From ceff91d3c5a9c0911230ffd11a4d5e1c1deee99e Mon Sep 17 00:00:00 2001
From: rbiasini <riccardo.biasini@gmail.com>
Date: Sat, 7 Mar 2020 23:22:47 -0800
Subject: [PATCH] Standardize brake safety tests (#465)

* WIP: improve safety test format

* Fix tests
---
 tests/safety/common.py              | 78 ++++++++++++++++++++---------
 tests/safety/test_cadillac.py       |  6 +--
 tests/safety/test_chrysler.py       | 34 +++----------
 tests/safety/test_gm.py             | 34 +++----------
 tests/safety/test_honda.py          | 30 +++--------
 tests/safety/test_hyundai.py        | 35 +++----------
 tests/safety/test_nissan.py         | 32 +++---------
 tests/safety/test_subaru.py         | 36 +++----------
 tests/safety/test_toyota.py         | 30 +++--------
 tests/safety/test_volkswagen_mqb.py | 60 ++++++++--------------
 10 files changed, 126 insertions(+), 249 deletions(-)

diff --git a/tests/safety/common.py b/tests/safety/common.py
index 572b27176eb1ff..e0296d3ac11d54 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -13,26 +13,58 @@ def make_msg(bus, addr, length=8):
 
   return to_send
 
-def test_relay_malfunction(test, addr, bus=0):
-  # input is a test class and the address that, if seen on specified bus, triggers
-  # the relay_malfunction protection logic: both tx_hook and fwd_hook are
-  # expected to return failure
-  test.assertFalse(test.safety.get_relay_malfunction())
-  test.safety.safety_rx_hook(make_msg(bus, addr, 8))
-  test.assertTrue(test.safety.get_relay_malfunction())
-  for a in range(1, 0x800):
-    for b in range(0, 3):
-      test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
-      test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
-
-def test_manually_enable_controls_allowed(test):
-  test.safety.set_controls_allowed(1)
-  test.assertTrue(test.safety.get_controls_allowed())
-  test.safety.set_controls_allowed(0)
-  test.assertFalse(test.safety.get_controls_allowed())
-
-def test_spam_can_buses(test, TX_MSGS):
-  for addr in range(1, 0x800):
-    for bus in range(0, 4):
-      if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
-        test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
+class StdTest:
+  @staticmethod
+  def test_relay_malfunction(test, addr, bus=0):
+    # input is a test class and the address that, if seen on specified bus, triggers
+    # the relay_malfunction protection logic: both tx_hook and fwd_hook are
+    # expected to return failure
+    test.assertFalse(test.safety.get_relay_malfunction())
+    test.safety.safety_rx_hook(make_msg(bus, addr, 8))
+    test.assertTrue(test.safety.get_relay_malfunction())
+    for a in range(1, 0x800):
+      for b in range(0, 3):
+        test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
+        test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
+
+  @staticmethod
+  def test_manually_enable_controls_allowed(test):
+    test.safety.set_controls_allowed(1)
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.set_controls_allowed(0)
+    test.assertFalse(test.safety.get_controls_allowed())
+
+  @staticmethod
+  def test_spam_can_buses(test, TX_MSGS):
+    for addr in range(1, 0x800):
+      for bus in range(0, 4):
+        if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
+          test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
+
+  @staticmethod
+  def test_allow_brake_at_zero_speed(test):
+    # Brake was already pressed
+    test.safety.safety_rx_hook(test._speed_msg(0))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.safety.set_controls_allowed(1)
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._brake_msg(0))
+    test.assertTrue(test.safety.get_controls_allowed())
+    # rising edge of brake should disengage
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertFalse(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._brake_msg(0))  # reset no brakes
+
+  @staticmethod
+  def test_not_allow_brake_when_moving(test, standstill_threshold):
+    # Brake was already pressed
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.safety.set_controls_allowed(1)
+    test.safety.safety_rx_hook(test._speed_msg(standstill_threshold))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._speed_msg(standstill_threshold + 1))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertFalse(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._speed_msg(0))
diff --git a/tests/safety/test_cadillac.py b/tests/safety/test_cadillac.py
index 7806fb7b285cc1..e4e75f15bdf4a9 100644
--- a/tests/safety/test_cadillac.py
+++ b/tests/safety/test_cadillac.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import make_msg, StdTest
 
