Subaru: added last engage/disengage regression test

Gernby · Mar 14, 2019 · c6eeaad · c6eeaad
1 parent 37d46e0
commit c6eeaad
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
@@ -55,6 +55,23 @@ def _torque_msg(self, torque):
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_enable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 0x240 << 21
+    to_push[0].RDHR = 1 << 9
+
+    self.safety.subaru_rx_hook(to_push)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 0x240 << 21
+    to_push[0].RDHR = 0
+
+    self.safety.set_controls_allowed(1)
+    self.safety.subaru_rx_hook(to_push)
+    self.assertFalse(self.safety.get_controls_allowed())
+
   def test_steer_safety_check(self):
     for enabled in [0, 1]:
       for t in range(-3000, 3000):