use _generic_limit_safety_check in ford

commaai · Oct 4, 2023 · b5eaf9f · b5eaf9f
1 parent 65aa62b
commit b5eaf9f
Showing 1 changed file with 25 additions and 10 deletions.
diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -384,17 +384,22 @@ def setUp(self):
     self.safety.init_tests()
 
 
-class TestFordLongitudinalSafetyBase(TestFordSafetyBase, common.LongitudinalAccelSafetyTest):
+class TestFordLongitudinalSafetyBase(TestFordSafetyBase, common.LongitudinalAccelSafetyTest,
+                                     ):
   FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
                                MSG_LateralMotionControl2, MSG_IPMA_Data]}
 
   MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
   MIN_ACCEL = -3.5
   INACTIVE_ACCEL = 0.0
 
-  MAX_GAS = 2.0
+  MAX_GAS = 2.0  # gas is also in m/s^2
   MIN_GAS = -0.5
   INACTIVE_GAS = -5.0
+  MAX_POSSIBLE_GAS = 5.23
+
+  # Not used, part of gas/brake test
+  MAX_POSSIBLE_BRAKE = -1
 
   @classmethod
   def setUpClass(cls):
@@ -420,18 +425,28 @@ def test_stock_aeb(self):
         should_tx = controls_allowed and not cmbb_deny
         self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, cmbb_deny)))
 
-  def test_gas_safety_check(self):
-    for controls_allowed in (True, False):
-      self.safety.set_controls_allowed(controls_allowed)
-      for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])):
-        gas = round(gas, 2)  # floats might not hit exact boundary conditions without rounding
-        should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
-        self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL)))
+  def _send_gas_msg(self, gas: int):
+    self._acc_command_msg(gas, self.INACTIVE_ACCEL)
+
+  def _send_brake_msg(self, brake: int):
+    raise NotImplementedError
+
+  def test_gas_safety_check123(self):
+    self._generic_limit_safety_check(lambda gas: self._acc_command_msg(gas, self.INACTIVE_ACCEL),
+                                     self.MIN_GAS, self.MAX_GAS, self.INACTIVE_GAS,
+                                     self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
+
+    # for controls_allowed in (True, False):
+    #   self.safety.set_controls_allowed(controls_allowed)
+    #   for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])):
+    #     gas = round(gas, 2)  # floats might not hit exact boundary conditions without rounding
+    #     should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
+    #     self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL)))
 
   def _accel_msg(self, accel: float):
     return self._acc_command_msg(self.INACTIVE_GAS, accel)
 
-  def test_brake_safety_check(self):
+  def test_brake_safety_check123(self):
     for controls_allowed in (True, False):
       self.safety.set_controls_allowed(controls_allowed)
       for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05):