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nworb-ciresshane
nworb-cire
and
sshane
authored
Remove car specific flags (#2116)
* Subaru: combine panda flags * Remove car-specific panda flags * Rename usages in tests * update opendbc ref * ? ? * fix ltl * order --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
1 parent c73bc7b commit e7940cc

17 files changed

+89
-98
lines changed

‎Dockerfile‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,11 +37,11 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
3737

3838
# TODO: this should be a "pip install" or not even in this repo at all
3939
RUN git config --global --add safe.directory $PYTHONPATH/panda
40-
ENV OPENDBC_REF="7af6f3885dc43be8ecf331df1f0914cf3338de50"
40+
ENV OPENDBC_REF="25b3266b0bf95fced1589fd28f824227da62ffc0"
4141
RUN cd /tmp/ && \
4242
git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
4343
cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
44-
pip3 install --break-system-packages --no-cache-dir Cython numpy && \
44+
pip3 install --break-system-packages --no-cache-dir Cython numpy pycapnp && \
4545
ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
4646
scons -j8 --minimal opendbc/
4747

‎python/__init__.py‎

Lines changed: 0 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -184,47 +184,6 @@ class Panda:
184184
HARNESS_STATUS_NORMAL = 1
185185
HARNESS_STATUS_FLIPPED = 2
186186

187-
# first byte is for EPS scaling factor
188-
FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
189-
FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
190-
FLAG_TOYOTA_LTA = (4 << 8)
191-
FLAG_TOYOTA_SECOC = (8 << 8)
192-
193-
FLAG_HONDA_ALT_BRAKE = 1
194-
FLAG_HONDA_BOSCH_LONG = 2
195-
FLAG_HONDA_NIDEC_ALT = 4
196-
FLAG_HONDA_RADARLESS = 8
197-
198-
FLAG_HYUNDAI_EV_GAS = 1
199-
FLAG_HYUNDAI_HYBRID_GAS = 2
200-
FLAG_HYUNDAI_LONG = 4
201-
FLAG_HYUNDAI_CAMERA_SCC = 8
202-
FLAG_HYUNDAI_CANFD_HDA2 = 16
203-
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
204-
FLAG_HYUNDAI_ALT_LIMITS = 64
205-
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
206-
207-
FLAG_TESLA_POWERTRAIN = 1
208-
FLAG_TESLA_LONG_CONTROL = 2
209-
FLAG_TESLA_RAVEN = 4
210-
211-
FLAG_VOLKSWAGEN_LONG_CONTROL = 1
212-
213-
FLAG_CHRYSLER_RAM_DT = 1
214-
FLAG_CHRYSLER_RAM_HD = 2
215-
216-
FLAG_SUBARU_GEN2 = 1
217-
FLAG_SUBARU_LONG = 2
218-
FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
219-
220-
FLAG_NISSAN_ALT_EPS_BUS = 1
221-
222-
FLAG_GM_HW_CAM = 1
223-
FLAG_GM_HW_CAM_LONG = 2
224-
225-
FLAG_FORD_LONG_CONTROL = 1
226-
FLAG_FORD_CANFD = 2
227-
228187
def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
229188
self._disable_checks = disable_checks
230189

‎tests/hitl/2_health.py‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,7 @@
11
import time
22
import pytest
33

4+
from opendbc.car.hyundai.values import HyundaiPandaFlags
45
from panda import Panda
56

67

@@ -36,10 +37,10 @@ def test_hw_type(p):
3637
def test_heartbeat(p, panda_jungle):
3738
panda_jungle.set_ignition(True)
3839
# TODO: add more cases here once the tests aren't super slow
39-
p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
40+
p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
4041
p.send_heartbeat()
4142
assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
42-
assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
43+
assert p.health()['safety_param'] == HyundaiPandaFlags.FLAG_HYUNDAI_LONG
4344

4445
# shouldn't do anything once we're in a car safety mode
4546
p.set_heartbeat_disabled()

