fix tests

commaai · Oct 15, 2024 · c8ade38 · c8ade38
1 parent adecbac
commit c8ade38
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Showing 3 changed files with 4 additions and 6 deletions.
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
@@ -17,10 +17,6 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
   }
 
   if(bus == 0) {
-    if(addr == 0x286){
-      vehicle_moving = ((GET_BYTE(to_push, 5) & 0x1CU) >> 2) != 3U;
-    }
-
     if(addr == 0x257){
       // Vehicle speed: ((val * 0.08) - 40) * KPH_TO_MPS
       float speed = (((((GET_BYTE(to_push, 2)) << 4) | (GET_BYTE(to_push, 1) >> 4)) * 0.08) - 40) * 0.277778;
@@ -39,6 +35,8 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
 
     // Cruise state
     if(addr == 0x286) {
+      vehicle_moving = ((GET_BYTE(to_push, 5) & 0x1CU) >> 2) != 3U;
+
       int cruise_state = ((GET_BYTE(to_push, 1) << 1 ) >> 5);
       bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
                             (cruise_state == 3) ||  // STANDSTILL

diff --git a/tests/safety/common.py b/tests/safety/common.py
@@ -951,8 +951,8 @@ def test_not_allow_user_brake_when_moving(self, _user_brake_msg=None, get_brake_
 
     # Brake was already pressed
     self._rx(_user_brake_msg(1))
-    self.safety.set_controls_allowed(1)
     self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD))
+    self.safety.set_controls_allowed(1)
     self._rx(_user_brake_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
     self.assertTrue(self.safety.get_longitudinal_allowed())

diff --git a/tests/safety/test_tesla.py b/tests/safety/test_tesla.py
@@ -79,7 +79,7 @@ def _angle_meas_msg(self, angle: float):
     values = {"EPAS3S_internalSAS": angle}
     return self.packer.make_can_msg_panda("EPAS3S_sysStatus", 0, values)
 
-class TestTeslaLongitudinalSafetyBase(TestTeslaSafetyBase):
+class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control]}