IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/safety/tests/aol_common.py

@@ -0,0 +1,372 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from parameterized import parameterized
+import abc
+import unittest
+
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+class AolSafetyTestBase(unittest.TestCase):
+  safety: libsafety_py.LibSafety
+
+  @abc.abstractmethod
+  def _lkas_button_msg(self, enabled):
+    raise NotImplementedError
+
+  @abc.abstractmethod
+  def _acc_state_msg(self, enabled):
+    raise NotImplementedError
+
+  def tearDown(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_aol_button_press(-1)
+    self.safety.set_controls_allowed_lat(False)
+    self.safety.set_controls_requested_lat(False)
+    self.safety.set_acc_main_on(False)
+    self.safety.set_aol_params(False, False, False)
+    self.safety.set_heartbeat_engaged_aol(True)
+
+  def test_heartbeat_engaged_aol_check(self):
+    """Test AOL heartbeat engaged check behavior"""
+    for boolean in (True, False):
+      # If boolean is True, the heartbeat is engaged and should remain engaged, otherwise it should disengage.
+      with self.subTest(heartbeat_engaged=boolean, should_remain_engaged=boolean):
+        # Setup initial conditions
+        self.safety.set_aol_params(True, False, False)  # Enable AOL
+        self.safety.set_controls_allowed_lat(True)
+        self.assertTrue(self.safety.get_controls_allowed_lat())
+
+        # Set heartbeat engaged state based on test case
+        self.safety.set_heartbeat_engaged_aol(boolean)
+
+        # Call the heartbeat check function multiple times
+        # We know from the implementation that it takes 3 mismatches to disengage
+        for _ in range(4):  # More than 3 times to ensure we pass the threshold
+          self.safety.aol_heartbeat_engaged_check()
+
+        # Verify engagement state matches expectation
+        self.assertEqual(self.safety.get_controls_allowed_lat(), boolean,
+                         f"Expected controls_allowed_lat to be [{boolean}] but got [{self.safety.get_controls_allowed_lat()}]")
+
+  def test_enable_control_allowed_with_aol_button(self):
+    """Toggle AOL with AOL button"""
+    try:
+      self._lkas_button_msg(False)
+    except NotImplementedError as err:
+      raise unittest.SkipTest("Skipping test because AOL button is not supported") from err
+
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+        self.assertEqual(enable_aol, self.safety.get_enable_aol())
+
+        self._rx(self._lkas_button_msg(True))
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+  def test_enable_control_allowed_with_manual_acc_main_on_state(self):
+    try:
+      self._acc_state_msg(False)
+    except NotImplementedError as err:
+      raise unittest.SkipTest("Skipping test because _acc_state_msg is not implemented for this car") from err
+
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+        self._rx(self._acc_state_msg(True))
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+  def test_enable_control_allowed_with_manual_aol_button_state(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        for aol_button_press in (-1, 0, 1):
+          with self.subTest("aol_button_press", button_state=aol_button_press):
+            self.safety.set_aol_params(enable_aol, False, False)
+
+            self.safety.set_aol_button_press(aol_button_press)
+            self._rx(self._speed_msg(0))
+            self.assertEqual(enable_aol and aol_button_press == 1, self.safety.get_controls_allowed_lat())
+
+  def test_enable_control_allowed_from_acc_main_on(self):
+    """Test that lateral controls are allowed when ACC main is enabled and disabled when ACC main is disabled"""
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        for acc_main_on in (True, False):
+          with self.subTest("initial_acc_main", initial_acc_main=acc_main_on):
+            self.safety.set_aol_params(enable_aol, False, False)
+
+            # Set initial state
+            self.safety.set_acc_main_on(acc_main_on)
+            self._rx(self._speed_msg(0))
+            expected_lat = enable_aol and acc_main_on
+            self.assertEqual(expected_lat, self.safety.get_controls_allowed_lat(),
+                             f"Expected lat: [{expected_lat}] when acc_main_on goes to [{acc_main_on}]")
+
+            # Test transition to opposite state
+            self.safety.set_acc_main_on(not acc_main_on)
+            self._rx(self._speed_msg(0))
+            expected_lat = enable_aol and not acc_main_on
+            self.assertEqual(expected_lat, self.safety.get_controls_allowed_lat(),
+                             f"Expected lat: [{expected_lat}] when acc_main_on goes from [{acc_main_on}] to [{not acc_main_on}]")
+
+            # Test transition back to initial state
+            self.safety.set_acc_main_on(acc_main_on)
+            self._rx(self._speed_msg(0))
+            expected_lat = enable_aol and acc_main_on
+            self.assertEqual(expected_lat, self.safety.get_controls_allowed_lat(),
+                             f"Expected lat: [{expected_lat}] when acc_main_on goes from [{not acc_main_on}] to [{acc_main_on}]")
+
+  def test_aol_with_acc_main_on(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        self.safety.set_acc_main_on(True)
+        self._rx(self._speed_msg(0))
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self.safety.set_acc_main_on(False)
+        self._rx(self._speed_msg(0))
+        self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_pause_lateral_on_brake_setup(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", enable_aol=enable_aol):
+        for pause_lateral_on_brake in (True, False):
+          with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake):
+            self.safety.set_aol_params(enable_aol, False, pause_lateral_on_brake)
+            self.assertEqual(enable_aol and pause_lateral_on_brake, self.safety.get_pause_lateral_on_brake())
+
+  def test_pause_lateral_on_brake(self):
+    self.safety.set_aol_params(True, False, True)
+
+    self._rx(self._user_brake_msg(False))
+    self.safety.set_controls_requested_lat(True)
+    self.safety.set_controls_allowed_lat(True)
+
+    self._rx(self._user_brake_msg(True))
+    # Test we pause lateral
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+    # Make sure we can re-gain lateral actuation
+    self._rx(self._user_brake_msg(False))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+  def test_no_pause_lateral_on_brake(self):
+    self.safety.set_aol_params(True, False, False)
+
+    self._rx(self._user_brake_msg(False))
+    self.safety.set_controls_requested_lat(True)
+    self.safety.set_controls_allowed_lat(True)
+
+    self._rx(self._user_brake_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+  @parameterized.expand(["aol_button", "acc_main_on"])
+  def test_engage_with_brake_pressed(self, engage_method):
+    if engage_method == "aol_button":
+      try:
+        self._lkas_button_msg(False)
+      except NotImplementedError as err:
+        raise unittest.SkipTest("Skipping test because AOL button is not supported") from err
+    elif engage_method == "acc_main_on":
+      try:
+        self._acc_state_msg(False)
+      except NotImplementedError as err:
+        raise unittest.SkipTest("Skipping test because ACC main is not supported") from err
+
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", enable_aol=enable_aol):
+        for pause_lateral_on_brake in (True, False):
+          with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake):
+            with self.subTest(engage_method):
+              self.safety.set_aol_params(enable_aol, False, pause_lateral_on_brake)
+
+              # Brake press rising edge
+              self._rx(self._user_brake_msg(True))
+
+              if engage_method == "aol_button":
+                self._rx(self._lkas_button_msg(True))
+              elif engage_method == "acc_main_on":
+                self.safety.set_acc_main_on(True)
+                self.assertTrue(self.safety.get_acc_main_on())
+              else:
+                raise ValueError(f"Invalid engage_method: {engage_method}")
+              self._rx(self._speed_msg(0))
+
+              self.assertEqual(enable_aol and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat())
+
+              # Continuous braking after the first frame of brake press rising edge
+              for _ in range(400):
+                self.assertEqual(enable_aol and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat())
+
+  def test_pause_lateral_on_brake_with_pressed_and_released(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", enable_aol=enable_aol):
+        for pause_lateral_on_brake in (True, False):
+          with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake):
+            self.safety.set_aol_params(enable_aol, False, pause_lateral_on_brake)
+
+            # Set controls_allowed_lat rising edge
+            self.safety.set_controls_requested_lat(True)
+            self._rx(self._speed_msg(0))
+            self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+            # User brake press, validate controls_allowed_lat is false
+            self._rx(self._user_brake_msg(True))
+            self.assertEqual(enable_aol and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat())
+
+            # User brake release, validate controls_allowed_lat is true
+            self._rx(self._user_brake_msg(False))
+            self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+  def test_pause_lateral_on_brake_persistent_control_allowed_off(self):
+    self.safety.set_aol_params(True, False, True)
+
+    self.safety.set_controls_requested_lat(True)
+
+    # Vehicle moving, validate controls_allowed_lat is true
+    for _ in range(10):
+      self._rx(self._speed_msg(10))
+      self.assertTrue(self.safety.get_controls_allowed_lat())
+
+    # User braked, vehicle slowed down in 10 frames, then stopped for 10 frames
+    # Validate controls_allowed_lat is false
+    self._rx(self._user_brake_msg(True))
+    for _ in range(10):
+      self._rx(self._speed_msg(5))
+      self.assertFalse(self.safety.get_controls_allowed_lat())
+    for _ in range(10):
+      self._rx(self._speed_msg(0))
+      self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_enable_lateral_control_with_controls_allowed_rising_edge(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", enable_aol=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        self.safety.set_controls_allowed(False)
+        self._rx(self._speed_msg(0))
+        self.safety.set_controls_allowed(True)
+        self._rx(self._speed_msg(0))
+        self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_with_aol_button_and_disable_with_main_cruise(self):
+    """Tests main cruise and AOL button state transitions.
+
+      Sequence:
+      1. Main cruise off -> on
+      2. AOL button engage
+      3. Main cruise off
+
+    """
+    try:
+      self._lkas_button_msg(False)
+    except NotImplementedError as err:
+      raise unittest.SkipTest("Skipping test because AOL button is not supported") from err
+
+    try:
+      self._acc_state_msg(False)
+    except NotImplementedError as err:
+      raise unittest.SkipTest("Skipping test because _acc_state_msg is not implemented for this car") from err
+
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", enable_aol=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        self._rx(self._lkas_button_msg(True))
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self._rx(self._acc_state_msg(True))
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self._rx(self._acc_state_msg(False))
+        self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_brake_disengage_with_control_request(self):
+    """Tests behavior when controls are requested while brake is engaged
+
+    Sequence:
+    1. Enable AOL with pause lateral on brake
+    2. Brake to pause lateral control
+    3. Set control request while braking
+    4. Release brake
+    5. Verify controls become allowed
+    """
+    self.safety.set_aol_params(True, False, True)  # enable AOL with pause lateral on brake
+
+    # Initial state
+    self.safety.set_controls_allowed_lat(True)
+    self._rx(self._speed_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+    # Brake press disengages lateral
+    self._rx(self._user_brake_msg(True))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+    # Request controls while braking
+    self.safety.set_controls_requested_lat(True)
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+    # Release brake - should enable since controls were requested
+    self._rx(self._user_brake_msg(False))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+  def test_brake_disengage_with_acc_main_off(self):
+    """Tests behavior when ACC main is turned off while brake is engaged
+
+    Sequence:
+    1. Enable AOL with pause lateral on brake
+    2. Brake to pause lateral control
+    3. Turn ACC main off while braking
+    4. Release brake
+    5. Verify controls remain disengaged
+    """
+    self.safety.set_aol_params(True, False, True)  # enable AOL with pause lateral on brake
+
+    # Initial state - enable with ACC main
+    self.safety.set_acc_main_on(True)
+    self._rx(self._speed_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+    # Brake press disengages lateral
+    self._rx(self._user_brake_msg(True))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+    # Turn ACC main off while braking
+    self.safety.set_acc_main_on(False)
+    self._rx(self._speed_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+    # Release brake - should remain disabled since ACC main is off
+    self._rx(self._user_brake_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_steering_disengage_with_control_request(self):
+    self.safety.set_aol_params(True, False, False)
+
+    self.safety.set_controls_allowed_lat(True)
+    self._rx(self._speed_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+
+    self.safety.set_steering_disengage(True)
+    self._rx(self._speed_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_disengage_on_brake(self):
+    for disengage_on_brake in (True, False):
+      self.safety.set_aol_params(True, disengage_on_brake, False)
+
+      self.safety.set_controls_allowed_lat(True)
+      self._rx(self._speed_msg(0))
+      self.assertTrue(self.safety.get_controls_allowed_lat())
+
+      self._rx(self._user_brake_msg(True))
+      self.assertEqual(not disengage_on_brake, self.safety.get_controls_allowed_lat())
+
+      self._rx(self._user_brake_msg(False))
+      self.assertEqual(not disengage_on_brake, self.safety.get_controls_allowed_lat())
+
+  # TODO-IQ: controls_allowed and controls_allowed_lat check for steering safety tests

artifacts/package_runtime/iqdbc/safety/tests/gas_interceptor_common.py

@@ -0,0 +1,82 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+import unittest
+
+from iqdbc.safety.tests.common import CANPackerSafety, CarSafetyTest
+
+
+class GasInterceptorSafetyTest(CarSafetyTest):
+
+  INTERCEPTOR_THRESHOLD = 0
+
+  cnt_gas_cmd = 0
+  cnt_user_gas = 0
+
+  packer: CANPackerSafety
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "GasInterceptorSafetyTest" or cls.__name__.endswith("Base"):
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def _interceptor_gas_cmd(self, gas: int):
+    values: dict[str, float | int] = {"PEDAL_COUNTER": self.__class__.cnt_gas_cmd & 0xF}
+    if gas > 0:
+      values["GAS_COMMAND"] = gas * 255.
+      values["GAS_COMMAND2"] = gas * 255.
+    self.__class__.cnt_gas_cmd += 1
+    return self.packer.make_can_msg_safety("GAS_COMMAND", 0, values)
+
+  def _interceptor_user_gas(self, gas: int):
+    values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
+              "PEDAL_COUNTER": self.__class__.cnt_user_gas}
+    self.__class__.cnt_user_gas += 1
+    return self.packer.make_can_msg_safety("GAS_SENSOR", 0, values)
+
+  # Skip non-interceptor user gas tests
+  def test_prev_gas(self):
+    pass
+
+  def test_no_disengage_on_gas(self):
+    pass
+
+  def test_prev_gas_interceptor(self):
+    self._rx(self._interceptor_user_gas(0x0))
+    self.assertFalse(self.safety.get_gas_interceptor_prev())
+    self._rx(self._interceptor_user_gas(0x1000))
+    self.assertTrue(self.safety.get_gas_interceptor_prev())
+    self._rx(self._interceptor_user_gas(0x0))
+
+  def test_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    for g in range(0x1000):
+      self._rx(self._interceptor_user_gas(g))
+      # Test we allow lateral, but not longitudinal
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_longitudinal_brake_allowed())
+      self.assertTrue(self.safety.get_longitudinal_gas_allowed())
+      # Make sure we can re-gain longitudinal actuation
+      self._rx(self._interceptor_user_gas(0))
+      self.assertTrue(self.safety.get_longitudinal_brake_allowed())
+      self.assertTrue(self.safety.get_longitudinal_gas_allowed())
+
+  def test_allow_engage_with_gas_interceptor_pressed(self):
+    self._rx(self._interceptor_user_gas(0x1000))
+    self.safety.set_controls_allowed(True)
+    self._rx(self._interceptor_user_gas(0x1000))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self._rx(self._interceptor_user_gas(0))
+
+  def test_gas_interceptor_safety_check(self):
+    for gas in np.arange(0, 4000, 100):
+      for controls_allowed in [True, False]:
+        self.safety.set_controls_allowed(controls_allowed)
+        if controls_allowed:
+          send = True
+        else:
+          send = gas == 0
+        self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))