 
 MAX_RATE_UP = 2
@@ -56,13 +56,13 @@ def _torque_msg(self, torque):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_enable_control_allowed_from_cruise(self):
     to_push = make_msg(0, 0x370)
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index ec431e9cafa8ed..c66b90b6ba3eb0 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -107,10 +107,10 @@ def _torque_msg(self, torque):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x292)
+    StdTest.test_relay_malfunction(self, 0x292)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -126,7 +126,7 @@ def test_steer_safety_check(self):
           self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_enable_control_allowed_from_cruise(self):
     to_push = self._cruise_msg(True)
@@ -149,29 +149,9 @@ def test_gas_disable(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_brake_disable(self):
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(0))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self.safety.safety_rx_hook(self._brake_msg(False))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(1))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.safety_rx_hook(self._speed_msg(1))
-    self.safety.safety_rx_hook(self._brake_msg(False))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)
 
   def test_non_realtime_limit_up(self):
     self.safety.set_controls_allowed(True)
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 06872dede5b1e4..34d92357c79d9f 100644
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -90,10 +90,10 @@ def _torque_msg(self, torque):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 384)
+    StdTest.test_relay_malfunction(self, 384)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -116,29 +116,9 @@ def test_cancel_button(self):
     self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_disengage_on_brake(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)
 
   def test_disengage_on_gas(self):
     self.safety.set_controls_allowed(1)
@@ -182,7 +162,7 @@ def test_steer_safety_check(self):
           self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_non_realtime_limit_up(self):
     self.safety.set_gm_torque_driver(0, 0)
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 52aaa84dfa1057..b4f8f9d5d7333b 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -3,9 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, \
-                                      test_manually_enable_controls_allowed, \
-                                      test_spam_can_buses, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
 
 MAX_BRAKE = 255
 
@@ -110,18 +108,18 @@ def test_spam_can_buses(self):
       tx_msgs = BH_TX_MSGS
     elif hw_type == HONDA_BG_HW:
       tx_msgs = BG_TX_MSGS
-    test_spam_can_buses(self, tx_msgs)
+    StdTest.test_spam_can_buses(self, tx_msgs)
 
   def test_relay_malfunction(self):
     hw = self.safety.get_honda_hw()
     bus = 2 if hw == HONDA_BG_HW else 0
-    test_relay_malfunction(self, 0xE4, bus=bus)
+    StdTest.test_relay_malfunction(self, 0xE4, bus=bus)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_resume_button(self):
     RESUME_BTN = 4
@@ -167,23 +165,9 @@ def test_alt_disengage_on_brake(self):
     self.safety.safety_rx_hook(self._alt_brake_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
 
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)
 
   def test_prev_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(False))
diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
index 8dd9f9e6b74765..2d022759e102f2 100644
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -74,10 +74,10 @@ def _torque_msg(self, torque):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 832)
+    StdTest.test_relay_malfunction(self, 832)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -93,7 +93,7 @@ def test_steer_safety_check(self):
           self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_enable_control_allowed_from_cruise(self):
     to_push = make_msg(0, 1057)
@@ -114,30 +114,9 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(0))
-    self.assertTrue(self.safety.get_controls_allowed())
-    # rising edge of brake should disengage
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(0))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD))
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD + 1))
-    self.safety.safety_rx_hook(self._brake_msg(1))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._speed_msg(0))
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
 
   def test_non_realtime_limit_up(self):
     self.safety.set_hyundai_torque_driver(0, 0)
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index 15682083b7363e..d38db55951a8f1 100644
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_relay_malfunction
+from panda.tests.safety.common import StdTest, make_msg
 
 ANGLE_MAX_BP = [1.3, 10., 30.]
 ANGLE_MAX_V = [540., 120., 23.]
@@ -72,7 +72,7 @@ def _speed_msg(self, speed):
 
     return to_send
 
-  def _send_brake_cmd(self, brake):
+  def _brake_msg(self, brake):
     to_send = make_msg(1, 0x454)
     to_send[0].RDLR = ((brake & 0x1) << 23)
 
