266
self.safety = libpanda_py.libpanda
266-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
267+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
267268
self.safety.init_tests()
268269

269270
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

‎tests/safety/test_nissan.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
33

4-
from opendbc.car.nissan.values import NissanPandaFlags
4+
from opendbc.car.nissan.values import NissanSafetyFlags
55
from panda import Panda
66
from panda.tests.libpanda import libpanda_py
77
import panda.tests.safety.common as common
@@ -90,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
9090
def setUp(self):
9191
self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
9292
self.safety = libpanda_py.libpanda
93-
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS)
93+
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanSafetyFlags.FLAG_NISSAN_ALT_EPS_BUS)
9494
self.safety.init_tests()
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9696

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