artifacts/package_runtime/iqdbc/safety/tests/hyundai_common.py

@@ -0,0 +1,46 @@
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+def packet(addr: int, bus: int, length: int, updates: dict[int, int] | None = None):
+  data = bytearray(length)
+  for index, value in (updates or {}).items():
+    data[index] = value
+  return libsafety_py.make_CANPacket(addr, bus, data)
+
+
+def classic_steer(torque: int, request: bool = True):
+  value = torque + 1024
+  word = (value << 16) | (int(request) << 27)
+  return packet(0x340, 0, 8, {i: (word >> (8 * i)) & 0xFF for i in range(4)})
+
+
+def canfd_steer(addr: int, length: int, torque: int, request: bool = True):
+  value = torque + 1024
+  return packet(addr, 0, length, {
+    5: (value & 0x7F) << 1,
+    6: ((value >> 7) & 0xF) | (int(request) << 4),
+  })
+
+
+def classic_accel(accel: int, *, aeb_decel: int = 0, aeb_request: bool = False):
+  value = accel + 1023
+  return packet(0x421, 0, 8, {
+    2: aeb_decel,
+    3: value & 0xFF,
+    4: ((value >> 8) & 0x7) | ((value & 0x7) << 5),
+    5: (value >> 3) & 0xFF,
+    6: int(aeb_request) << 6,
+  })
+
+
+def canfd_accel(accel: int, *, acc_mode: int = 0, bus: int = 0):
+  value = accel + 1023
+  return packet(0x1A0, bus, 32, {
+    8: (acc_mode & 0x7) << 4,
+    16: value & 0xFF,
+    17: ((value >> 8) & 0x7) | ((value & 0xF) << 4),
+    18: (value >> 4) & 0xFF,
+  })
+
+
+TESTER_PRESENT = bytes.fromhex("023e800000000000")

artifacts/package_runtime/iqdbc/safety/tests/libsafety/libsafety_py.py

@@ -0,0 +1,120 @@
+import os
+from cffi import FFI
+
+from iqdbc.safety import LEN_TO_DLC
+
+libsafety_dir = os.path.dirname(os.path.abspath(__file__))
+libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
+
+ffi = FFI()
+
+ffi.cdef("""
+typedef struct {
+  unsigned char fd : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char checksum;
+  unsigned char data[64];
+} CANPacket_t;
+""", packed=True)
+class CANPacket:
+  pass
+
+ffi.cdef("""
+bool safety_rx_hook(CANPacket_t *msg);
+bool safety_tx_hook(CANPacket_t *msg);
+int safety_fwd_hook(int bus_num, int addr);
+int set_safety_hooks(uint16_t mode, uint16_t param);
+
+void set_controls_allowed(bool c);
+bool get_controls_allowed(void);
+void set_heartbeat_engaged(bool c);
+bool get_longitudinal_allowed(void);
+bool get_longitudinal_gas_allowed(void);
+bool get_longitudinal_brake_allowed(void);
+void set_alternative_experience(int mode);
+int get_alternative_experience(void);
+void set_relay_malfunction(bool c);
+bool get_relay_malfunction(void);
+bool get_gas_pressed_prev(void);
+void set_gas_pressed_prev(bool);
+bool get_brake_pressed_prev(void);
+bool get_regen_braking_prev(void);
+bool get_steering_disengage_prev(void);
+bool get_acc_main_on(void);
+float get_vehicle_speed_min(void);
+float get_vehicle_speed_max(void);
+int get_current_safety_mode(void);
+int get_current_safety_param(void);
+
+void set_torque_meas(int min, int max);
+int get_torque_meas_min(void);
+int get_torque_meas_max(void);
+void set_torque_driver(int min, int max);
+int get_torque_driver_min(void);
+int get_torque_driver_max(void);
+void set_desired_torque_last(int t);
+void set_rt_torque_last(int t);
+void set_desired_angle_last(int t);
+int get_desired_angle_last();
+void set_angle_meas(int min, int max);
+int get_angle_meas_min(void);
+int get_angle_meas_max(void);
+
+bool get_cruise_engaged_prev(void);
+void set_cruise_engaged_prev(bool engaged);
+bool get_vehicle_moving(void);
+void set_timer(uint32_t t);
+
+void safety_tick_current_safety_config();
+bool safety_config_valid();
+
+void init_tests(void);
+
+void set_honda_fwd_brake(bool c);
+bool get_honda_fwd_brake(void);
+void set_honda_alt_brake_msg(bool c);
+void set_honda_bosch_long(bool c);
+int get_honda_hw(void);
+
+bool get_lat_active(void);
+bool get_controls_allowed_lat(void);
+bool get_controls_requested_lat(void);
+void set_current_safety_param_iq(uint16_t param);
+uint16_t get_current_safety_param_iq(void);
+bool get_enable_aol(void);
+bool get_disengage_lateral_on_brake(void);
+bool get_pause_lateral_on_brake(void);
+void set_aol_button_press(int aol_button_press);
+void set_controls_allowed_lat(bool c);
+void set_controls_requested_lat(bool c);
+bool get_aol_acc_main(void);
+void set_acc_main_on(bool c);
+int get_aol_button_press(void);
+void aol_set_current_disengage_reason(int reason);
+int aol_get_current_disengage_reason(void);
+int get_temp_debug(void);
+uint32_t get_acc_main_on_mismatches(void);
+void set_aol_params(bool enable_aol, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
+void set_heartbeat_engaged_aol(bool c);
+void aol_heartbeat_engaged_check(void);
+void set_steering_disengage(bool c);
+int get_gas_interceptor_prev(void);
+""")
+
+class LibSafety:
+  pass
+libsafety: LibSafety = ffi.dlopen(libsafety_fn)
+
+def make_CANPacket(addr: int, bus: int, dat):
+  ret = ffi.new('CANPacket_t *')
+  ret[0].extended = 1 if addr >= 0x800 else 0
+  ret[0].addr = addr
+  ret[0].data_len_code = LEN_TO_DLC[len(dat)]
+  ret[0].bus = bus
+  ret[0].data = bytes(dat)
+  return ret

