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