Add openpilot tests

panda/tests/safety/test_defaults.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+import unittest
+
+import panda.tests.safety.common as common
+
+from panda import Panda
+from panda.tests.libpanda import libpanda_py
+
+
+class TestDefaultRxHookBase(common.PandaSafetyTest):
+  def test_rx_hook(self):
+    # default rx hook allows all msgs
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        self.assertTrue(self._rx(common.make_msg(bus, addr, 8)), f"failed RX {addr=}")
+
+
+class TestNoOutput(TestDefaultRxHookBase):
+  TX_MSGS = []
+
+  def setUp(self):
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_NOOUTPUT, 0)
+    self.safety.init_tests()
+
+
+class TestSilent(TestNoOutput):
+  """SILENT uses same hooks as NOOUTPUT"""
+
+  def setUp(self):
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_SILENT, 0)
+    self.safety.init_tests()
+
+
+class TestAllOutput(TestDefaultRxHookBase):
+  # Allow all messages
+  TX_MSGS = [[addr, bus] for addr in common.PandaSafetyTest.SCANNED_ADDRS
+             for bus in range(4)]
+
+  def setUp(self):
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0)
+    self.safety.init_tests()
+
+  def test_spam_can_buses(self):
+    # asserts tx allowed for all scanned addrs
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        should_tx = [addr, bus] in self.TX_MSGS
+        self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8)), f"allowed TX {addr=} {bus=}")
+
+  def test_default_controls_not_allowed(self):
+    # controls always allowed
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    # No point, since we allow all messages
+    pass
+
+
+class TestAllOutputPassthrough(TestAllOutput):
+  FWD_BLACKLISTED_ADDRS = {}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  def setUp(self):
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 1)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()