artifacts/package_runtime/iqdbc/safety/tests/misra/.gitignore

@@ -0,0 +1,5 @@
+*.pdf
+*.txt
+.output.log
+new_table
+cppcheck/

artifacts/package_runtime/iqdbc/safety/tests/misra/checkers.txt

@@ -0,0 +1,456 @@
+Cppcheck checkers list from test_misra.sh:
+
+
+
+
+
+TEST variant options:
+--enable=all --enable=unusedFunction --addon=misra -DCANFD /iqdbc/safety/main.c
+
+
+Critical errors
+---------------
+No critical errors encountered.
+Note: There might still have been non-critical bailouts which might lead to false negatives.
+
+
+Open source checkers
+--------------------
+Yes  Check64BitPortability::pointerassignment
+Yes  CheckAssert::assertWithSideEffects
+Yes  CheckAutoVariables::assignFunctionArg
+Yes  CheckAutoVariables::autoVariables
+Yes  CheckAutoVariables::checkVarLifetime
+No   CheckBool::checkAssignBoolToFloat                         require:style,c++
+Yes  CheckBool::checkAssignBoolToPointer
+No   CheckBool::checkBitwiseOnBoolean                          require:style,inconclusive
+Yes  CheckBool::checkComparisonOfBoolExpressionWithInt
+No   CheckBool::checkComparisonOfBoolWithBool                  require:style,c++
+No   CheckBool::checkComparisonOfBoolWithInt                   require:warning,c++
+No   CheckBool::checkComparisonOfFuncReturningBool             require:style,c++
+Yes  CheckBool::checkIncrementBoolean
+Yes  CheckBool::pointerArithBool
+Yes  CheckBool::returnValueOfFunctionReturningBool
+Yes  CheckBufferOverrun::analyseWholeProgram
+Yes  CheckBufferOverrun::argumentSize
+Yes  CheckBufferOverrun::arrayIndex
+Yes  CheckBufferOverrun::arrayIndexThenCheck
+Yes  CheckBufferOverrun::bufferOverflow
+Yes  CheckBufferOverrun::negativeArraySize
+Yes  CheckBufferOverrun::objectIndex
+Yes  CheckBufferOverrun::pointerArithmetic
+No   CheckBufferOverrun::stringNotZeroTerminated               require:warning,inconclusive
+Yes  CheckClass::analyseWholeProgram
+No   CheckClass::checkConst                                    require:style,inconclusive
+No   CheckClass::checkConstructors                             require:style,warning
+No   CheckClass::checkCopyConstructors                         require:warning
+No   CheckClass::checkDuplInheritedMembers                     require:warning
+No   CheckClass::checkExplicitConstructors                     require:style
+No   CheckClass::checkMemset
+No   CheckClass::checkMissingOverride                          require:style,c++03
+No   CheckClass::checkReturnByReference                        require:performance
+No   CheckClass::checkSelfInitialization
+No   CheckClass::checkThisUseAfterFree                         require:warning
+No   CheckClass::checkUnsafeClassRefMember                     require:warning,safeChecks
+No   CheckClass::checkUselessOverride                          require:style
+No   CheckClass::checkVirtualFunctionCallInConstructor         require:warning
+No   CheckClass::initializationListUsage                       require:performance
+No   CheckClass::initializerListOrder                          require:style,inconclusive
+No   CheckClass::operatorEqRetRefThis                          require:style
+No   CheckClass::operatorEqToSelf                              require:warning
+No   CheckClass::privateFunctions                              require:style
+No   CheckClass::thisSubtraction                               require:warning
+No   CheckClass::virtualDestructor
+Yes  CheckCondition::alwaysTrueFalse
+Yes  CheckCondition::assignIf
+Yes  CheckCondition::checkAssignmentInCondition
+Yes  CheckCondition::checkBadBitmaskCheck
+Yes  CheckCondition::checkCompareValueOutOfTypeRange
+Yes  CheckCondition::checkDuplicateConditionalAssign
+Yes  CheckCondition::checkIncorrectLogicOperator
+Yes  CheckCondition::checkInvalidTestForOverflow
+Yes  CheckCondition::checkModuloAlwaysTrueFalse
+Yes  CheckCondition::checkPointerAdditionResultNotNull
+Yes  CheckCondition::clarifyCondition
+Yes  CheckCondition::comparison
+Yes  CheckCondition::duplicateCondition
+Yes  CheckCondition::multiCondition
+Yes  CheckCondition::multiCondition2
+No   CheckExceptionSafety::checkCatchExceptionByValue          require:style
+No   CheckExceptionSafety::checkRethrowCopy                    require:style
+No   CheckExceptionSafety::deallocThrow                        require:warning
+No   CheckExceptionSafety::destructors                         require:warning
+No   CheckExceptionSafety::nothrowThrows
+No   CheckExceptionSafety::rethrowNoCurrentException
+No   CheckExceptionSafety::unhandledExceptionSpecification     require:style,inconclusive
+Yes  CheckFunctions::checkIgnoredReturnValue
+Yes  CheckFunctions::checkMathFunctions
+Yes  CheckFunctions::checkMissingReturn
+Yes  CheckFunctions::checkProhibitedFunctions
+Yes  CheckFunctions::invalidFunctionUsage
+Yes  CheckFunctions::memsetInvalid2ndParam
+Yes  CheckFunctions::memsetZeroBytes
+No   CheckFunctions::returnLocalStdMove                        require:performance,c++11
+Yes  CheckFunctions::useStandardLibrary
+No   CheckIO::checkCoutCerrMisusage                            require:c
+Yes  CheckIO::checkFileUsage
+Yes  CheckIO::checkWrongPrintfScanfArguments
+Yes  CheckIO::invalidScanf
+Yes  CheckLeakAutoVar::check
+No   CheckMemoryLeakInClass::check
+Yes  CheckMemoryLeakInFunction::checkReallocUsage
+Yes  CheckMemoryLeakNoVar::check
+No   CheckMemoryLeakNoVar::checkForUnsafeArgAlloc
+Yes  CheckMemoryLeakStructMember::check
+Yes  CheckNullPointer::analyseWholeProgram
+Yes  CheckNullPointer::arithmetic
+Yes  CheckNullPointer::nullConstantDereference
+Yes  CheckNullPointer::nullPointer
+No   CheckOther::checkAccessOfMovedVariable                    require:c++11,warning
+Yes  CheckOther::checkCastIntToCharAndBack
+Yes  CheckOther::checkCharVariable
+Yes  CheckOther::checkComparePointers
+Yes  CheckOther::checkComparisonFunctionIsAlwaysTrueOrFalse
+Yes  CheckOther::checkConstPointer
+No   CheckOther::checkConstVariable                            require:style,c++
+No   CheckOther::checkDuplicateBranch                          require:style,inconclusive
+Yes  CheckOther::checkDuplicateExpression
+Yes  CheckOther::checkEvaluationOrder
+Yes  CheckOther::checkFuncArgNamesDifferent
+No   CheckOther::checkIncompleteArrayFill                      require:warning,portability,inconclusive
+Yes  CheckOther::checkIncompleteStatement
+No   CheckOther::checkInterlockedDecrement                     require:windows-platform
+Yes  CheckOther::checkInvalidFree
+Yes  CheckOther::checkKnownArgument
+Yes  CheckOther::checkKnownPointerToBool
+No   CheckOther::checkMisusedScopedObject                      require:style,c++
+Yes  CheckOther::checkModuloOfOne
+Yes  CheckOther::checkNanInArithmeticExpression
+Yes  CheckOther::checkNegativeBitwiseShift
+Yes  CheckOther::checkOverlappingWrite
+No   CheckOther::checkPassByReference                          require:performance,c++
+Yes  CheckOther::checkRedundantAssignment
+No   CheckOther::checkRedundantCopy                            require:c++,performance,inconclusive
+Yes  CheckOther::checkRedundantPointerOp
+Yes  CheckOther::checkShadowVariables
+Yes  CheckOther::checkSignOfUnsignedVariable
+No   CheckOther::checkSuspiciousCaseInSwitch                   require:warning,inconclusive
+No   CheckOther::checkSuspiciousSemicolon                      require:warning,inconclusive
+Yes  CheckOther::checkUnreachableCode
+Yes  CheckOther::checkUnusedLabel
+Yes  CheckOther::checkVarFuncNullUB
+Yes  CheckOther::checkVariableScope
+Yes  CheckOther::checkZeroDivision
+Yes  CheckOther::clarifyCalculation
+Yes  CheckOther::clarifyStatement
+Yes  CheckOther::invalidPointerCast
+Yes  CheckOther::redundantBitwiseOperationInSwitch
+Yes  CheckOther::suspiciousFloatingPointCast
+No   CheckOther::warningOldStylePointerCast                    require:style,c++
+No   CheckPostfixOperator::postfixOperator                     require:performance
+Yes  CheckSizeof::checkSizeofForArrayParameter
+Yes  CheckSizeof::checkSizeofForNumericParameter
+Yes  CheckSizeof::checkSizeofForPointerSize
+Yes  CheckSizeof::sizeofCalculation
+Yes  CheckSizeof::sizeofFunction
+Yes  CheckSizeof::sizeofVoid
+Yes  CheckSizeof::sizeofsizeof
+No   CheckSizeof::suspiciousSizeofCalculation                  require:warning,inconclusive
+No   CheckStl::checkDereferenceInvalidIterator                 require:warning
+No   CheckStl::checkDereferenceInvalidIterator2
+No   CheckStl::checkFindInsert                                 require:performance
+No   CheckStl::checkMutexes                                    require:warning
+No   CheckStl::erase
+No   CheckStl::eraseIteratorOutOfBounds
+No   CheckStl::if_find                                         require:warning,performance
+No   CheckStl::invalidContainer
+No   CheckStl::iterators
+No   CheckStl::knownEmptyContainer                             require:style
+No   CheckStl::misMatchingContainerIterator
+No   CheckStl::misMatchingContainers
+No   CheckStl::missingComparison                               require:warning
+No   CheckStl::negativeIndex
+No   CheckStl::outOfBounds
+No   CheckStl::outOfBoundsIndexExpression
+No   CheckStl::redundantCondition                              require:style
+No   CheckStl::size                                            require:performance,c++03
+No   CheckStl::stlBoundaries
+No   CheckStl::stlOutOfBounds
+No   CheckStl::string_c_str
+No   CheckStl::useStlAlgorithm                                 require:style
+No   CheckStl::uselessCalls                                    require:performance,warning
+Yes  CheckString::checkAlwaysTrueOrFalseStringCompare
+Yes  CheckString::checkIncorrectStringCompare
+Yes  CheckString::checkSuspiciousStringCompare
+Yes  CheckString::overlappingStrcmp
+Yes  CheckString::sprintfOverlappingData
+Yes  CheckString::strPlusChar
+Yes  CheckString::stringLiteralWrite
+Yes  CheckType::checkFloatToIntegerOverflow
+Yes  CheckType::checkIntegerOverflow
+Yes  CheckType::checkLongCast
+Yes  CheckType::checkSignConversion
+Yes  CheckType::checkTooBigBitwiseShift
+Yes  CheckUninitVar::analyseWholeProgram
+Yes  CheckUninitVar::check
+Yes  CheckUninitVar::valueFlowUninit
+Yes  CheckUnusedFunctions::check
+Yes  CheckUnusedVar::checkFunctionVariableUsage
+Yes  CheckUnusedVar::checkStructMemberUsage
+Yes  CheckVaarg::va_list_usage
+Yes  CheckVaarg::va_start_argument
+
+
+Premium checkers
+----------------
+Not available, Cppcheck Premium is not used
+
+
+Autosar
+-------
+Not available, Cppcheck Premium is not used
+
+
+Cert C
+------
+Not available, Cppcheck Premium is not used
+
+
+Cert C++
+--------
+Not available, Cppcheck Premium is not used
+
+
+Misra C 2012
+------------
+No   Misra C 2012: Dir 1.1
+No   Misra C 2012: Dir 2.1
+No   Misra C 2012: Dir 3.1
+No   Misra C 2012: Dir 4.1
+No   Misra C 2012: Dir 4.2
+No   Misra C 2012: Dir 4.3
+No   Misra C 2012: Dir 4.4
+No   Misra C 2012: Dir 4.5
+No   Misra C 2012: Dir 4.6    amendment:3
+No   Misra C 2012: Dir 4.7
+No   Misra C 2012: Dir 4.8
+No   Misra C 2012: Dir 4.9    amendment:3
+No   Misra C 2012: Dir 4.10
+No   Misra C 2012: Dir 4.11   amendment:3
+No   Misra C 2012: Dir 4.12
+No   Misra C 2012: Dir 4.13
+No   Misra C 2012: Dir 4.14   amendment:2
+No   Misra C 2012: Dir 4.15   amendment:3
+No   Misra C 2012: Dir 5.1    amendment:4
+No   Misra C 2012: Dir 5.2    amendment:4
+No   Misra C 2012: Dir 5.3    amendment:4
+Yes  Misra C 2012: 1.1
+Yes  Misra C 2012: 1.2
+Yes  Misra C 2012: 1.3
+Yes  Misra C 2012: 1.4        amendment:2
+No   Misra C 2012: 1.5        amendment:3 require:premium
+Yes  Misra C 2012: 2.1
+Yes  Misra C 2012: 2.2
+Yes  Misra C 2012: 2.3
+Yes  Misra C 2012: 2.4
+Yes  Misra C 2012: 2.5
+Yes  Misra C 2012: 2.6
+Yes  Misra C 2012: 2.7
+Yes  Misra C 2012: 2.8
+Yes  Misra C 2012: 3.1
+Yes  Misra C 2012: 3.2
+Yes  Misra C 2012: 4.1
+Yes  Misra C 2012: 4.2
+Yes  Misra C 2012: 5.1
+Yes  Misra C 2012: 5.2
+Yes  Misra C 2012: 5.3
+Yes  Misra C 2012: 5.4
+Yes  Misra C 2012: 5.5
+Yes  Misra C 2012: 5.6
+Yes  Misra C 2012: 5.7
+Yes  Misra C 2012: 5.8
+Yes  Misra C 2012: 5.9
+Yes  Misra C 2012: 6.1
+Yes  Misra C 2012: 6.2
+No   Misra C 2012: 6.3
+Yes  Misra C 2012: 7.1
+Yes  Misra C 2012: 7.2
+Yes  Misra C 2012: 7.3
+Yes  Misra C 2012: 7.4
+No   Misra C 2012: 7.5
+No   Misra C 2012: 7.6
+Yes  Misra C 2012: 8.1
+Yes  Misra C 2012: 8.2
+No   Misra C 2012: 8.3
+Yes  Misra C 2012: 8.4
+Yes  Misra C 2012: 8.5
+Yes  Misra C 2012: 8.6
+Yes  Misra C 2012: 8.7
+Yes  Misra C 2012: 8.8
+Yes  Misra C 2012: 8.9
+Yes  Misra C 2012: 8.10
+Yes  Misra C 2012: 8.11
+Yes  Misra C 2012: 8.12
+Yes  Misra C 2012: 8.13
+Yes  Misra C 2012: 8.14
+No   Misra C 2012: 8.15
+No   Misra C 2012: 8.16
+No   Misra C 2012: 8.17
+Yes  Misra C 2012: 9.1
+Yes  Misra C 2012: 9.2
+Yes  Misra C 2012: 9.3
+Yes  Misra C 2012: 9.4
+Yes  Misra C 2012: 9.5
+No   Misra C 2012: 9.6
+No   Misra C 2012: 9.7
+Yes  Misra C 2012: 10.1
+Yes  Misra C 2012: 10.2
+Yes  Misra C 2012: 10.3
+Yes  Misra C 2012: 10.4
+Yes  Misra C 2012: 10.5
+Yes  Misra C 2012: 10.6
+Yes  Misra C 2012: 10.7
+Yes  Misra C 2012: 10.8
+Yes  Misra C 2012: 11.1
+Yes  Misra C 2012: 11.2
+Yes  Misra C 2012: 11.3
+Yes  Misra C 2012: 11.4
+Yes  Misra C 2012: 11.5
+Yes  Misra C 2012: 11.6
+Yes  Misra C 2012: 11.7
+Yes  Misra C 2012: 11.8
+Yes  Misra C 2012: 11.9
+No   Misra C 2012: 11.10
+Yes  Misra C 2012: 12.1
+Yes  Misra C 2012: 12.2
+Yes  Misra C 2012: 12.3
+Yes  Misra C 2012: 12.4
+Yes  Misra C 2012: 12.5       amendment:1
+No   Misra C 2012: 12.6       amendment:4 require:premium
+Yes  Misra C 2012: 13.1
+No   Misra C 2012: 13.2
+Yes  Misra C 2012: 13.3
+Yes  Misra C 2012: 13.4
+Yes  Misra C 2012: 13.5
+Yes  Misra C 2012: 13.6
+Yes  Misra C 2012: 14.1
+Yes  Misra C 2012: 14.2
+Yes  Misra C 2012: 14.3
+Yes  Misra C 2012: 14.4
+Yes  Misra C 2012: 15.1
+Yes  Misra C 2012: 15.2
+Yes  Misra C 2012: 15.3
+Yes  Misra C 2012: 15.4
+Yes  Misra C 2012: 15.5
+Yes  Misra C 2012: 15.6
+Yes  Misra C 2012: 15.7
+Yes  Misra C 2012: 16.1
+Yes  Misra C 2012: 16.2
+Yes  Misra C 2012: 16.3
+Yes  Misra C 2012: 16.4
+Yes  Misra C 2012: 16.5
+Yes  Misra C 2012: 16.6
+Yes  Misra C 2012: 16.7
+Yes  Misra C 2012: 17.1
+Yes  Misra C 2012: 17.2
+Yes  Misra C 2012: 17.3
+No   Misra C 2012: 17.4
+Yes  Misra C 2012: 17.5
+Yes  Misra C 2012: 17.6
+Yes  Misra C 2012: 17.7
+Yes  Misra C 2012: 17.8
+No   Misra C 2012: 17.9
+No   Misra C 2012: 17.10
+No   Misra C 2012: 17.11
+No   Misra C 2012: 17.12
+No   Misra C 2012: 17.13
+Yes  Misra C 2012: 18.1
+Yes  Misra C 2012: 18.2
+Yes  Misra C 2012: 18.3
+Yes  Misra C 2012: 18.4
+Yes  Misra C 2012: 18.5
+Yes  Misra C 2012: 18.6
+Yes  Misra C 2012: 18.7
+Yes  Misra C 2012: 18.8
+No   Misra C 2012: 18.9
+No   Misra C 2012: 18.10
+Yes  Misra C 2012: 19.1
+Yes  Misra C 2012: 19.2
+Yes  Misra C 2012: 20.1
+Yes  Misra C 2012: 20.2
+Yes  Misra C 2012: 20.3
+Yes  Misra C 2012: 20.4
+Yes  Misra C 2012: 20.5
+Yes  Misra C 2012: 20.6
+Yes  Misra C 2012: 20.7
+Yes  Misra C 2012: 20.8
+Yes  Misra C 2012: 20.9
+Yes  Misra C 2012: 20.10
+Yes  Misra C 2012: 20.11
+Yes  Misra C 2012: 20.12
+Yes  Misra C 2012: 20.13
+Yes  Misra C 2012: 20.14
+Yes  Misra C 2012: 21.1
+Yes  Misra C 2012: 21.2
+Yes  Misra C 2012: 21.3
+Yes  Misra C 2012: 21.4
+Yes  Misra C 2012: 21.5
+Yes  Misra C 2012: 21.6
+Yes  Misra C 2012: 21.7
+Yes  Misra C 2012: 21.8
+Yes  Misra C 2012: 21.9
+Yes  Misra C 2012: 21.10
+Yes  Misra C 2012: 21.11
+Yes  Misra C 2012: 21.12
+Yes  Misra C 2012: 21.13      amendment:1
+Yes  Misra C 2012: 21.14      amendment:1
+Yes  Misra C 2012: 21.15      amendment:1
+Yes  Misra C 2012: 21.16      amendment:1
+Yes  Misra C 2012: 21.17      amendment:1
+Yes  Misra C 2012: 21.18      amendment:1
+Yes  Misra C 2012: 21.19      amendment:1
+Yes  Misra C 2012: 21.20      amendment:1
+Yes  Misra C 2012: 21.21      amendment:3
+No   Misra C 2012: 21.22      amendment:3 require:premium
+No   Misra C 2012: 21.23      amendment:3 require:premium
+No   Misra C 2012: 21.24      amendment:3 require:premium
+No   Misra C 2012: 21.25      amendment:4 require:premium
+No   Misra C 2012: 21.26      amendment:4 require:premium
+Yes  Misra C 2012: 22.1
+Yes  Misra C 2012: 22.2
+Yes  Misra C 2012: 22.3
+Yes  Misra C 2012: 22.4
+Yes  Misra C 2012: 22.5
+Yes  Misra C 2012: 22.6
+Yes  Misra C 2012: 22.7       amendment:1
+Yes  Misra C 2012: 22.8       amendment:1
+Yes  Misra C 2012: 22.9       amendment:1
+Yes  Misra C 2012: 22.10      amendment:1
+No   Misra C 2012: 22.11      amendment:4 require:premium
+No   Misra C 2012: 22.12      amendment:4 require:premium
+No   Misra C 2012: 22.13      amendment:4 require:premium
+No   Misra C 2012: 22.14      amendment:4 require:premium
+No   Misra C 2012: 22.15      amendment:4 require:premium
+No   Misra C 2012: 22.16      amendment:4 require:premium
+No   Misra C 2012: 22.17      amendment:4 require:premium
+No   Misra C 2012: 22.18      amendment:4 require:premium
+No   Misra C 2012: 22.19      amendment:4 require:premium
+No   Misra C 2012: 22.20      amendment:4 require:premium
+No   Misra C 2012: 23.1       amendment:3 require:premium
+No   Misra C 2012: 23.2       amendment:3 require:premium
+No   Misra C 2012: 23.3       amendment:3 require:premium
+No   Misra C 2012: 23.4       amendment:3 require:premium
+No   Misra C 2012: 23.5       amendment:3 require:premium
+No   Misra C 2012: 23.6       amendment:3 require:premium
+No   Misra C 2012: 23.7       amendment:3 require:premium
+No   Misra C 2012: 23.8       amendment:3 require:premium
+
+
+Misra C++ 2008
+--------------
+Not available, Cppcheck Premium is not used
+
+
+Misra C++ 2023
+--------------
+Not available, Cppcheck Premium is not used

artifacts/package_runtime/iqdbc/safety/tests/misra/install.sh

@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+: "${CPPCHECK_DIR:=$DIR/cppcheck/}"
+
+# skip if we're running in parallel with test_mutation.py
+if [ ! -z "$OPENDBC_ROOT" ]; then
+  exit 0
+fi
+
+if [ ! -d "$CPPCHECK_DIR" ]; then
+  git clone https://github.com/danmar/cppcheck.git $CPPCHECK_DIR
+fi
+
+cd $CPPCHECK_DIR
+
+VERS="2.19.1"
+if [ "$(git describe --tags --always)" != "$VERS" ]; then
+  git fetch --all --tags --force
+  git checkout $VERS
+fi
+
+#make clean
+make MATCHCOMPILTER=yes CXXFLAGS="-O2" -j8

artifacts/package_runtime/iqdbc/safety/tests/misra/suppressions.txt

@@ -0,0 +1,21 @@
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra-c2012-11.4
+# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
+misra-c2012-11.5
+# Advisory: as stated in the Misra document, use of goto statements in accordance to 15.2 and 15.3 is ok
+misra-c2012-15.1
+# Advisory: union types can be used
+misra-c2012-19.2
+# Advisory: The # and ## preprocessor operators should not be used
+misra-c2012-20.10
+
+# needed since not all of these suppressions are applicable to all builds
+unmatchedSuppression
+
+# All interrupt handlers are defined, including ones we don't use
+unusedFunction:*/interrupt_handlers*.h
+
+# all of the below suppressions are from new checks introduced after updating
+# cppcheck from 2.5 -> 2.13. they are listed here to separate the update from
+# fixing the violations and all are intended to be removed soon after
+misra-c2012-2.5   # unused macros. a few legit, rest aren't common between F4/H7 builds. should we do this in the unusedFunction pass?