‎tests/safety/test_chrysler.py‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
3+
4+
from opendbc.car.chrysler.values import ChryslerPandaFlags
35
from panda import Panda
46
from panda.tests.libpanda import libpanda_py
57
import panda.tests.safety.common as common
@@ -89,7 +91,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
8991
def setUp(self):
9092
self.packer = CANPackerPanda("chrysler_ram_dt_generated")
9193
self.safety = libpanda_py.libpanda
92-
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
94+
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT)
9395
self.safety.init_tests()
9496

9597
def _speed_msg(self, speed):
@@ -113,7 +115,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
113115
def setUp(self):
114116
self.packer = CANPackerPanda("chrysler_ram_hd_generated")
115117
self.safety = libpanda_py.libpanda
116-
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD)
118+
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD)
117119
self.safety.init_tests()
118120

119121
def _speed_msg(self, speed):

‎tests/safety/test_ford.py‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,7 @@
44
import unittest
55

66
import panda.tests.safety.common as common
7+
from opendbc.car.ford.values import FordPandaFlags
78

89
from panda import Panda
910
from panda.tests.libpanda import libpanda_py
@@ -365,7 +366,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
365366
def setUp(self):
366367
self.packer = CANPackerPanda("ford_lincoln_base_pt")
367368
self.safety = libpanda_py.libpanda
368-
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
369+
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_CANFD)
369370
self.safety.init_tests()
370371

371372

@@ -457,7 +458,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
457458
def setUp(self):
458459
self.packer = CANPackerPanda("ford_lincoln_base_pt")
459460
self.safety = libpanda_py.libpanda
460-
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
461+
self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL | FordPandaFlags.FLAG_FORD_CANFD)
461462
self.safety.init_tests()
462463

463464

‎tests/safety/test_gm.py‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
3+
4+
from opendbc.car.gm.values import GMPandaFlags
35
from panda import Panda
46
from panda.tests.libpanda import libpanda_py
57
import panda.tests.safety.common as common
@@ -187,7 +189,7 @@ def setUp(self):
187189
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
188190
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
189191
self.safety = libpanda_py.libpanda
190-
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
192+
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM)
191193
self.safety.init_tests()
192194

193195
def test_buttons(self):
@@ -219,7 +221,7 @@ def setUp(self):
219221
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
220222
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
221223
self.safety = libpanda_py.libpanda
222-
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
224+
self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM | GMPandaFlags.FLAG_GM_HW_CAM_LONG)
223225
self.safety.init_tests()
224226

225227

‎tests/safety/test_honda.py‎

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
import unittest
33
import numpy as np
44

5+
from opendbc.car.honda.values import HondaPandaFlags
56
from panda import Panda
67
from panda.tests.libpanda import libpanda_py
78
import panda.tests.safety.common as common
@@ -357,7 +358,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
357358
def setUp(self):
358359
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
359360
self.safety = libpanda_py.libpanda
360-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
361+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaPandaFlags.FLAG_HONDA_NIDEC_ALT)
361362
self.safety.init_tests()
362363

363364
def _acc_state_msg(self, main_on):
@@ -422,7 +423,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
422423
"""
423424
def setUp(self):
424425
super().setUp()
425-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE)
426+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
426427
self.safety.init_tests()
427428

428429
def _user_brake_msg(self, brake):
@@ -471,7 +472,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
471472

472473
def setUp(self):
473474
super().setUp()
474-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
475+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
475476
self.safety.init_tests()
476477

477478
def _send_gas_brake_msg(self, gas, accel):
@@ -531,7 +532,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS
531532

532533
def setUp(self):
533534
super().setUp()
534-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
535+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS)
535536
self.safety.init_tests()
536537

537538

@@ -542,7 +543,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa
542543

543544
def setUp(self):
544545
super().setUp()
545-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE)
546+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
546547
self.safety.init_tests()
547548

548549

@@ -556,7 +557,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
556557

557558
def setUp(self):
558559
super().setUp()
559-
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG)
560+
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
560561
self.safety.init_tests()
561562

562563
def _accel_msg(self, accel):

