Add openpilot tests

panda/tests/safety/test_subaru_preglobal.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import unittest
+from panda import Panda
+from panda.tests.libpanda import libpanda_py
+import panda.tests.safety.common as common
+from panda.tests.safety.common import CANPackerPanda
+
+
+class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  FLAGS = 0
+  DBC = "subaru_outback_2015_generated"
+  TX_MSGS = [[0x161, 0], [0x164, 0]]
+  STANDSTILL_THRESHOLD = 0  # kph
+  RELAY_MALFUNCTION_ADDRS = {0: (0x164,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x161, 0x164]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  MAX_RATE_UP = 50
+  MAX_RATE_DOWN = 70
+  MAX_TORQUE = 2047
+
+  MAX_RT_DELTA = 940
+  RT_INTERVAL = 250000
+
+  DRIVER_TORQUE_ALLOWANCE = 75
+  DRIVER_TORQUE_FACTOR = 10
+
+  def setUp(self):
+    self.packer = CANPackerPanda(self.DBC)
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, self.FLAGS)
+    self.safety.init_tests()
+
+  def _set_prev_torque(self, t):
+    self.safety.set_desired_torque_last(t)
+    self.safety.set_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    values = {"Steer_Torque_Sensor": torque}
+    return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
+
+  def _speed_msg(self, speed):
+    # subaru safety doesn't use the scaled value, so undo the scaling
+    values = {s: speed*0.0592 for s in ["FR", "FL", "RR", "RL"]}
+    return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"Brake_Pedal": brake}
+    return self.packer.make_can_msg_panda("Brake_Pedal", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_Command": torque, "LKAS_Active": steer_req}
+    return self.packer.make_can_msg_panda("ES_LKAS", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"Throttle_Pedal": gas}
+    return self.packer.make_can_msg_panda("Throttle", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"Cruise_Activated": enable}
+    return self.packer.make_can_msg_panda("CruiseControl", 0, values)
+
+
+class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
+  FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
+  DBC = "subaru_outback_2019_generated"
+
+
+if __name__ == "__main__":
+  unittest.main()