artifacts/package_runtime/iqdbc/safety/tests/misra/test_misra.sh

@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+cd $DIR
+
+source ../../../../setup.sh
+
+GREEN="\e[1;32m"
+YELLOW="\e[1;33m"
+RED="\e[1;31m"
+NC='\033[0m'
+
+: "${CPPCHECK_DIR:=$DIR/cppcheck/}"
+
+# ensure checked in coverage table is up to date
+python3 $CPPCHECK_DIR/addons/misra.py -generate-table > coverage_table
+if ! git diff --quiet coverage_table; then
+  echo -e "${YELLOW}MISRA coverage table doesn't match. Update and commit:${NC}"
+  exit 3
+fi
+
+cd $BASEDIR
+
+CHECKLIST=$(mktemp)
+echo "Cppcheck checkers list from test_misra.sh:" > $CHECKLIST
+
+cppcheck() {
+  # get all gcc defines: arm-none-eabi-gcc -dM -E - < /dev/null
+  COMMON_DEFINES="-D__GNUC__=9"
+
+  # note that cppcheck build cache results in inconsistent results as of v2.13.0
+  OUTPUT=$(mktemp)
+
+  echo -e "\n\n\n\n\nTEST variant options:" >> $CHECKLIST
+  echo -e ""${@//$BASEDIR/}"\n\n" >> $CHECKLIST # (absolute path removed)
+
+  OPENDBC_ROOT=${OPENDBC_ROOT:-$BASEDIR}
+  $CPPCHECK_DIR/cppcheck --inline-suppr -I $OPENDBC_ROOT \
+          --suppress=missingIncludeSystem \
+          --suppressions-list=$DIR/suppressions.txt  \
+           --error-exitcode=2 --check-level=exhaustive --safety \
+          --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \
+          --std=c11 "$@" 2>&1 | tee $OUTPUT
+
+  cat $CHECKLIST.tmp >> $CHECKLIST
+  rm $CHECKLIST.tmp
+  # cppcheck bug: some MISRA errors won't result in the error exit code,
+  # so check the output (https://trac.cppcheck.net/ticket/12440#no1)
+  if grep -e "misra violation" -e "error" -e "style: " $OUTPUT > /dev/null; then
+    printf "${RED}** FAILED: MISRA violations found!${NC}\n"
+    exit 1
+  fi
+}
+
+OPTS=" --enable=all --enable=unusedFunction --addon=misra"
+
+printf "\n${GREEN}** Safety **${NC}\n"
+cppcheck $OPTS $BASEDIR/iqdbc/safety/tests/misra/main.c
+
+printf "\n${GREEN}Success!${NC} took $SECONDS seconds\n"
+
+# ensure list of checkers is up to date
+if [ -z "$OPENDBC_ROOT" ]; then
+  cd $DIR
+  if ! git diff --quiet $CHECKLIST; then
+    echo -e "\n${YELLOW}WARNING: Cppcheck checkers.txt report has changed. Review and commit...${NC}"
+    mv $CHECKLIST $DIR/checkers.txt
+    exit 4
+  fi
+fi

artifacts/package_runtime/iqdbc/safety/tests/misra/test_mutation.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+import os
+import glob
+import pytest
+import shutil
+import subprocess
+import tempfile
+import random
+
+HERE = os.path.abspath(os.path.dirname(__file__))
+ROOT = os.path.join(HERE, "../../../../")
+
+IGNORED_PATHS = (
+  'iqdbc/safety/main.c',
+  'iqdbc/safety/tests/',
+)
+
+mutations = [
+  # no mutation, should pass
+  (None, None, lambda s: s, False),
+]
+
+patterns = [
+  ("misra-c2012-10.3", lambda s: s + "\nvoid test(float len) { for (float j = 0; j < len; j++) {;} }\n"),
+  ("misra-c2012-13.3", lambda s: s + "\nvoid test(int tmp) { int tmp2 = tmp++ + 2; if (tmp2) {;}}\n"),
+  ("misra-c2012-13.4", lambda s: s + "\nint test(int x, int y) { return (x=2) && (y=2); }\n"),
+  ("misra-c2012-13.5", lambda s: s + "\nvoid test(int tmp) { if (true && tmp++) {;} }\n"),
+  ("misra-c2012-13.6", lambda s: s + "\nvoid test(int tmp) { if (sizeof(tmp++)) {;} }\n"),
+  ("misra-c2012-14.2", lambda s: s + "\nvoid test(int cnt) { for (cnt=0;;cnt++) {;} }\n"),
+  ("misra-c2012-14.4", lambda s: s + "\nvoid test(int len) { if (len - 8) {;} }\n"),
+  ("misra-c2012-16.4", lambda s: s + "\nvoid test(int temp) {switch (temp) { case 1: ; }}\n"),
+  ("misra-c2012-20.4", lambda s: s + "\n#define auto 1\n"),
+  ("misra-c2012-20.5", lambda s: s + "\n#define TEST 1\n#undef TEST\n"),
+]
+
+all_files = glob.glob('iqdbc/safety/**', root_dir=ROOT, recursive=True)
+files = [f for f in all_files if f.endswith(('.c', '.h')) and not f.startswith(IGNORED_PATHS)]
+assert len(files) > 20, files
+
+for p in patterns:
+  mutations.append((random.choice(files), *p, True))
+
+mutations = random.sample(mutations, 2)  # can remove this once cppcheck is faster
+
+
+@pytest.mark.parametrize("fn, rule, transform, should_fail", mutations)
+def test_misra_mutation(fn, rule, transform, should_fail):
+  with tempfile.TemporaryDirectory() as tmp:
+    shutil.copytree(ROOT, tmp, dirs_exist_ok=True,
+                    ignore=shutil.ignore_patterns('.venv', 'cppcheck', '.git', '*.ctu-info', '.hypothesis'))
+
+    # apply patch
+    if fn is not None:
+      with open(os.path.join(tmp, fn), 'r+') as f:
+        content = f.read()
+        f.seek(0)
+        f.write(transform(content))
+
+    # run test
+    r = subprocess.run(f"OPENDBC_ROOT={tmp} iqdbc/safety/tests/misra/test_misra.sh",
+                       stdout=subprocess.PIPE, cwd=ROOT, shell=True, encoding='utf8')
+    print(r.stdout) # helpful for debugging failures
+    failed = r.returncode != 0
+    assert failed == should_fail
+    if should_fail:
+      assert rule in r.stdout, "MISRA test failed but not for the correct violation"

artifacts/package_runtime/iqdbc/safety/tests/mutation.sh

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+source $DIR/../../../setup.sh
+
+GIT_REF="${GIT_REF:-origin/master}"
+GIT_ROOT=$(git rev-parse --show-toplevel)
+cat > $GIT_ROOT/mull.yml <<EOF
+mutators: [cxx_increment, cxx_decrement, cxx_comparison, cxx_boundary, cxx_bitwise_assignment, cxx_bitwise, cxx_arithmetic_assignment, cxx_arithmetic, cxx_remove_negation]
+timeout: 1000000
+gitDiffRef: $GIT_REF
+gitProjectRoot: $GIT_ROOT
+EOF
+
+scons -j4 -D
+
+mull-runner-18 --debug --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety.so -test-program=pytest -- -n8 --ignore-glob=misra/*

artifacts/package_runtime/iqdbc/safety/tests/safety_replay/helpers.py

@@ -0,0 +1,111 @@
+from iqdbc.car.ford.values import FordSafetyFlags
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.toyota.values import ToyotaSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+def to_signed(d, bits):
+  ret = d
+  if d >= (1 << (bits - 1)):
+    ret = d - (1 << bits)
+  return ret
+
+
+def is_steering_msg(mode, param, addr):
+  ret = False
+  if mode in (CarParams.SafetyModel.hondaNidec, CarParams.SafetyModel.hondaBosch):
+    ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
+  elif mode == CarParams.SafetyModel.toyota:
+    ret = addr == (0x191 if param & ToyotaSafetyFlags.LTA else 0x2E4)
+  elif mode == CarParams.SafetyModel.gm:
+    ret = addr == 384
+  elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
+    ret = addr == 832
+  elif mode == CarParams.SafetyModel.hyundaiCanfd:
+    ret = addr == (0x110 if param & HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT else
+                   0x50 if param & HyundaiSafetyFlags.CANFD_LKA_STEERING else
+                   0x12A)
+  elif mode == CarParams.SafetyModel.chrysler:
+    ret = addr == 0x292
+  elif mode == CarParams.SafetyModel.subaru:
+    ret = addr == 0x122
+  elif mode == CarParams.SafetyModel.ford:
+    ret = addr == 0x3d6 if param & FordSafetyFlags.CANFD else addr == 0x3d3
+  elif mode == CarParams.SafetyModel.nissan:
+    ret = addr == 0x169
+  elif mode == CarParams.SafetyModel.rivian:
+    ret = addr == 0x120
+  elif mode == CarParams.SafetyModel.tesla:
+    ret = addr == 0x488
+  return ret
+
+
+def get_steer_value(mode, param, msg):
+  # TODO: use CANParser
+  torque, angle = 0, 0
+  if mode in (CarParams.SafetyModel.hondaNidec, CarParams.SafetyModel.hondaBosch):
+    torque = (msg.data[0] << 8) | msg.data[1]
+    torque = to_signed(torque, 16)
+  elif mode == CarParams.SafetyModel.toyota:
+    if param & ToyotaSafetyFlags.LTA:
+      angle = (msg.data[1] << 8) | msg.data[2]
+      angle = to_signed(angle, 16)
+    else:
+      torque = (msg.data[1] << 8) | (msg.data[2])
+      torque = to_signed(torque, 16)
+  elif mode == CarParams.SafetyModel.gm:
+    torque = ((msg.data[0] & 0x7) << 8) | msg.data[1]
+    torque = to_signed(torque, 11)
+  elif mode in (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy):
+    torque = (((msg.data[3] & 0x7) << 8) | msg.data[2]) - 1024
+  elif mode == CarParams.SafetyModel.hyundaiCanfd:
+    torque = ((msg.data[5] >> 1) | (msg.data[6] & 0xF) << 7) - 1024
+  elif mode == CarParams.SafetyModel.chrysler:
+    torque = (((msg.data[0] & 0x7) << 8) | msg.data[1]) - 1024
+  elif mode == CarParams.SafetyModel.subaru:
+    torque = ((msg.data[3] & 0x1F) << 8) | msg.data[2]
+    torque = -to_signed(torque, 13)
+  elif mode == CarParams.SafetyModel.ford:
+    if param & FordSafetyFlags.CANFD:
+      angle = ((msg.data[2] << 3) | (msg.data[3] >> 5)) - 1000
+    else:
+      angle = ((msg.data[0] << 3) | (msg.data[1] >> 5)) - 1000
+  elif mode == CarParams.SafetyModel.nissan:
+    angle = (msg.data[0] << 10) | (msg.data[1] << 2) | (msg.data[2] >> 6)
+    angle = -angle + (1310 * 100)
+  elif mode == CarParams.SafetyModel.rivian:
+    torque = ((msg.data[2] << 3) | (msg.data[3] >> 5)) - 1024
+  elif mode == CarParams.SafetyModel.tesla:
+    angle = (((msg.data[0] & 0x7F) << 8) | (msg.data[1])) - 16384  # ceil(1638.35/0.1)
+  return torque, angle
+
+
+def package_can_msg(msg):
+  return libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+
+
+def init_segment(safety, msgs, mode, param):
+  sendcan = (msg for msg in msgs if msg.which() == 'sendcan')
+  steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))
+
+  msg = next(steering_msgs, None)
+  if msg is None:
+    print("no steering msgs found!")
+    return
+
+  msg = package_can_msg(msg)
+  torque, angle = get_steer_value(mode, param, msg)
+  if torque != 0:
+    safety.set_controls_allowed(1)
+    safety.set_controls_allowed_lat(1)
+    safety.set_desired_torque_last(torque)
+    safety.set_rt_torque_last(torque)
+    safety.set_torque_meas(torque, torque)
+    safety.set_torque_driver(torque, torque)
+  elif angle != 0:
+    safety.set_controls_allowed(1)
+    safety.set_controls_allowed_lat(1)
+    safety.set_desired_angle_last(angle)
+    safety.set_angle_meas(angle, angle)
+  assert safety.safety_tx_hook(msg), "failed to initialize safety for segment"

