VW MQB: Cleanup message counter handling (#1034)

tests/safety/test_volkswagen_mqb.py

@@ -3,7 +3,7 @@ import unittest
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
 import panda.tests.safety.common as common
-from panda.tests.safety.common import CANPackerPanda, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import CANPackerPanda
 
 MSG_ESP_19 = 0xB2       # RX from ABS, for wheel speeds
 MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
@@ -16,13 +16,6 @@ MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
 
 
 class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  cnt_lh_eps_03 = 0
-  cnt_esp_05 = 0
-  cnt_tsk_06 = 0
-  cnt_motor_20 = 0
-  cnt_hca_01 = 0
-  cnt_gra_acc_01 = 0
-
   STANDSTILL_THRESHOLD = 1
   RELAY_MALFUNCTION_ADDR = MSG_HCA_01
   RELAY_MALFUNCTION_BUS = 0
@@ -50,41 +43,32 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteerin
 
   # Brake light switch _esp_05_msg
   def _user_brake_msg(self, brake):
-    values = {"ESP_Fahrer_bremst": brake, "COUNTER": self.cnt_esp_05 % 16}
-    self.__class__.cnt_esp_05 += 1
+    values = {"ESP_Fahrer_bremst": brake}
     return self.packer.make_can_msg_panda("ESP_05", 0, values)
 
   # Driver throttle input
   def _user_gas_msg(self, gas):
-    values = {"MO_Fahrpedalrohwert_01": gas, "COUNTER": self.cnt_motor_20 % 16}
-    self.__class__.cnt_motor_20 += 1
+    values = {"MO_Fahrpedalrohwert_01": gas}
     return self.packer.make_can_msg_panda("Motor_20", 0, values)
 
   # ACC engagement status
   def _pcm_status_msg(self, enable):
-    values = {"TSK_Status": 3 if enable else 1, "COUNTER": self.cnt_tsk_06 % 16}
-    self.__class__.cnt_tsk_06 += 1
+    values = {"TSK_Status": 3 if enable else 1}
     return self.packer.make_can_msg_panda("TSK_06", 0, values)
 
   # Driver steering input torque
   def _torque_driver_msg(self, torque):
-    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0,
-              "COUNTER": self.cnt_lh_eps_03 % 16}
-    self.__class__.cnt_lh_eps_03 += 1
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
     return self.packer.make_can_msg_panda("LH_EPS_03", 0, values)
 
   # openpilot steering output torque
   def _torque_cmd_msg(self, torque, steer_req=1):
-    values = {"Assist_Torque": abs(torque), "Assist_VZ": torque < 0,
-              "COUNTER": self.cnt_hca_01 % 16}
-    self.__class__.cnt_hca_01 += 1
+    values = {"Assist_Torque": abs(torque), "Assist_VZ": torque < 0}
     return self.packer.make_can_msg_panda("HCA_01", 0, values)
 
   # Cruise control buttons
   def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0):
-    values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set,
-              "GRA_Tip_Wiederaufnahme": resume, "COUNTER": self.cnt_gra_acc_01 % 16}
-    self.__class__.cnt_gra_acc_01 += 1
+    values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
     return self.packer.make_can_msg_panda("GRA_ACC_01", 0, values)
 
   def test_torque_measurements(self):
@@ -107,55 +91,6 @@ class TestVolkswagenMqbSafety(common.PandaSafetyTest, common.DriverTorqueSteerin
     self.assertEqual(0, self.safety.get_torque_driver_max())
     self.assertEqual(0, self.safety.get_torque_driver_min())
 
-  def test_rx_hook(self):
-    # checksum checks
-    # TODO: Would be ideal to check ESP_19 as well, but it has no checksum
-    # or counter, and I'm not sure if we can easily validate Panda's simple
-    # temporal reception-rate check here.
-    for msg in [MSG_LH_EPS_03, MSG_ESP_05, MSG_TSK_06, MSG_MOTOR_20]:
-      self.safety.set_controls_allowed(1)
-      if msg == MSG_LH_EPS_03:
-        to_push = self._torque_driver_msg(0)
-      if msg == MSG_ESP_05:
-        to_push = self._user_brake_msg(False)
-      if msg == MSG_TSK_06:
-        to_push = self._pcm_status_msg(True)
-      if msg == MSG_MOTOR_20:
-        to_push = self._user_gas_msg(0)
-      self.assertTrue(self._rx(to_push))
-      to_push[0].data[4] ^= 0xFF
-      self.assertFalse(self._rx(to_push))
-      self.assertFalse(self.safety.get_controls_allowed())
-
-    # counter
-    # reset wrong_counters to zero by sending valid messages
-    for i in range(MAX_WRONG_COUNTERS + 1):
-      self.__class__.cnt_lh_eps_03 += 1
-      self.__class__.cnt_esp_05 += 1
-      self.__class__.cnt_tsk_06 += 1
-      self.__class__.cnt_motor_20 += 1
-      if i < MAX_WRONG_COUNTERS:
-        self.safety.set_controls_allowed(1)
-        self._rx(self._torque_driver_msg(0))
-        self._rx(self._user_brake_msg(False))
-        self._rx(self._pcm_status_msg(True))
-        self._rx(self._user_gas_msg(0))
-      else:
-        self.assertFalse(self._rx(self._torque_driver_msg(0)))
-        self.assertFalse(self._rx(self._user_brake_msg(False)))
-        self.assertFalse(self._rx(self._pcm_status_msg(True)))
-        self.assertFalse(self._rx(self._user_gas_msg(0)))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-    # restore counters for future tests with a couple of good messages
-    for i in range(2):
-      self.safety.set_controls_allowed(1)
-      self._rx(self._torque_driver_msg(0))
-      self._rx(self._user_brake_msg(False))
-      self._rx(self._pcm_status_msg(True))
-      self._rx(self._user_gas_msg(0))
-    self.assertTrue(self.safety.get_controls_allowed())
-
 
 class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety):
   TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]