‎tests/safety/test_hyundai.py‎

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,8 @@
11
#!/usr/bin/env python3
22
import random
33
import unittest
4+
5+
from opendbc.car.hyundai.values import HyundaiPandaFlags
46
from panda import Panda
57
from panda.tests.libpanda import libpanda_py
68
import panda.tests.safety.common as common
@@ -121,7 +123,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
121123
def setUp(self):
122124
self.packer = CANPackerPanda("hyundai_kia_generic")
123125
self.safety = libpanda_py.libpanda
124-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
126+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
125127
self.safety.init_tests()
126128

127129

@@ -132,7 +134,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
132134
def setUp(self):
133135
self.packer = CANPackerPanda("hyundai_kia_generic")
134136
self.safety = libpanda_py.libpanda
135-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
137+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC)
136138
self.safety.init_tests()
137139

138140

@@ -178,7 +180,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
178180
def setUp(self):
179181
self.packer = CANPackerPanda("hyundai_kia_generic")
180182
self.safety = libpanda_py.libpanda
181-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
183+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
182184
self.safety.init_tests()
183185

184186
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

‎tests/safety/test_hyundai_canfd.py‎

Lines changed: 31 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,8 @@
11
#!/usr/bin/env python3
22
from parameterized import parameterized_class
33
import unittest
4+
5+
from opendbc.car.hyundai.values import HyundaiPandaFlags
46
from panda import Panda
57
from panda.tests.libpanda import libpanda_py
68
import panda.tests.safety.common as common
@@ -107,27 +109,34 @@ def setUp(self):
107109

108110
@parameterized_class([
109111
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
110-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
111-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
112-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
112+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
113+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
114+
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
115+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
116+
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
113117
# Camera SCC
114-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
115-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
116-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
118+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
119+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
120+
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
121+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
122+
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
117123
])
118124
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
119125
pass
120126

121127

122128
@parameterized_class([
123129
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
124-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
125-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
126-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
130+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
131+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
132+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
133+
HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
127134
# Camera SCC
128-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
129-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
130-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
135+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
136+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
137+
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
138+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
139+
HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
131140
])
132141
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
133142

@@ -136,7 +145,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
136145
def setUp(self):
137146
self.packer = CANPackerPanda("hyundai_canfd")
138147
self.safety = libpanda_py.libpanda
139-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
148+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
140149
self.safety.init_tests()
141150

142151
def _button_msg(self, buttons, main_button=0, bus=1):
@@ -171,7 +180,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
171180
def setUp(self):
172181
self.packer = CANPackerPanda("hyundai_canfd")
173182
self.safety = libpanda_py.libpanda
174-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
183+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
175184
self.safety.init_tests()
176185

177186

@@ -191,8 +200,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
191200
def setUp(self):
192201
self.packer = CANPackerPanda("hyundai_canfd")
193202
self.safety = libpanda_py.libpanda
194-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
195-
Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
203+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
204+
HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
196205
self.safety.init_tests()
197206

198207

@@ -213,7 +222,8 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
213222
def setUp(self):
214223
self.packer = CANPackerPanda("hyundai_canfd")
215224
self.safety = libpanda_py.libpanda
216-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
225+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 |
226+
HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
217227
self.safety.init_tests()
218228

219229
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -227,9 +237,9 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
227237
# Tests HDA1 longitudinal for ICE, hybrid, EV
228238
@parameterized_class([
229239
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
230-
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
231-
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
232-
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
240+
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
241+
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS},
242+
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS},
233243
])
234244
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
235245

@@ -253,7 +263,7 @@ def setUpClass(cls):
253263
def setUp(self):
254264
self.packer = CANPackerPanda("hyundai_canfd")
255265
self.safety = libpanda_py.libpanda
256-
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
266+
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
257267
self.safety.init_tests()
258268

259269
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

‎tests/safety/test_nissan.py‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
#!/usr/bin/env python3
22
import unittest
3+
4+
from opendbc.car.nissan.values import NissanPandaFlags
35
from panda import Panda
46
from panda.tests.libpanda import libpanda_py
57
import panda.tests.safety.common as common
@@ -88,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
8890
def setUp(self):
8991
self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
9092
self.safety = libpanda_py.libpanda
91-
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS)
93+
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS)
9294
self.safety.init_tests()
9395

9496

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