artifacts/package_runtime/iqdbc/safety/tests/safety_replay/replay_drive.py

@@ -0,0 +1,169 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from collections import Counter, defaultdict
+from tqdm import tqdm
+
+from iqdbc.safety import ALTERNATIVE_EXPERIENCE
+from iqdbc.safety.tests.libsafety import libsafety_py
+from iqdbc.car.carlog import carlog
+from iqdbc.safety.tests.safety_replay.helpers import package_can_msg, init_segment
+
+# Define debug variables and their getter methods
+DEBUG_VARS = {
+  'lat_active': lambda safety: safety.get_lat_active(),
+  'controls_allowed': lambda safety: safety.get_controls_allowed(),
+  'controls_requested_lat': lambda safety: safety.get_controls_requested_lat(),
+  'controls_allowed_lat': lambda safety: safety.get_controls_allowed_lat(),
+  'current_disengage_reason': lambda safety: safety.aol_get_current_disengage_reason(),
+  'stock_acc_main': lambda safety: safety.get_acc_main_on(),
+  'aol_acc_main': lambda safety: safety.get_aol_acc_main(),
+}
+
+
+# replay a drive to check for safety violations
+def replay_drive(msgs, safety_mode, param, alternative_experience, param_iq):
+  safety = libsafety_py.libsafety
+  msgs.sort(key=lambda m: m.logMonoTime)
+
+  safety.set_current_safety_param_iq(param_iq)
+  err = safety.set_safety_hooks(safety_mode, param)
+  assert err == 0, "invalid safety mode: %d" % safety_mode
+  safety.set_alternative_experience(alternative_experience)
+
+  _enable_aol = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.ENABLE_AOL)
+  _disengage_lateral_on_brake = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.AOL_DISENGAGE_LATERAL_ON_BRAKE)
+  _pause_lateral_on_brake = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.AOL_PAUSE_LATERAL_ON_BRAKE)
+  safety.set_aol_params(_enable_aol, _disengage_lateral_on_brake, _pause_lateral_on_brake)
+  print("alternative experience:")
+  print(f"  enable aol: {_enable_aol}")
+  print(f"  disengage lateral on brake: {_disengage_lateral_on_brake}")
+  print(f"  pause lateral on brake: {_pause_lateral_on_brake}")
+
+  init_segment(safety, msgs, safety_mode, param)
+
+  rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_lat, tx_controls_blocked, tx_controls_lat_blocked, aol_mismatch = 0, 0, 0, 0, 0, 0, 0, 0, 0
+  safety_tick_rx_invalid = False
+  blocked_addrs = Counter()
+  invalid_addrs = set()
+
+  # Track last good state for each address
+  last_good_states = defaultdict(lambda: {
+    'timestamp': None,
+    **{var: None for var in DEBUG_VARS}
+  })
+
+  can_msgs = [m for m in msgs if m.which() in ('can', 'sendcan')]
+  start_t = can_msgs[0].logMonoTime
+  end_t = can_msgs[-1].logMonoTime
+  for msg in tqdm(can_msgs):
+    safety.set_timer((msg.logMonoTime // 1000) % 0xFFFFFFFF)
+
+    # skip start and end of route, warm up/down period
+    if msg.logMonoTime - start_t > 1e9 and end_t - msg.logMonoTime > 1e9:
+      safety.safety_tick_current_safety_config()
+      safety_tick_rx_invalid |= not safety.safety_config_valid() or safety_tick_rx_invalid
+
+    if msg.which() == 'sendcan':
+      for canmsg in msg.sendcan:
+        _msg = package_can_msg(canmsg)
+        sent = safety.safety_tx_hook(_msg)
+
+        # mismatched
+        if safety.get_controls_allowed() and not safety.get_controls_allowed_lat():
+          aol_mismatch += 1
+          print(f"controls allowed but not controls allowed lat [{aol_mismatch}]")
+          print(f"msg:{canmsg.address} ({hex(canmsg.address)})")
+          for var, getter in DEBUG_VARS.items():
+            print(f"  {var}: {getter(safety)}")
+        if not sent:
+          tx_blocked += 1
+          tx_controls_blocked += safety.get_controls_allowed()
+          tx_controls_lat_blocked += safety.get_controls_allowed_lat()
+          blocked_addrs[canmsg.address] += 1
+
+          carlog.debug("blocked bus %d msg %d at %f" % (canmsg.src, canmsg.address, (msg.logMonoTime - start_t) / 1e9))
+
+          if "DEBUG" in os.environ:
+            last_good = last_good_states[canmsg.address]
+            print(f"\nBlocked message at {(msg.logMonoTime - start_t) / 1e9:.3f}s:")
+            print(f"Address: {hex(canmsg.address)} (bus {canmsg.src})")
+            print("Current state:")
+            for var, getter in DEBUG_VARS.items():
+              print(f"  {var}: {getter(safety)}")
+
+            if last_good['timestamp'] is not None:
+              print(f"\nLast good state ({last_good['timestamp']:.3f}s):")
+              for var in DEBUG_VARS:
+                print(f"  {var}: {last_good[var]}")
+            else:
+              print("\nNo previous good state found for this address")
+            print("-" * 80)
+        else:  # Update last good state if message is allowed
+          last_good_states[canmsg.address].update({
+            'timestamp': (msg.logMonoTime - start_t) / 1e9,
+            **{var: getter(safety) for var, getter in DEBUG_VARS.items()}
+          })
+
+        tx_controls += safety.get_controls_allowed()
+        tx_controls_lat += safety.get_controls_allowed_lat()
+        tx_tot += 1
+    elif msg.which() == 'can':
+      # ignore msgs we sent
+      for canmsg in filter(lambda m: m.src < 128, msg.can):
+        safety.safety_fwd_hook(canmsg.src, canmsg.address)
+        _msg = package_can_msg(canmsg)
+        recv = safety.safety_rx_hook(_msg)
+        if not recv:
+          rx_invalid += 1
+          invalid_addrs.add(canmsg.address)
+        rx_tot += 1
+
+  print("\nRX")
+  print("total rx msgs:", rx_tot)
+  print("invalid rx msgs:", rx_invalid)
+  print("safety tick rx invalid:", safety_tick_rx_invalid)
+  print("invalid addrs:", invalid_addrs)
+  print("\nTX")
+  print("total openpilot msgs:", tx_tot)
+  print("total msgs with controls allowed:", tx_controls)
+  print("total msgs with controls_lat allowed:", tx_controls_lat)
+  print("blocked msgs:", tx_blocked)
+  print("blocked with controls allowed:", tx_controls_blocked)
+  print("blocked with controls_lat allowed:", tx_controls_lat_blocked)
+  print("blocked addrs:", blocked_addrs)
+  print("aol enabled:", safety.get_enable_aol())
+
+  return tx_controls_blocked == 0 and tx_controls_lat_blocked == 0 and rx_invalid == 0 and not safety_tick_rx_invalid
+
+
+if __name__ == "__main__":
+  from iqpilot.tools.lib.logreader import LogReader
+
+  parser = argparse.ArgumentParser(description="Replay CAN messages from a route or segment through a safety mode",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route_or_segment_name", nargs='+')
+  parser.add_argument("--mode", type=int, help="Override the safety mode from the log")
+  parser.add_argument("--param", type=int, help="Override the safety param from the log")
+  parser.add_argument("--alternative-experience", type=int, help="Override the alternative experience from the log")
+  parser.add_argument("--param-sp", type=int, help="Override the iqpilot safety param from the log")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route_or_segment_name[0])
+
+  if None in (args.mode, args.param, args.alternative_experience, args.param_iq):
+    CP = lr.first('carParams')
+    CP_IQ = lr.first('iqCarParams')
+    if args.mode is None:
+      args.mode = CP.safetyConfigs[-1].safetyModel.raw
+    if args.param is None:
+      args.param = CP.safetyConfigs[-1].safetyParam
+    if args.alternative_experience is None:
+      args.alternative_experience = CP.alternativeExperience
+    if args.param_iq is None:
+      _param_iq = CP_IQ.safetyParam if hasattr(CP_IQ, 'safetyParam') else 0
+      args.param_iq = _param_iq
+
+  print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}, " +
+        f"param_iq {args.param_iq}")
+  replay_drive(list(lr), args.mode, args.param, args.alternative_experience, args.param_iq)

artifacts/package_runtime/iqdbc/safety/tests/test.sh

@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+source ../../../setup.sh
+
+# reset coverage data and generate gcc note file
+rm -f ./libsafety/*.gcda
+scons -j$(nproc) -D
+
+# run safety tests and generate coverage data
+pytest -n8 --ignore-glob=misra/*
+
+if [ "$(uname)" = "Darwin" ]; then
+  GCOV_EXEC="/opt/homebrew/opt/llvm@18/bin/llvm-cov gcov"
+else
+  GCOV_EXEC="llvm-cov-18 gcov"
+fi
+
+# generate and open report
+if [ "$1" == "--report" ]; then
+  mkdir -p coverage-out
+  gcovr -r ../ --gcov-executable "$GCOV_EXEC" --html-nested coverage-out/index.html
+  sensible-browser coverage-out/index.html
+fi
+
+# test coverage
+GCOV="gcovr -r $DIR/../ --gcov-executable \"$GCOV_EXEC\" -d --fail-under-line=100 -e ^libsafety"
+if ! GCOV_OUTPUT="$(eval $GCOV)"; then
+  echo -e "FAILED:\n$GCOV_OUTPUT"
+  exit 1
+else
+  echo "SUCCESS: All checked files have 100% coverage!"
+fi

artifacts/package_runtime/iqdbc/safety/tests/test_body.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.libsafety import libsafety_py
+from iqdbc.safety.tests.common import CANPackerSafety
+
+
+class TestBody(common.SafetyTest):
+  TX_MSGS = [[0x250, 0], [0x251, 0],
+             [0x1, 0], [0x1, 1], [0x1, 2], [0x1, 3]]
+  FWD_BUS_LOOKUP = {}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("comma_body")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.body, 0)
+    self.safety.init_tests()
+
+  def _motors_data_msg(self, speed_l, speed_r):
+    values = {"SPEED_L": speed_l, "SPEED_R": speed_r}
+    return self.packer.make_can_msg_safety("MOTORS_DATA", 0, values)
+
+  def _torque_cmd_msg(self, torque_l, torque_r):
+    values = {"TORQUE_L": torque_l, "TORQUE_R": torque_r}
+    return self.packer.make_can_msg_safety("TORQUE_CMD", 0, values)
+
+  def _max_motor_rpm_cmd_msg(self, max_rpm_l, max_rpm_r):
+    values = {"MAX_RPM_L": max_rpm_l, "MAX_RPM_R": max_rpm_r}
+    return self.packer.make_can_msg_safety("MAX_MOTOR_RPM_CMD", 0, values)
+
+  def test_rx_hook(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    # controls allowed when we get MOTORS_DATA message
+    self.assertTrue(self._rx(self._torque_cmd_msg(0, 0)))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    self.assertTrue(self._rx(self._motors_data_msg(0, 0)))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_tx_hook(self):
+    self.assertFalse(self._tx(self._torque_cmd_msg(0, 0)))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._torque_cmd_msg(0, 0)))
+
+  def test_can_flasher(self):
+    # CAN flasher always allowed
+    self.safety.set_controls_allowed(False)
+    self.assertTrue(self._tx(common.make_msg(0, 0x1, 8)))
+
+    # 0xdeadfaceU allowed for CAN flashing mode
+    self.assertTrue(self._tx(common.make_msg(0, 0x250, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a')))
+    self.assertFalse(self._tx(common.make_msg(0, 0x250, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0')))  # not correct data/len
+    self.assertFalse(self._tx(common.make_msg(0, 0x251, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a')))  # wrong address
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_chrysler.py

@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.chrysler.values import ChryslerSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+
+class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
+  TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0], [0x2D9, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x292, 0x2A6, 0x2D9)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x292, 0x2A6, 0x2D9]}
+
+  MAX_RATE_UP = 3
+  MAX_RATE_DOWN = 3
+  MAX_TORQUE_LOOKUP = [0], [261]
+  MAX_RT_DELTA = 112
+  MAX_TORQUE_ERROR = 80
+
+  LKAS_ACTIVE_VALUE = 1
+
+  DAS_BUS = 0
+
+  def setUp(self):
+    self.packer = CANPackerSafety("chrysler_pacifica_2017_hybrid_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, 0)
+    self.safety.init_tests()
+
+  def _button_msg(self, cancel=False, resume=False, accel=False, decel=False):
+    values = {"ACC_Cancel": cancel, "ACC_Resume": resume, "ACC_Accel": accel, "ACC_Decel": decel}
+    return self.packer.make_can_msg_safety("CRUISE_BUTTONS", self.DAS_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"ACC_ACTIVE": enable}
+    return self.packer.make_can_msg_safety("DAS_3", self.DAS_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed}
+    return self.packer.make_can_msg_safety("SPEED_1", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"Accelerator_Position": gas}
+    return self.packer.make_can_msg_safety("ECM_5", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"Brake_Pedal_State": 1 if brake else 0}
+    return self.packer.make_can_msg_safety("ESP_1", 0, values)
+
+  def _torque_meas_msg(self, torque):
+    values = {"EPS_TORQUE_MOTOR": torque}
+    return self.packer.make_can_msg_safety("EPS_2", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"STEERING_TORQUE": torque, "LKAS_CONTROL_BIT": self.LKAS_ACTIVE_VALUE if steer_req else 0}
+    return self.packer.make_can_msg_safety("LKAS_COMMAND", 0, values)
+
+  def test_buttons(self):
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+
+      # resume/accel/decel only while controls allowed
+      self.assertEqual(controls_allowed, self._tx(self._button_msg(resume=True)))
+      self.assertEqual(controls_allowed, self._tx(self._button_msg(accel=True)))
+      self.assertEqual(controls_allowed, self._tx(self._button_msg(decel=True)))
+
+      # can always cancel
+      self.assertTrue(self._tx(self._button_msg(cancel=True)))
+
+      # invalid: more than one button pressed
+      combos = [
+        # 2 buttons
+        {"cancel": True, "resume": True},
+        {"cancel": True, "accel": True},
+        {"cancel": True, "decel": True},
+        {"resume": True, "accel": True},
+        {"resume": True, "decel": True},
+        {"accel": True, "decel": True},
+
+        # 3 buttons
+        {"cancel": True, "resume": True, "accel": True},
+        {"cancel": True, "resume": True, "decel": True},
+        {"cancel": True, "accel": True, "decel": True},
+        {"resume": True, "accel": True, "decel": True},
+
+        # all 4 buttons
+        {"cancel": True, "resume": True, "accel": True, "decel": True},
+      ]
+
+      for combo in combos:
+        with self.subTest(combo=combo):
+          self.assertFalse(self._tx(self._button_msg(**combo)))
+
+  def _lkas_button_msg(self, enabled):
+    values = {"TOGGLE_LKAS": enabled}
+    return self.packer.make_can_msg_safety("TRACTION_BUTTON", 0, values)
+
+
+class TestChryslerRamDTSafety(TestChryslerSafety):
+  TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0xA6, 0xFA)}
+  FWD_BLACKLISTED_ADDRS = {2: [0xA6, 0xFA]}
+
+  MAX_RATE_UP = 6
+  MAX_RATE_DOWN = 6
+  MAX_TORQUE_LOOKUP = [0], [350]
+
+  DAS_BUS = 2
+
+  LKAS_ACTIVE_VALUE = 2
+
+  def setUp(self):
+    self.packer = CANPackerSafety("chrysler_ram_dt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_DT)
+    self.safety.init_tests()
+
+  def _speed_msg(self, speed):
+    values = {"Vehicle_Speed": speed}
+    return self.packer.make_can_msg_safety("ESP_8", 0, values)
+
+  def _lkas_button_msg(self, enabled):
+    values = {"LKAS_Button": enabled}
+    return self.packer.make_can_msg_safety("Center_Stack_2", 0, values)
+
+
+class TestChryslerRamHDSafety(TestChryslerSafety):
+  TX_MSGS = [[0x275, 0], [0x276, 0], [0x23A, 2]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x276, 0x275)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x275, 0x276]}
+
+  MAX_TORQUE_LOOKUP = [0], [361]
+  MAX_RATE_UP = 14
+  MAX_RATE_DOWN = 14
+  MAX_RT_DELTA = 182
+
+  DAS_BUS = 2
+
+  LKAS_ACTIVE_VALUE = 2
+
+  def setUp(self):
+    self.packer = CANPackerSafety("chrysler_ram_hd_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.chrysler, ChryslerSafetyFlags.RAM_HD)
+    self.safety.init_tests()
+
+  def _speed_msg(self, speed):
+    values = {"Vehicle_Speed": speed}
+    return self.packer.make_can_msg_safety("ESP_8", 0, values)
+
+  def _lkas_button_msg(self, enabled):
+    values = {"LKAS_Button": enabled}
+    return self.packer.make_can_msg_safety("Center_Stack_2", 0, values)
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_defaults.py