@@ -144,29 +144,9 @@ def test_angle_cmd_when_disabled(self):
     self.assertFalse(self.safety.safety_tx_hook(self._lkas_control_msg(0, 1)))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_brake_rising_edge(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._speed_msg(0))
-    self._set_brake_prev(True)
-    self.safety.safety_rx_hook(self._send_brake_cmd(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-
-    self.safety.set_controls_allowed(1)
-    self._set_brake_prev(False)
-    self.safety.safety_rx_hook(self._send_brake_cmd(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._speed_msg(1))
-    self._set_brake_prev(True)
-    self.safety.safety_rx_hook(self._send_brake_cmd(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._speed_msg(1))
-    self._set_brake_prev(False)
-    self.safety.safety_rx_hook(self._send_brake_cmd(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)
 
   def test_gas_rising_edge(self):
     self.safety.set_controls_allowed(1)
@@ -193,7 +173,7 @@ def test_acc_buttons(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x169)
+    StdTest.test_relay_malfunction(self, 0x169)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 4ae4bd2ba2a73e..d68090d19eb4d9 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -131,10 +131,10 @@ def _set_torque_driver(self, min_t, max_t):
     self.safety.safety_rx_hook(self._torque_driver_msg(max_t))
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS if self.safety.get_subaru_global() else TX_L_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x122 if self.safety.get_subaru_global() else 0x164)
+    StdTest.test_relay_malfunction(self, 0x122 if self.safety.get_subaru_global() else 0x164)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -155,32 +155,10 @@ def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._gas_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
+  def test_brake_disengage(self):
     if (self.safety.get_subaru_global()):
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.assertTrue(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._brake_msg(0))
-      self.assertTrue(self.safety.get_controls_allowed())
-      # rising edge of brake should disengage
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.assertFalse(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._brake_msg(0))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    if (self.safety.get_subaru_global()):
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD))
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.assertTrue(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._speed_msg(SPEED_THRESHOLD + 1))
-      self.safety.safety_rx_hook(self._brake_msg(1))
-      self.assertFalse(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._speed_msg(0))
+      StdTest.test_allow_brake_at_zero_speed(self)
+      StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
 
   def test_steer_safety_check(self):
     for enabled in [0, 1]:
@@ -193,7 +171,7 @@ def test_steer_safety_check(self):
           self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_non_realtime_limit_up(self):
     self._set_torque_driver(0, 0)
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index a7506c0029be63..5426e5b97d7cd0 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -3,7 +3,7 @@
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -112,16 +112,16 @@ def _pcm_cruise_msg(self, cruise_on):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x2E4)
+    StdTest.test_relay_malfunction(self, 0x2E4)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_enable_control_allowed_from_cruise(self):
     self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
@@ -171,24 +171,9 @@ def test_disengage_on_gas_interceptor(self):
       self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
       self.safety.set_gas_interceptor_detected(False)
 
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._speed_msg(0))
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(STANDSTILL_THRESHOLD + 1))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)
 
   def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
@@ -339,6 +324,5 @@ def test_fwd_hook(self):
         self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
 
 
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
index 026116c74feafe..99280ba1a0fad5 100644
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -4,8 +4,7 @@
 import crcmod
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, \
-  test_manually_enable_controls_allowed, test_spam_can_buses, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
 
 MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
@@ -78,16 +77,16 @@ def _set_prev_torque(self, t):
     self.safety.set_volkswagen_desired_torque_last(t)
     self.safety.set_volkswagen_rt_torque_last(t)
 
-  # Wheel speeds
-  def _esp_19_msg(self, speed):
+  # Wheel speeds _esp_19_msg
+  def _speed_msg(self, speed):
     wheel_speed_scaled = int(speed / 0.0075)
     to_send = make_msg(0, MSG_ESP_19)
     to_send[0].RDLR = wheel_speed_scaled | (wheel_speed_scaled << 16)
     to_send[0].RDHR = wheel_speed_scaled | (wheel_speed_scaled << 16)
     return to_send
 
