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subaru safety: fix mutations failures #2056

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subaru safety: fix mutations failures #2056

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maxime-desroches Oct 2, 2024
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Merge branch 'master' into subaru_angle_meas
maxime-desroches Oct 3, 2024
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3 changes: 3 additions & 0 deletions tests/libpanda/safety_helpers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,9 @@ int get_angle_meas_max(void){
return angle_meas.max;
}

int get_angle_meas_last(void){
return angle_meas.values[0];
}

// ***** car specific helpers *****

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1 change: 1 addition & 0 deletions tests/libpanda/safety_helpers.py
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Expand Up @@ -34,6 +34,7 @@ def setup_safety_helpers(ffi):
void set_angle_meas(int min, int max);
int get_angle_meas_min(void);
int get_angle_meas_max(void);
int get_angle_meas_last(void);

bool get_cruise_engaged_prev(void);
void set_cruise_engaged_prev(bool engaged);
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15 changes: 15 additions & 0 deletions tests/safety/test_subaru.py
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Expand Up @@ -106,6 +106,21 @@ def _pcm_status_msg(self, enable):
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_panda("CruiseControl", self.ALT_MAIN_BUS, values)

def test_angle_meas(self):
self.assertTrue(self._rx(self._angle_meas_msg(0)))
self.assertEqual(self.safety.get_angle_meas_last(), 0)

self.assertTrue(self._rx(self._angle_meas_msg(1)))
self.assertEqual(self.safety.get_angle_meas_last(), 100)

def test_vehicle_speed(self):
self.assertTrue(self._rx(self._speed_msg(0)))
self.assertFalse(self.safety.get_vehicle_moving())
self.assertEqual(self.safety.get_vehicle_speed_last(), 0)

self.assertTrue(self._rx(self._speed_msg(1)))
self.assertTrue(self.safety.get_vehicle_moving())
self.assertEqual(self.safety.get_vehicle_speed_last(), 103)

class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
def _cancel_msg(self, cancel, cruise_throttle=0):
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