@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import unittest
+
+import iqdbc.safety.tests.common as common
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+class TestDefaultRxHookBase(common.SafetyTest):
+  FWD_BUS_LOOKUP = {}
+
+  def test_rx_hook(self):
+    # default rx hook allows all msgs
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        self.assertTrue(self._rx(common.make_msg(bus, addr, 8)), f"failed RX {addr=}")
+
+
+class TestNoOutput(TestDefaultRxHookBase):
+  TX_MSGS = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.noOutput, 0)
+    self.safety.init_tests()
+
+
+class TestSilent(TestNoOutput):
+  """SILENT uses same hooks as NOOUTPUT"""
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.silent, 0)
+    self.safety.init_tests()
+
+
+class TestAllOutput(TestDefaultRxHookBase):
+  # Allow all messages
+  TX_MSGS = [[addr, bus] for addr in common.SafetyTest.SCANNED_ADDRS
+             for bus in range(4)]
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 0)
+    self.safety.init_tests()
+
+  def test_spam_can_buses(self):
+    # asserts tx allowed for all scanned addrs
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        should_tx = [addr, bus] in self.TX_MSGS
+        self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8)), f"allowed TX {addr=} {bus=}")
+
+  def test_default_controls_not_allowed(self):
+    # controls always allowed
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    # No point, since we allow all messages
+    pass
+
+
+class TestAllOutputPassthrough(TestAllOutput):
+  FWD_BLACKLISTED_ADDRS = {}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 1)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_elm327.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+import unittest
+
+import iqdbc.safety.tests.common as common
+from iqdbc.car.structs import CarParams
+from iqdbc.safety import DLC_TO_LEN
+from iqdbc.safety.tests.libsafety import libsafety_py
+from iqdbc.safety.tests.test_defaults import TestDefaultRxHookBase
+
+GM_CAMERA_DIAG_ADDR = 0x24B
+
+
+class TestElm327(TestDefaultRxHookBase):
+  TX_MSGS = [[addr, bus] for addr in [GM_CAMERA_DIAG_ADDR, *range(0x600, 0x800),
+                                      *range(0x18DA00F1, 0x18DB00F1, 0x100),  # 29-bit UDS physical addressing
+                                      *[0x18DB33F1],  # 29-bit UDS functional address
+                                      ] for bus in range(4)]
+  FWD_BUS_LOOKUP = {}
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.elm327, 0)
+    self.safety.init_tests()
+
+  def test_tx_hook(self):
+    # ensure we can transmit arbitrary data on allowed addresses
+    for bus in range(4):
+      for addr in self.SCANNED_ADDRS:
+        should_tx = [addr, bus] in self.TX_MSGS
+        self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8)))
+
+    # ELM only allows 8 byte UDS/KWP messages under ISO 15765-4
+    for msg_len in DLC_TO_LEN:
+      should_tx = msg_len == 8
+      self.assertEqual(should_tx, self._tx(common.make_msg(0, 0x700, msg_len)))
+
+    # TODO: perform this check for all addresses
+    # 4 to 15 are reserved ISO-TP frame types (https://en.wikipedia.org/wiki/ISO_15765-2)
+    for byte in range(0xff):
+      should_tx = (byte >> 4) <= 3
+      self.assertEqual(should_tx, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([byte] * 8))))
+
+    # test GM camera diagnostic address with malformed length
+    self.assertEqual(False, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([0x00] * 7))))
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    # No point, since we allow many diagnostic addresses
+    pass
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_ford.py