-  # Brake light switch
-  def _esp_05_msg(self, brake):
+  # Brake light switch _esp_05_msg
+  def _brake_msg(self, brake):
     to_send = make_msg(0, MSG_ESP_05)
     to_send[0].RDLR = (0x1 << 26) if brake else 0
     to_send[0].RDLR |= (self.cnt_esp_05 % 16) << 8
@@ -147,10 +146,10 @@ def _gra_acc_01_msg(self, bit):
     return to_send
 
   def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, MSG_HCA_01)
+    StdTest.test_relay_malfunction(self, MSG_HCA_01)
 
   def test_prev_gas(self):
     for g in range(0, 256):
@@ -172,45 +171,26 @@ def test_disable_control_allowed_from_cruise(self):
 
   def test_sample_speed(self):
     # Stationary
-    self.safety.safety_rx_hook(self._esp_19_msg(0))
+    self.safety.safety_rx_hook(self._speed_msg(0))
     self.assertEqual(0, self.safety.get_volkswagen_moving())
     # 1 km/h, just under 0.3 m/s safety grace threshold
-    self.safety.safety_rx_hook(self._esp_19_msg(1))
+    self.safety.safety_rx_hook(self._speed_msg(1))
     self.assertEqual(0, self.safety.get_volkswagen_moving())
     # 2 km/h, just over 0.3 m/s safety grace threshold
-    self.safety.safety_rx_hook(self._esp_19_msg(2))
+    self.safety.safety_rx_hook(self._speed_msg(2))
     self.assertEqual(1, self.safety.get_volkswagen_moving())
     # 144 km/h, openpilot V_CRUISE_MAX
-    self.safety.safety_rx_hook(self._esp_19_msg(144))
+    self.safety.safety_rx_hook(self._speed_msg(144))
     self.assertEqual(1, self.safety.get_volkswagen_moving())
 
   def test_prev_brake(self):
     self.assertFalse(self.safety.get_volkswagen_brake_pressed_prev())
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
+    self.safety.safety_rx_hook(self._brake_msg(True))
     self.assertTrue(self.safety.get_volkswagen_brake_pressed_prev())
 
-  def test_disengage_on_brake(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._esp_05_msg(False))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
-    self.safety.safety_rx_hook(self._esp_19_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._esp_05_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 1)
 
   def test_disengage_on_gas(self):
     self.safety.safety_rx_hook(self._motor_20_msg(0))
@@ -237,7 +217,7 @@ def test_steer_safety_check(self):
           self.assertTrue(self.safety.safety_tx_hook(self._hca_01_msg(t)))
 
   def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)
 
   def test_spam_cancel_safety_check(self):
     BIT_CANCEL = 13
@@ -356,7 +336,7 @@ def test_rx_hook(self):
       if msg == MSG_EPS_01:
         to_push = self._eps_01_msg(0)
       if msg == MSG_ESP_05:
-        to_push = self._esp_05_msg(False)
+        to_push = self._brake_msg(False)
       if msg == MSG_TSK_06:
         to_push = self._tsk_06_msg(3)
       if msg == MSG_MOTOR_20:
@@ -376,12 +356,12 @@ def test_rx_hook(self):
       if i < MAX_WRONG_COUNTERS:
         self.safety.set_controls_allowed(1)
         self.safety.safety_rx_hook(self._eps_01_msg(0))
-        self.safety.safety_rx_hook(self._esp_05_msg(False))
+        self.safety.safety_rx_hook(self._brake_msg(False))
         self.safety.safety_rx_hook(self._tsk_06_msg(3))
         self.safety.safety_rx_hook(self._motor_20_msg(0))
       else:
         self.assertFalse(self.safety.safety_rx_hook(self._eps_01_msg(0)))
-        self.assertFalse(self.safety.safety_rx_hook(self._esp_05_msg(False)))
+        self.assertFalse(self.safety.safety_rx_hook(self._brake_msg(False)))
         self.assertFalse(self.safety.safety_rx_hook(self._tsk_06_msg(3)))
         self.assertFalse(self.safety.safety_rx_hook(self._motor_20_msg(0)))
         self.assertFalse(self.safety.get_controls_allowed())
@@ -390,7 +370,7 @@ def test_rx_hook(self):
     for i in range(2):
       self.safety.set_controls_allowed(1)
       self.safety.safety_rx_hook(self._eps_01_msg(0))
-      self.safety.safety_rx_hook(self._esp_05_msg(False))
+      self.safety.safety_rx_hook(self._brake_msg(False))
       self.safety.safety_rx_hook(self._tsk_06_msg(3))
       self.safety.safety_rx_hook(self._motor_20_msg(0))
     self.assertTrue(self.safety.get_controls_allowed())