tests

Co-authored-by: martinl <martin@mlp.ee>

Author: sshane

board/safety/safety_subaru.h

@@ -64,6 +64,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, &subaru_rx_checks,
                             subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
 
+  int addr = GET_ADDR(to_push);
   if (valid && (GET_BUS(to_push) == 2U) && subaru_forester_hybrid) {
     // enter controls on rising edge of ACC, exit controls on ACC off (ES_DashStatus)
     if (addr == 0x321) {
@@ -79,7 +80,6 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   }
 
   if (valid && (GET_BUS(to_push) == 0U)) {
-    int addr = GET_ADDR(to_push);
     if (addr == 0x119) {
       int torque_driver_new;
       torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FFU);

tests/safety/test_subaru.py

@@ -73,5 +73,19 @@ def _pcm_status_msg(self, enable):
     return self.packer.make_can_msg_panda("CruiseControl", 0, values)
 
 
+class TestSubaruForesterHybridSafety(TestSubaruSafety):
+
+  def setUp(self):
+    self.packer = CANPackerPanda("subaru_global_2017_generated")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, Panda.FLAG_SUBARU_FORESTER_HYBRID)
+    self.safety.init_tests()
+
+  def _pcm_status_msg(self, enable):
+    values = {"Cruise_Activated": enable, "Counter": self.cnt_cruise % 4}
+    self.__class__.cnt_cruise += 1
+    return self.packer.make_can_msg_panda("ES_DashStatus", 2, values)
+
+
 if __name__ == "__main__":
   unittest.main()