@@ -0,0 +1,511 @@
+#!/usr/bin/env python3
+import numpy as np
+import random
+import unittest
+
+import iqdbc.safety.tests.common as common
+from iqdbc.car.ford.values import FordSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+from iqdbc.safety.tests.common import CANPackerSafety
+
+MSG_EngBrakeData = 0x165           # RX from PCM, for driver brake pedal and cruise state
+MSG_EngVehicleSpThrottle = 0x204   # RX from PCM, for driver throttle input
+MSG_BrakeSysFeatures = 0x415       # RX from ABS, for vehicle speed
+MSG_EngVehicleSpThrottle2 = 0x202  # RX from PCM, for second vehicle speed
+MSG_Yaw_Data_FD1 = 0x91            # RX from RCM, for yaw rate
+MSG_Steering_Data_FD1 = 0x083      # TX by OP, various driver switches and LKAS/CC buttons
+MSG_ACCDATA = 0x186                # TX by OP, ACC controls
+MSG_ACCDATA_3 = 0x18A              # TX by OP, ACC/TJA user interface
+MSG_Lane_Assist_Data1 = 0x3CA      # TX by OP, Lane Keep Assist
+MSG_LateralMotionControl = 0x3D3   # TX by OP, Lateral Control message
+MSG_LateralMotionControl2 = 0x3D6  # TX by OP, alternate Lateral Control message
+MSG_IPMA_Data = 0x3D8              # TX by OP, IPMA and LKAS user interface
+
+SAFETY_ISO_LATERAL_ACCEL = 5.0
+EARTH_G = 9.81
+AVERAGE_ROAD_ROLL = 0.06
+MAX_LATERAL_ACCEL = SAFETY_ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL)
+
+
+def checksum(msg):
+  addr, dat, bus = msg
+  ret = bytearray(dat)
+
+  if addr == MSG_Yaw_Data_FD1:
+    chksum = dat[0] + dat[1]  # VehRol_W_Actl
+    chksum += dat[2] + dat[3]  # VehYaw_W_Actl
+    chksum += dat[5]  # VehRollYaw_No_Cnt
+    chksum += dat[6] >> 6  # VehRolWActl_D_Qf
+    chksum += (dat[6] >> 4) & 0x3  # VehYawWActl_D_Qf
+    chksum = 0xff - (chksum & 0xff)
+    ret[4] = chksum
+
+  elif addr == MSG_BrakeSysFeatures:
+    chksum = dat[0] + dat[1]  # Veh_V_ActlBrk
+    chksum += (dat[2] >> 2) & 0xf  # VehVActlBrk_No_Cnt
+    chksum += dat[2] >> 6  # VehVActlBrk_D_Qf
+    chksum = 0xff - (chksum & 0xff)
+    ret[3] = chksum
+
+  elif addr == MSG_EngVehicleSpThrottle2:
+    chksum = (dat[2] >> 3) & 0xf  # VehVActlEng_No_Cnt
+    chksum += (dat[4] >> 5) & 0x3  # VehVActlEng_D_Qf
+    chksum += dat[6] + dat[7]  # Veh_V_ActlEng
+    chksum = 0xff - (chksum & 0xff)
+    ret[1] = chksum
+
+  return addr, ret, bus
+
+
+class Buttons:
+  CANCEL = 0
+  RESUME = 1
+  TJA_TOGGLE = 2
+
+
+# Ford safety has four different configurations tested here:
+#  * CAN with openpilot longitudinal
+#  * CAN FD with stock longitudinal
+#  * CAN FD with openpilot longitudinal
+
+class TestFordSafetyBase(common.CarSafetyTest, common.SecondSpeedSafetyTest):
+  STANDSTILL_THRESHOLD = 1
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                                 MSG_LateralMotionControl2, MSG_IPMA_Data)}
+
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                               MSG_LateralMotionControl2, MSG_IPMA_Data]}
+
+  STEER_MESSAGE = 0
+
+  # Curvature control limits
+  DEG_TO_CAN = 50000  # 1 / (2e-5) rad to can
+  MAX_CURVATURE = 0.02
+  MAX_CURVATURE_ERROR = 0.002
+  CURVATURE_ERROR_MIN_SPEED = 10.0  # m/s
+
+  ANGLE_RATE_BP = [5., 25., 25.]
+  ANGLE_RATE_UP = [0.00045, 0.0001, 0.0001]  # windup limit
+  ANGLE_RATE_DOWN = [0.00045, 0.00015, 0.00015]  # unwind limit
+
+  cnt_speed = 0
+  cnt_speed_2 = 0
+  cnt_yaw_rate = 0
+
+  packer: CANPackerSafety
+  safety: libsafety_py.LibSafety
+
+  def get_canfd_curvature_limits(self, speed):
+    # Round it in accordance with the safety
+    curvature_accel_limit = MAX_LATERAL_ACCEL / (max(speed, 1) ** 2)
+    curvature_accel_limit_lower = int(curvature_accel_limit * self.DEG_TO_CAN - 1) / self.DEG_TO_CAN
+    curvature_accel_limit_upper = int(curvature_accel_limit * self.DEG_TO_CAN + 1) / self.DEG_TO_CAN
+    return curvature_accel_limit_lower, curvature_accel_limit_upper
+
+  def _set_prev_desired_angle(self, t):
+    t = round(t * self.DEG_TO_CAN)
+    self.safety.set_desired_angle_last(t)
+
+  def _reset_curvature_measurement(self, curvature, speed):
+    for _ in range(6):
+      self._rx(self._speed_msg(speed))
+      self._rx(self._yaw_rate_msg(curvature, speed))
+
+  # Driver brake pedal
+  def _user_brake_msg(self, brake: bool):
+    # brake pedal and cruise state share same message, so we have to send
+    # the other signal too
+    enable = self.safety.get_controls_allowed()
+    values = {
+      "BpedDrvAppl_D_Actl": 2 if brake else 1,
+      "CcStat_D_Actl": 5 if enable else 0,
+    }
+    return self.packer.make_can_msg_safety("EngBrakeData", 0, values)
+
+  # ABS vehicle speed
+  def _speed_msg(self, speed: float, quality_flag=True):
+    values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3 if quality_flag else 0, "VehVActlBrk_No_Cnt": self.cnt_speed % 16}
+    self.__class__.cnt_speed += 1
+    return self.packer.make_can_msg_safety("BrakeSysFeatures", 0, values, fix_checksum=checksum)
+
+  # PCM vehicle speed
+  def _speed_msg_2(self, speed: float, quality_flag=True):
+    # Ford relies on speed for driver curvature limiting, so it checks two sources
+    values = {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3 if quality_flag else 0, "VehVActlEng_No_Cnt": self.cnt_speed_2 % 16}
+    self.__class__.cnt_speed_2 += 1
+    return self.packer.make_can_msg_safety("EngVehicleSpThrottle2", 0, values, fix_checksum=checksum)
+
+  # Standstill state
+  def _vehicle_moving_msg(self, speed: float):
+    values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else random.choice((0, 2, 3))}
+    return self.packer.make_can_msg_safety("DesiredTorqBrk", 0, values)
+
+  # Current curvature
+  def _yaw_rate_msg(self, curvature: float, speed: float, quality_flag=True):
+    values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0,
+              "VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256}
+    self.__class__.cnt_yaw_rate += 1
+    return self.packer.make_can_msg_safety("Yaw_Data_FD1", 0, values, fix_checksum=checksum)
+
+  # Drive throttle input
+  def _user_gas_msg(self, gas: float):
+    values = {"ApedPos_Pc_ActlArb": gas}
+    return self.packer.make_can_msg_safety("EngVehicleSpThrottle", 0, values)
+
+  # Cruise status
+  def _pcm_status_msg(self, enable: bool):
+    # brake pedal and cruise state share same message, so we have to send
+    # the other signal too
+    brake = self.safety.get_brake_pressed_prev()
+    values = {
+      "BpedDrvAppl_D_Actl": 2 if brake else 1,
+      "CcStat_D_Actl": 5 if enable else 0,
+    }
+    return self.packer.make_can_msg_safety("EngBrakeData", 0, values)
+
+  # LKAS command
+  def _lkas_command_msg(self, action: int):
+    values = {
+      "LkaActvStats_D2_Req": action,
+    }
+    return self.packer.make_can_msg_safety("Lane_Assist_Data1", 0, values)
+
+  # LCA command
+  def _lat_ctl_msg(self, enabled: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float):
+    if self.STEER_MESSAGE == MSG_LateralMotionControl:
+      values = {
+        "LatCtl_D_Rq": 1 if enabled else 0,
+        "LatCtlPathOffst_L_Actl": path_offset,     # Path offset [-5.12|5.11] meter
+        "LatCtlPath_An_Actl": path_angle,          # Path angle [-0.5|0.5235] radians
+        "LatCtlCurv_NoRate_Actl": curvature_rate,  # Curvature rate [-0.001024|0.00102375] 1/meter^2
+        "LatCtlCurv_No_Actl": curvature,           # Curvature [-0.02|0.02094] 1/meter
+      }
+      return self.packer.make_can_msg_safety("LateralMotionControl", 0, values)
+    elif self.STEER_MESSAGE == MSG_LateralMotionControl2:
+      values = {
+        "LatCtl_D2_Rq": 1 if enabled else 0,
+        "LatCtlPathOffst_L_Actl": path_offset,     # Path offset [-5.12|5.11] meter
+        "LatCtlPath_An_Actl": path_angle,          # Path angle [-0.5|0.5235] radians
+        "LatCtlCrv_NoRate2_Actl": curvature_rate,  # Curvature rate [-0.001024|0.001023] 1/meter^2
+        "LatCtlCurv_No_Actl": curvature,           # Curvature [-0.02|0.02094] 1/meter
+      }
+      return self.packer.make_can_msg_safety("LateralMotionControl2", 0, values)
+
+  # Cruise control buttons
+  def _acc_button_msg(self, button: int, bus: int):
+    values = {
+      "CcAslButtnCnclPress": 1 if button == Buttons.CANCEL else 0,
+      "CcAsllButtnResPress": 1 if button == Buttons.RESUME else 0,
+      "TjaButtnOnOffPress": 1 if button == Buttons.TJA_TOGGLE else 0,
+    }
+    return self.packer.make_can_msg_safety("Steering_Data_FD1", bus, values)
+
+  def test_rx_hook(self):
+    # checksum, counter, and quality flag checks
+    for quality_flag in [True, False]:
+      for msg_type in ["speed", "speed_2", "yaw"]:
+        self.safety.set_controls_allowed(True)
+        # send multiple times to verify counter checks
+        for _ in range(10):
+          if msg_type == "speed":
+            msg = self._speed_msg(0, quality_flag=quality_flag)
+          elif msg_type == "speed_2":
+            msg = self._speed_msg_2(0, quality_flag=quality_flag)
+          elif msg_type == "yaw":
+            msg = self._yaw_rate_msg(0, 0, quality_flag=quality_flag)
+
+          self.assertEqual(quality_flag, self._rx(msg))
+          self.assertEqual(quality_flag, self.safety.get_controls_allowed())
+
+        # Mess with checksum to make it fail, checksum is not checked for 2nd speed
+        msg[0].data[3] = 0  # Speed checksum & half of yaw signal
+        should_rx = msg_type == "speed_2" and quality_flag
+        self.assertEqual(should_rx, self._rx(msg))
+        self.assertEqual(should_rx, self.safety.get_controls_allowed())
+
+  def test_angle_measurements(self):
+    """Tests rx hook correctly parses the curvature measurement from the vehicle speed and yaw rate"""
+    for speed in np.arange(0.5, 40, 0.5):
+      for curvature in np.arange(0, self.MAX_CURVATURE * 2, 2e-3):
+        self._rx(self._speed_msg(speed))
+        for c in (curvature, -curvature, 0, 0, 0, 0):
+          self._rx(self._yaw_rate_msg(c, speed))
+
+        self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
+        self.assertEqual(self.safety.get_angle_meas_max(), round(curvature * self.DEG_TO_CAN))
+
+        self._rx(self._yaw_rate_msg(0, speed))
+        self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN))
+        self.assertEqual(self.safety.get_angle_meas_max(), 0)
+
+        self._rx(self._yaw_rate_msg(0, speed))
+        self.assertEqual(self.safety.get_angle_meas_min(), 0)
+        self.assertEqual(self.safety.get_angle_meas_max(), 0)
+
+  def test_max_lateral_acceleration(self):
+    # Ford CAN FD can achieve a higher max lateral acceleration than CAN so we limit curvature based on speed
+    for speed in np.arange(0, 40, 0.5):
+      # Clip so we test curvature limiting at low speed due to low max curvature
+      _, curvature_accel_limit_upper = self.get_canfd_curvature_limits(speed)
+      curvature_accel_limit_upper = np.clip(curvature_accel_limit_upper, -self.MAX_CURVATURE, self.MAX_CURVATURE)
+
+      for sign in (-1, 1):
+        # Test above and below the lateral by 20%, max is clipped since
+        # max curvature at low speed is higher than the signal max
+        for curvature in np.arange(curvature_accel_limit_upper * 0.8, min(curvature_accel_limit_upper * 1.2, self.MAX_CURVATURE), 1 / self.DEG_TO_CAN):
+          curvature = sign * round(curvature * self.DEG_TO_CAN) / self.DEG_TO_CAN  # fix np rounding errors
+          self.safety.set_controls_allowed(True)
+          self._set_prev_desired_angle(curvature)
+          self._reset_curvature_measurement(curvature, speed)
+
+          should_tx = abs(curvature) <= curvature_accel_limit_upper
+          self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, curvature, 0)))
+
+  def test_steer_allowed(self):
+    path_offsets = np.arange(-5.12, 5.11, 2.5).round()
+    path_angles = np.arange(-0.5, 0.5235, 0.25).round(1)
+    curvature_rates = np.arange(-0.001024, 0.00102375, 0.001).round(3)
+    curvatures = np.arange(-0.02, 0.02094, 0.01).round(2)
+
+    for speed in (self.CURVATURE_ERROR_MIN_SPEED - 1,
+                  self.CURVATURE_ERROR_MIN_SPEED + 1):
+      _, curvature_accel_limit_upper = self.get_canfd_curvature_limits(speed)
+      for controls_allowed in (True, False):
+        for steer_control_enabled in (True, False):
+          for path_offset in path_offsets:
+            for path_angle in path_angles:
+              for curvature_rate in curvature_rates:
+                for curvature in curvatures:
+                  self.safety.set_controls_allowed(controls_allowed)
+                  self._set_prev_desired_angle(curvature)
+                  self._reset_curvature_measurement(curvature, speed)
+
+                  should_tx = path_offset == 0 and path_angle == 0 and curvature_rate == 0
+                  # when request bit is 0, only allow curvature of 0 since the signal range
+                  # is not large enough to enforce it tracking measured
+                  should_tx = should_tx and (controls_allowed if steer_control_enabled else curvature == 0)
+
+                  # Only CAN FD has the max lateral acceleration limit
+                  if self.STEER_MESSAGE == MSG_LateralMotionControl2:
+                    should_tx = should_tx and abs(curvature) <= curvature_accel_limit_upper
+
+                  with self.subTest(controls_allowed=controls_allowed, steer_control_enabled=steer_control_enabled,
+                                    path_offset=float(path_offset), path_angle=float(path_angle), curvature_rate=float(curvature_rate),
+                                    curvature=float(curvature)):
+                    self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(steer_control_enabled, path_offset, path_angle, curvature, curvature_rate)))
+
+  def test_curvature_rate_limits(self):
+    """
+    When the curvature error is exceeded, commanded curvature must start moving towards meas respecting rate limits.
+    Since safety allows higher rate limits to avoid false positives, we need to allow a lower rate to move towards meas.
+    """
+    self.safety.set_controls_allowed(True)
+    # safety fudges the speed (1 m/s) and rate limits (1 CAN unit) to avoid false positives
+    small_curvature = 1 / self.DEG_TO_CAN  # significant small amount of curvature to cross boundary
+
+    for speed in np.arange(0, 40, 0.5):
+      curvature_accel_limit_lower, curvature_accel_limit_upper = self.get_canfd_curvature_limits(speed)
+      limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
+      # ensure our limits match the safety's rounded limits
+      max_delta_up = int(np.interp(speed - 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP) * self.DEG_TO_CAN + 1) / self.DEG_TO_CAN
+      max_delta_up_lower = int(np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP) * self.DEG_TO_CAN - 1) / self.DEG_TO_CAN
+
+      max_delta_down = int(np.interp(speed - 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN) * self.DEG_TO_CAN + 1 + 1e-3) / self.DEG_TO_CAN
+      max_delta_down_lower = int(np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN) * self.DEG_TO_CAN - 1 + 1e-3) / self.DEG_TO_CAN
+
+      up_cases = (self.MAX_CURVATURE_ERROR * 2, [
+        (not limit_command, 0, 0),
+        (not limit_command, 0, max_delta_up_lower - small_curvature),
+        (True, 1e-9, max_delta_down),  # TODO: safety should not allow down limits at 0
+        (not limit_command, 1e-9, max_delta_up_lower),  # TODO: safety should not allow down limits at 0
+        (True, 0, max_delta_up_lower),
+        (True, 0, max_delta_up),
+        (False, 0, max_delta_up + small_curvature),
+        # stay at boundary limit
+        (True, self.MAX_CURVATURE_ERROR - small_curvature, self.MAX_CURVATURE_ERROR - small_curvature),
+        # 1 unit below boundary limit
+        (not limit_command, self.MAX_CURVATURE_ERROR - small_curvature * 2, self.MAX_CURVATURE_ERROR - small_curvature * 2),
+        # shouldn't allow command to move outside the boundary limit if last was inside
+        (not limit_command, self.MAX_CURVATURE_ERROR - small_curvature, self.MAX_CURVATURE_ERROR - small_curvature * 2),
+      ])
+
+      down_cases = (self.MAX_CURVATURE - self.MAX_CURVATURE_ERROR * 2, [
+        (not limit_command, self.MAX_CURVATURE, self.MAX_CURVATURE),
+        (not limit_command, self.MAX_CURVATURE, self.MAX_CURVATURE - max_delta_down_lower + small_curvature),
+        (True, self.MAX_CURVATURE, self.MAX_CURVATURE - max_delta_down_lower),
+        (True, self.MAX_CURVATURE, self.MAX_CURVATURE - max_delta_down),
+        (False, self.MAX_CURVATURE, self.MAX_CURVATURE - max_delta_down - small_curvature),
+      ])
+
+      for sign in (-1, 1):
+        for angle_meas, cases in (up_cases, down_cases):
+          self._reset_curvature_measurement(sign * angle_meas, speed)
+          for should_tx, initial_curvature, desired_curvature in cases:
+
+            # Only CAN FD has the max lateral acceleration limit
+            if self.STEER_MESSAGE == MSG_LateralMotionControl2:
+              if should_tx:
+                # can not send if the curvature is above the max lateral acceleration
+                should_tx = should_tx and abs(desired_curvature) <= curvature_accel_limit_upper
+              else:
+                # if desired curvature violates driver curvature error, it can only send if
+                # the curvature is being limited by max lateral acceleration
+                should_tx = should_tx or curvature_accel_limit_lower <= abs(desired_curvature) <= curvature_accel_limit_upper
+
+            # small curvature ensures we're using up limits. at 0, safety allows down limits to allow to account for rounding errors
+            curvature_offset = small_curvature if initial_curvature == 0 else 0
+            self._set_prev_desired_angle(sign * (curvature_offset + initial_curvature))
+            self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, sign * (curvature_offset + desired_curvature), 0)))
+
+  def test_prevent_lkas_action(self):
+    self.safety.set_controls_allowed(1)
+    self.assertFalse(self._tx(self._lkas_command_msg(1)))
+
+    self.safety.set_controls_allowed(0)
+    self.assertFalse(self._tx(self._lkas_command_msg(1)))
+
+  def test_acc_buttons(self):
+    for allowed in (0, 1):
+      self.safety.set_controls_allowed(allowed)
+      for enabled in (True, False):
+        self._rx(self._pcm_status_msg(enabled))
+        self.assertTrue(self._tx(self._acc_button_msg(Buttons.TJA_TOGGLE, 2)))
+
+    for allowed in (0, 1):
+      self.safety.set_controls_allowed(allowed)
+      for bus in (0, 2):
+        self.assertEqual(allowed, self._tx(self._acc_button_msg(Buttons.RESUME, bus)))
+
+    for enabled in (True, False):
+      self._rx(self._pcm_status_msg(enabled))
+      for bus in (0, 2):
+        self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
+
+  def test_enable_control_allowed_from_acc_main_on(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        for main_button_msg_valid in (True, False):
+          with self.subTest("main_button_msg_valid", state_valid=main_button_msg_valid):
+            self.safety.set_aol_params(enable_aol, False, False)
+            self._rx(self._pcm_status_msg(main_button_msg_valid))
+            self.assertEqual(enable_aol and main_button_msg_valid, self.safety.get_controls_allowed_lat())
+
+
+class TestFordCANFDStockSafety(TestFordSafetyBase):
+  STEER_MESSAGE = MSG_LateralMotionControl2
+
+  TX_MSGS = [
+    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
+    [MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0],
+  ]
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
+                                 MSG_IPMA_Data)}
+
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
+                               MSG_IPMA_Data]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.CANFD)
+    self.safety.init_tests()
+
+
+class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
+  MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
+  MIN_ACCEL = -3.5
+  INACTIVE_ACCEL = 0.0
+
+  MAX_GAS = 2.0
+  MIN_GAS = -0.5
+  INACTIVE_GAS = -5.0
+
+  # ACC command
+  def _acc_command_msg(self, gas: float, brake: float, brake_actuation: bool, cmbb_deny: bool = False):
+    values = {
+      "AccPrpl_A_Rq": gas,                              # [-5|5.23] m/s^2
+      "AccPrpl_A_Pred": gas,                            # [-5|5.23] m/s^2
+      "AccBrkTot_A_Rq": brake,                          # [-20|11.9449] m/s^2
+      "AccBrkPrchg_B_Rq": 1 if brake_actuation else 0,  # Pre-charge brake request: 0=No, 1=Yes
+      "AccBrkDecel_B_Rq": 1 if brake_actuation else 0,  # Deceleration request: 0=Inactive, 1=Active
+      "CmbbDeny_B_Actl": 1 if cmbb_deny else 0,         # [0|1] deny AEB actuation
+    }
+    return self.packer.make_can_msg_safety("ACCDATA", 0, values)
+
+  def test_stock_aeb(self):
+    # Test that CmbbDeny_B_Actl is never 1, it prevents the ABS module from actuating AEB requests from ACCDATA_2
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+      for cmbb_deny in (True, False):
+        should_tx = not cmbb_deny
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, controls_allowed, cmbb_deny)))
+        should_tx = controls_allowed and not cmbb_deny
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, controls_allowed, cmbb_deny)))
+
+  def test_gas_safety_check(self):
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+      for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])):
+        gas = round(gas, 2)  # floats might not hit exact boundary conditions without rounding
+        should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL, controls_allowed)))
+
+  def test_brake_safety_check(self):
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+      for brake_actuation in (True, False):
+        for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05):
+          brake = round(brake, 2)  # floats might not hit exact boundary conditions without rounding
+          should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL
+          should_tx = should_tx and (controls_allowed or not brake_actuation)
+          self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake, brake_actuation)))
+
+
+class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
+  STEER_MESSAGE = MSG_LateralMotionControl
+
+  TX_MSGS = [
+    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
+    [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
+  ]
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                                 MSG_IPMA_Data)}
+
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl,
+                               MSG_IPMA_Data]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.safety = libsafety_py.libsafety
+    # Make sure we enforce long safety even without long flag for CAN
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, 0)
+    self.safety.init_tests()
+
+  def test_max_lateral_acceleration(self):
+    # CAN does not limit curvature from lateral acceleration
+    pass
+
+
+class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
+  STEER_MESSAGE = MSG_LateralMotionControl2
+
+  TX_MSGS = [
+    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
+    [MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0],
+  ]
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
+                                 MSG_IPMA_Data)}
+
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl2,
+                               MSG_IPMA_Data]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("ford_lincoln_base_pt")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.ford, FordSafetyFlags.LONG_CONTROL | FordSafetyFlags.CANFD)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_gm.py

