From 51e0a55d6d5fce5a9edf4178baccd4b2a4e23290 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 1 Apr 2020 10:17:51 -0700
Subject: [PATCH] Support code for unsafe mode unit tests (#478)

* Support code for unsafe mode tests

* Fix pre-existing MISRA warning while I'm here
---
 board/main.c                      | 6 +++---
 tests/safety/common.py            | 7 +++++++
 tests/safety/libpandasafety_py.py | 2 ++
 tests/safety/test.c               | 8 ++++++++
 4 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/board/main.c b/board/main.c
index dfd61ad8d2c333..d11f003f47bdb8 100644
--- a/board/main.c
+++ b/board/main.c
@@ -472,9 +472,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     // **** 0xdf: set unsafe mode
     case 0xdf:
       // you can only set this if you are in a non car safety mode
-      if (current_safety_mode == SAFETY_SILENT ||
-          current_safety_mode == SAFETY_NOOUTPUT ||
-          current_safety_mode == SAFETY_ELM327) {
+      if ((current_safety_mode == SAFETY_SILENT) ||
+          (current_safety_mode == SAFETY_NOOUTPUT) ||
+          (current_safety_mode == SAFETY_ELM327)) {
         unsafe_mode = setup->b.wValue.w;
       }
       break;
diff --git a/tests/safety/common.py b/tests/safety/common.py
index e0296d3ac11d54..875bfac76a5f87 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -2,6 +2,13 @@
 
 MAX_WRONG_COUNTERS = 5
 
+class UNSAFE_MODE:
+  DEFAULT = 0
+  DISABLE_DISENGAGE_ON_GAS = 1
+  DISABLE_STOCK_AEB = 2
+  ENABLE_WEAK_STEERING_WHILE_NOT_ENGAGED = 4
+  RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
+
 def make_msg(bus, addr, length=8):
   to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
   if addr >= 0x800:
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 3b552d0f80ed62..295a04848ff7ae 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -32,6 +32,8 @@
 
 void set_controls_allowed(bool c);
 bool get_controls_allowed(void);
+void set_unsafe_mode(int mode);
+int get_unsafe_mode(void);
 void set_relay_malfunction(bool c);
 bool get_relay_malfunction(void);
 void set_gas_interceptor_detected(bool c);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index 9c7955b2869ce0..393a45b65a84ec 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -81,6 +81,10 @@ void set_controls_allowed(bool c){
   controls_allowed = c;
 }
 
+void set_unsafe_mode(int mode){
+  unsafe_mode = mode;
+}
+
 void set_relay_malfunction(bool c){
   relay_malfunction = c;
 }
@@ -93,6 +97,10 @@ bool get_controls_allowed(void){
   return controls_allowed;
 }
 
+int get_unsafe_mode(void){
+  return unsafe_mode;
+}
+
 bool get_relay_malfunction(void){
   return relay_malfunction;
 }