clean up safety tests

tests/safety/common.py

@@ -1,9 +1,19 @@
+from panda.tests.safety import libpandasafety_py
+
+def make_msg(bus, addr, length):
+  to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+  to_send[0].RIR = addr << 21
+  to_send[0].RDTR = length
+  to_send[0].RDTR = bus << 4
+
+  return to_send
+
 def test_relay_malfunction(test, addr):
   # input is a test class and the address that, if seen on bus 0, triggers
   # the relay_malfunction logic
   test.assertFalse(test.safety.get_relay_malfunction())
-  test.safety.safety_rx_hook(test._send_msg(0, addr, 8))
+  test.safety.safety_rx_hook(make_msg(0, addr, 8))
   test.assertTrue(test.safety.get_relay_malfunction())
   for a in range(1, 0x800):
     for b in range(0, 3):
-      test.assertFalse(test.safety.safety_tx_hook(test._send_msg(b, a, 8)))
+      test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))

tests/safety/test_cadillac.py

@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import make_msg
+
 
 MAX_RATE_UP = 2
 MAX_RATE_DOWN = 5
@@ -35,13 +37,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_CADILLAC, 0)
     cls.safety.init_tests_cadillac()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _set_prev_torque(self, t):
     self.safety.set_cadillac_desired_torque_last(t)
     self.safety.set_cadillac_rt_torque_last(t)
@@ -190,7 +185,7 @@ def test_fwd_hook(self):
     for b in buss:
       for m in msgs:
         # assume len 8
-        self.assertEqual(-1, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_chrysler.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -38,13 +38,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
     cls.safety.init_tests_chrysler()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _button_msg(self, buttons):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 1265 << 21
@@ -204,7 +197,7 @@ def test_fwd_hook(self):
             fwd_bus = -1
 
           # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_gm.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -37,13 +37,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
     cls.safety.init_tests_gm()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _speed_msg(self, speed):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 842 << 21
@@ -293,7 +286,7 @@ def test_fwd_hook(self):
     for b in buss:
       for m in msgs:
         # assume len 8
-        self.assertEqual(-1, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_honda.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_BRAKE = 255
 
@@ -16,14 +16,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_HONDA, 0)
     cls.safety.init_tests_honda()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-
-    return to_send
-
   def _speed_msg(self, speed):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 0x158 << 21
@@ -291,7 +283,7 @@ def test_fwd_hook(self):
                 fwd_bus = -1
 
               # assume len 8
-              self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+              self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
     self.safety.set_long_controls_allowed(True)
     self.safety.set_honda_fwd_brake(False)

tests/safety/test_honda_bosch.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import unittest
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import make_msg
 
 MAX_BRAKE = 255
 
@@ -12,14 +13,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
     cls.safety.init_tests_honda()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-
-    return to_send
-
   def test_fwd_hook(self):
     buss = range(0x0, 0x3)
     msgs = range(0x1, 0x800)
@@ -46,7 +39,7 @@ def test_fwd_hook(self):
             fwd_bus = -1
 
           # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_hyundai.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -34,13 +34,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
     cls.safety.init_tests_hyundai()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _button_msg(self, buttons):
     to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
     to_send[0].RIR = 1265 << 21
@@ -214,7 +207,7 @@ def test_fwd_hook(self):
             fwd_bus = -1
 
           # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_subaru.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -34,13 +34,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
     cls.safety.init_tests_subaru()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _set_prev_torque(self, t):
     self.safety.set_subaru_desired_torque_last(t)
     self.safety.set_subaru_rt_torque_last(t)
@@ -198,7 +191,7 @@ def test_fwd_hook(self):
             fwd_bus = -1
 
           # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":

tests/safety/test_toyota.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -38,13 +38,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 100)
     cls.safety.init_tests_toyota()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _set_prev_torque(self, t):
     self.safety.set_toyota_desired_torque_last(t)
     self.safety.set_toyota_rt_torque_last(t)
@@ -311,7 +304,7 @@ def test_fwd_hook(self):
               fwd_bus = -1
 
             # assume len 8
-            self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+            self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
     self.safety.set_long_controls_allowed(True)
 

tests/safety/test_toyota_ipas.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety import libpandasafety_py
 
 IPAS_OVERRIDE_THRESHOLD = 200
 

tests/safety/test_volkswagen.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
-from panda.tests.safety.common import test_relay_malfunction
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import test_relay_malfunction, make_msg
 
 MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
@@ -28,13 +28,6 @@ def setUp(cls):
     cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN, 0)
     cls.safety.init_tests_volkswagen()
 
-  def _send_msg(self, bus, addr, length):
-    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
-    to_send[0].RIR = addr << 21
-    to_send[0].RDTR = length
-    to_send[0].RDTR = bus << 4
-    return to_send
-
   def _set_prev_torque(self, t):
     self.safety.set_volkswagen_desired_torque_last(t)
     self.safety.set_volkswagen_rt_torque_last(t)
@@ -250,9 +243,7 @@ def test_fwd_hook(self):
             fwd_bus = -1
 
           # assume len 8
-          if fwd_bus != self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)):
-            print(b, hex(m), fwd_bus)
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
 if __name__ == "__main__":