Add tests for ALT_BUTTONS w/ HDA2

Author: ccdunder

tests/safety/test_hyundai_canfd.py

@@ -9,7 +9,7 @@
 
 
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
-
+  SAFETY_PARAM = 0
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
@@ -45,6 +45,12 @@ def setUpClass(cls):
       cls.safety = None
       raise unittest.SkipTest
 
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_canfd")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
   def _torque_driver_msg(self, torque):
     values = {"STEERING_COL_TORQUE": torque}
     return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values)
@@ -79,6 +85,29 @@ def _button_msg(self, buttons, main_button=0, bus=None):
     return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values)
 
 
+class HyundaiCanfdAltButtonsMixin:
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+
+  def _button_msg(self, buttons, main_button=0, bus=1):
+    values = {
+      "CRUISE_BUTTONS": buttons,
+      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
+    }
+    return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
+
+  def test_button_sends(self):
+    """
+      No button send allowed with alt buttons.
+    """
+    for enabled in (True, False):
+      for btn in range(8):
+        self.safety.set_controls_allowed(enabled)
+        self.assertFalse(self._tx(self._button_msg(btn)))
+
+
 class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
 
   TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
@@ -88,7 +117,6 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
 
   STEER_MSG = "LFA"
   BUTTONS_TX_BUS = 2
-  SAFETY_PARAM: int
 
   @classmethod
   def setUpClass(cls):
@@ -98,12 +126,6 @@ def setUpClass(cls):
       cls.safety = None
       raise unittest.SkipTest
 
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
-    self.safety.init_tests()
-
 
 @parameterized_class([
   # Radar SCC, test with long flag to ensure flag is not respected until it is supported
@@ -129,71 +151,81 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
   {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
   {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
 ])
-class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
+class TestHyundaiCanfdHDA1AltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA1Base):
+  pass
 
-  SAFETY_PARAM: int
 
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
-    self.safety.init_tests()
+# Tests HDA1 longitudinal for ICE, hybrid, EV
+@parameterized_class([
+  # Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
+])
+class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
 
-  def _button_msg(self, buttons, main_button=0, bus=1):
+  FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)}  # LFA, SCC_CONTROL
+
+  DISABLED_ECU_UDS_MSG = (0x730, 1)
+  DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
+
+  STEER_MSG = "LFA"
+  STEER_BUS = 0
+  SCC_BUS = 2
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+    if cls.__name__ == "TestHyundaiCanfdHDA1Long":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
-      "CRUISE_BUTTONS": buttons,
-      "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
+      "aReqRaw": accel,
+      "aReqValue": accel,
     }
-    return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
+    return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
 
-  def test_button_sends(self):
-    """
-      No button send allowed with alt buttons.
-    """
-    for enabled in (True, False):
-      for btn in range(8):
-        self.safety.set_controls_allowed(enabled)
-        self.assertFalse(self._tx(self._button_msg(btn)))
+  # no knockout
+  def test_tester_present_allowed(self):
+    pass
 
 
-class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
+# ********************* HDA2 **********************
 
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x50,)}  # LKAS
-  FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
-  FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
+class TestHyundaiCanfdHDA2EVBase(TestHyundaiCanfdBase):
   PT_BUS = 1
   SCC_BUS = 1
-  STEER_MSG = "LKAS"
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
 
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
-    self.safety.init_tests()
 
+class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdHDA2EVBase):
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x50,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
+  STEER_MSG = "LKAS"
+  SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS
 
-# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
-class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
 
+class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdHDA2EVBase):
   TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x110,)}  # LKAS_ALT
+  RELAY_MALFUNCTION_ADDRS = {0: (0x110,)}
   FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
-  FWD_BUS_LOOKUP = {0: 2, 2: 0}
-
-  PT_BUS = 1
-  SCC_BUS = 1
   STEER_MSG = "LKAS_ALT"
-  GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
+  SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
 
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
-                                 Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
-    self.safety.init_tests()
+
+class TestHyundaiCanfdHDA2EVAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EV):
+  pass
+
+class TestHyundaiCanfdHDA2EVAltSteeringAltButtons(HyundaiCanfdAltButtonsMixin, TestHyundaiCanfdHDA2EVAltSteering):
+  pass
 
 
 class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
@@ -209,12 +241,7 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
   STEER_MSG = "LFA"
   GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
   STEER_BUS = 1
-
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
-    self.safety.init_tests()
+  SAFETY_PARAM = Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     values = {
@@ -224,49 +251,5 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
     return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values)
 
 
-# Tests HDA1 longitudinal for ICE, hybrid, EV
-@parameterized_class([
-  # Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
-])
-class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
-
-  FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]}
-
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)}  # LFA, SCC_CONTROL
-
-  DISABLED_ECU_UDS_MSG = (0x730, 1)
-  DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0)
-
-  STEER_MSG = "LFA"
-  STEER_BUS = 0
-  SCC_BUS = 2
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == "TestHyundaiCanfdHDA1Long":
-      cls.safety = None
-      raise unittest.SkipTest
-
-  def setUp(self):
-    self.packer = CANPackerPanda("hyundai_canfd")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
-    self.safety.init_tests()
-
-  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
-    values = {
-      "aReqRaw": accel,
-      "aReqValue": accel,
-    }
-    return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values)
-
-  # no knockout
-  def test_tester_present_allowed(self):
-    pass
-
-
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()