@@ -0,0 +1,254 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.gm.values import GMSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+# GM_PARAM_IQ_NON_ACC in safety/modes/gm.h (IQ safety framework flag)
+GM_PARAM_IQ_NON_ACC = 1
+
+
+class Buttons:
+  UNPRESS = 1
+  RES_ACCEL = 2
+  DECEL_SET = 3
+  CANCEL = 6
+
+
+class GmLongitudinalBase(common.CarSafetyTest, common.LongitudinalGasBrakeSafetyTest):
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB), 2: (0x184,)}  # ASCMLKASteeringCmd, ASCMGasRegenCmd, PSCMStatus
+
+  MAX_POSSIBLE_BRAKE = 2 ** 12
+  MAX_BRAKE = 400
+
+  MAX_POSSIBLE_GAS = 4000  # reasonably excessive limits, not signal max
+  MIN_POSSIBLE_GAS = -4000
+
+  PCM_CRUISE = False  # openpilot can control the PCM state if longitudinal
+
+  def _send_brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values)
+
+  def _send_gas_msg(self, gas):
+    values = {"GasRegenCmd": gas}
+    return self.packer.make_can_msg_safety("ASCMGasRegenCmd", 0, values)
+
+  # override these tests from CarSafetyTest, GM longitudinal uses button enable
+  def _pcm_status_msg(self, enable):
+    raise NotImplementedError
+
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_resume_buttons(self):
+    """
+      SET and RESUME enter controls allowed on their falling and rising edges, respectively.
+    """
+    for btn_prev in range(8):
+      for btn_cur in range(8):
+        with self.subTest(btn_prev=btn_prev, btn_cur=btn_cur):
+          self._rx(self._button_msg(btn_prev))
+          self.safety.set_controls_allowed(0)
+          for _ in range(10):
+            self._rx(self._button_msg(btn_cur))
+
+          should_enable = btn_cur != Buttons.DECEL_SET and btn_prev == Buttons.DECEL_SET
+          should_enable = should_enable or (btn_cur == Buttons.RES_ACCEL and btn_prev != Buttons.RES_ACCEL)
+          should_enable = should_enable and btn_cur != Buttons.CANCEL
+          self.assertEqual(should_enable, self.safety.get_controls_allowed())
+
+  def test_cancel_button(self):
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(Buttons.CANCEL))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+
+class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  STANDSTILL_THRESHOLD = 10 * 0.0311
+  # Ensures ASCM is off on ASCM cars, and relay is not malfunctioning for camera-ACC cars
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180,), 2: (0x184,)}  # ASCMLKASteeringCmd, PSCMStatus
+  BUTTONS_BUS = 0  # rx or tx
+  BRAKE_BUS = 0  # tx only
+
+  MAX_RATE_UP = 10
+  MAX_RATE_DOWN = 15
+  MAX_TORQUE_LOOKUP = [0], [300]
+  MAX_RT_DELTA = 128
+  DRIVER_TORQUE_ALLOWANCE = 65
+  DRIVER_TORQUE_FACTOR = 4
+
+  PCM_CRUISE = True  # openpilot is tied to the PCM state if not longitudinal
+
+  EXTRA_SAFETY_PARAM = 0
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, 0)
+    self.safety.init_tests()
+
+  def _pcm_status_msg(self, enable):
+    if self.PCM_CRUISE:
+      values = {"CruiseState": enable}
+      return self.packer.make_can_msg_safety("AcceleratorPedal2", 0, values)
+    else:
+      raise NotImplementedError
+
+  def _speed_msg(self, speed):
+    values = {"%sWheelSpd" % s: speed for s in ["RL", "RR"]}
+    return self.packer.make_can_msg_safety("EBCMWheelSpdRear", 0, values)
+
+  def _user_brake_msg(self, brake):
+    # GM safety has a brake threshold of 8
+    values = {"BrakePedalPos": 8 if brake else 0}
+    return self.packer.make_can_msg_safety("ECMAcceleratorPos", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"AcceleratorPedal2": 1 if gas else 0}
+    if self.PCM_CRUISE:
+      # Fill CruiseState with expected value if the safety mode reads cruise state from gas msg
+      values["CruiseState"] = self.safety.get_controls_allowed()
+    return self.packer.make_can_msg_safety("AcceleratorPedal2", 0, values)
+
+  def _torque_driver_msg(self, torque):
+    # Safety tests assume driver torque is an int, use DBC factor
+    values = {"LKADriverAppldTrq": torque * 0.01}
+    return self.packer.make_can_msg_safety("PSCMStatus", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKASteeringCmd": torque, "LKASteeringCmdActive": steer_req}
+    return self.packer.make_can_msg_safety("ASCMLKASteeringCmd", 0, values)
+
+  def _button_msg(self, buttons):
+    values = {"ACCButtons": buttons}
+    return self.packer.make_can_msg_safety("ASCMSteeringButton", self.BUTTONS_BUS, values)
+
+
+class TestGmEVSafetyBase(TestGmSafetyBase):
+  EXTRA_SAFETY_PARAM = GMSafetyFlags.EV
+
+  # existence of _user_regen_msg adds regen tests
+  def _user_regen_msg(self, regen):
+    values = {"RegenPaddle": 2 if regen else 0}
+    return self.packer.make_can_msg_safety("EBCMRegenPaddle", 0, values)
+
+
+class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
+  TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0],  # pt bus
+             [0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1],  # obs bus
+             [0x315, 2]]  # ch bus
+  FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB)}  # ASCMLKASteeringCmd, ASCMGasRegenCmd
+  FWD_BUS_LOOKUP: dict[int, int] = {}
+  BRAKE_BUS = 2
+
+  MAX_GAS = 1018
+  MIN_GAS = -650  # maximum regen
+  INACTIVE_GAS = -650
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+
+class TestGmAscmEVSafety(TestGmAscmSafety, TestGmEVSafetyBase):
+  pass
+
+
+class TestGmCameraSafetyBase(TestGmSafetyBase):
+  def _user_brake_msg(self, brake):
+    values = {"BrakePressed": brake}
+    return self.packer.make_can_msg_safety("ECMEngineStatus", 0, values)
+
+
+class TestGmCameraSafety(TestGmCameraSafetyBase):
+  TX_MSGS = [[0x180, 0],  # pt bus
+             [0x184, 2]]  # camera bus
+  FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]}  # block LKAS message and PSCMStatus
+  BUTTONS_BUS = 2  # tx only
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def test_buttons(self):
+    # Only CANCEL button is allowed while cruise is enabled
+    self.safety.set_controls_allowed(0)
+    for btn in range(8):
+      self.assertFalse(self._tx(self._button_msg(btn)))
+
+    self.safety.set_controls_allowed(1)
+    for btn in range(8):
+      self.assertFalse(self._tx(self._button_msg(btn)))
+
+    for enabled in (True, False):
+      self._rx(self._pcm_status_msg(enabled))
+      self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
+
+
+class TestGmCameraEVSafety(TestGmCameraSafety, TestGmEVSafetyBase):
+  pass
+
+
+class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
+  TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x370, 0],  # pt bus
+             [0x184, 2]]  # camera bus
+  FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x2CB, 0x370, 0x315], 0: [0x184]}  # block LKAS, ACC messages and PSCMStatus
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x370, 0x315), 2: (0x184,)}
+  BUTTONS_BUS = 0  # rx only
+
+  MAX_GAS = 1346
+  MIN_GAS = -540  # maximum regen
+  INACTIVE_GAS = -500
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+
+class TestGmCameraLongitudinalEVSafety(TestGmCameraLongitudinalSafety, TestGmEVSafetyBase):
+  pass
+
+
+class TestGmCameraNonACCSafety(TestGmCameraSafety):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(GM_PARAM_IQ_NON_ACC)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def _pcm_status_msg(self, enable):
+    values = {"CruiseActive": enable}
+    return self.packer.make_can_msg_safety("ECMCruiseControl", 0, values)
+
+
+class TestGmCameraEVNonACCSafety(TestGmCameraNonACCSafety, TestGmEVSafetyBase):
+  pass
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_honda.py

@@ -0,0 +1,799 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+
+from iqdbc.car.honda.values import HondaSafetyFlags
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.common import CANPackerSafety, MAX_WRONG_COUNTERS
+from iqdbc.safety.tests.gas_interceptor_common import GasInterceptorSafetyTest
+
+from iqdbc.lvbs.car.honda.iq_values import HondaSafetyFlagsIQ
+
+HONDA_N_COMMON_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0]]
+
+
+class Btn:
+  NONE = 0
+  MAIN = 1
+  CANCEL = 2
+  SET = 3
+  RESUME = 4
+
+# Honda safety has several different configurations tested here:
+#  * Nidec
+#    * normal (PCM-enable)
+#    * alt SCM messages  (PCM-enable)
+#    * gas interceptor (button-enable)
+#    * gas interceptor with alt SCM messages (button-enable)
+#  * Bosch
+#    * Bosch with Longitudinal Support
+#  * Bosch Radarless
+#    * Bosch Radarless with Longitudinal Support
+#  * Bosch CANFD
+#    * Bosch CANFD with Longitudinal Support
+
+
+class HondaButtonEnableBase(common.CarSafetyTest):
+
+  # override these inherited tests since we're using button enable
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_buttons_with_main_off(self):
+    for btn in (Btn.SET, Btn.RESUME, Btn.CANCEL):
+      self.safety.set_controls_allowed(1)
+      self._rx(self._acc_state_msg(False))
+      self._rx(self._button_msg(btn, main_on=False))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_set_resume_buttons(self):
+    """
+      Both SET and RES should enter controls allowed on their falling edge.
+    """
+    for main_on in (True, False):
+      self._rx(self._acc_state_msg(main_on))
+      for btn_prev in range(8):
+        for btn_cur in range(8):
+          self._rx(self._button_msg(Btn.NONE))
+          self.safety.set_controls_allowed(0)
+          for _ in range(10):
+            self._rx(self._button_msg(btn_prev))
+            self.assertFalse(self.safety.get_controls_allowed())
+
+          # should enter controls allowed on falling edge and not transitioning to cancel or main
+          should_enable = (main_on and
+                           btn_cur != btn_prev and
+                           btn_prev in (Btn.RESUME, Btn.SET) and
+                           btn_cur not in (Btn.CANCEL, Btn.MAIN))
+
+          self._rx(self._button_msg(btn_cur, main_on=main_on))
+          self.assertEqual(should_enable, self.safety.get_controls_allowed(), msg=f"{main_on=} {btn_prev=} {btn_cur=}")
+
+  def test_main_cancel_buttons(self):
+    """
+      Both MAIN and CANCEL should exit controls immediately.
+    """
+    for btn in (Btn.MAIN, Btn.CANCEL):
+      self.safety.set_controls_allowed(1)
+      self._rx(self._button_msg(btn, main_on=True))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_disengage_on_main(self):
+    self.safety.set_controls_allowed(1)
+    self._rx(self._acc_state_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self._rx(self._acc_state_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_rx_hook(self):
+
+    # TODO: move this test to common
+    # checksum checks
+    for msg_type in ["btn", "gas", "speed"]:
+      self.safety.set_controls_allowed(1)
+      if msg_type == "btn":
+        msg = self._button_msg(Btn.SET)
+      if msg_type == "gas":
+        msg = self._user_gas_msg(0)
+      if msg_type == "speed":
+        msg = self._speed_msg(0)
+      self.assertTrue(self._rx(msg))
+      if msg_type != "btn":
+        msg[0].data[4] = 0  # invalidate checksum
+        msg[0].data[5] = 0
+        msg[0].data[6] = 0
+        msg[0].data[7] = 0
+        self.assertFalse(self._rx(msg))
+        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_speed += 1
+      self.__class__.cnt_button += 1
+      self.__class__.cnt_powertrain_data += 1
+      if i < MAX_WRONG_COUNTERS:
+        self.safety.set_controls_allowed(1)
+        self._rx(self._button_msg(Btn.SET))
+        self._rx(self._speed_msg(0))
+        self._rx(self._user_gas_msg(0))
+      else:
+        self.assertFalse(self._rx(self._button_msg(Btn.SET)))
+        self.assertFalse(self._rx(self._speed_msg(0)))
+        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 _ in range(2):
+      self.safety.set_controls_allowed(1)
+      self._rx(self._button_msg(Btn.SET, main_on=True))
+      self._rx(self._speed_msg(0))
+      self._rx(self._user_gas_msg(0))
+    self._rx(self._button_msg(Btn.SET, main_on=True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+
+class HondaPcmEnableBase(common.CarSafetyTest):
+
+  def test_buttons(self):
+    """
+      Buttons should only cancel in this configuration,
+      since our state is tied to the PCM's cruise state.
+    """
+    for controls_allowed in (True, False):
+      for main_on in (True, False):
+        # not a valid state
+        if controls_allowed and not main_on:
+          continue
+
+        for btn in (Btn.SET, Btn.RESUME, Btn.CANCEL):
+          self.safety.set_controls_allowed(controls_allowed)
+          self._rx(self._acc_state_msg(main_on))
+
+          # btn + none for falling edge
+          self._rx(self._button_msg(btn, main_on=main_on))
+          self._rx(self._button_msg(Btn.NONE, main_on=main_on))
+
+          if btn == Btn.CANCEL:
+            self.assertFalse(self.safety.get_controls_allowed())
+          else:
+            self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
+
+
+class HondaBase(common.CarSafetyTest):
+  MAX_BRAKE = 255
+  PT_BUS: int | None = None  # must be set when inherited
+  STEER_BUS: int | None = None  # must be set when inherited
+  BUTTONS_BUS: int | None = None  # must be set when inherited, tx on this bus, rx on PT_BUS
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194)}  # STEERING_CONTROL
+
+  cnt_speed = 0
+  cnt_button = 0
+  cnt_brake = 0
+  cnt_powertrain_data = 0
+  cnt_acc_state = 0
+
+  def _powertrain_data_msg(self, cruise_on=None, brake_pressed=None, gas_pressed=None):
+    # preserve the state
+    if cruise_on is None:
+      # or'd with controls allowed since the tests use it to "enable" cruise
+      cruise_on = self.safety.get_cruise_engaged_prev() or self.safety.get_controls_allowed()
+    if brake_pressed is None:
+      brake_pressed = self.safety.get_brake_pressed_prev()
+    if gas_pressed is None:
+      gas_pressed = self.safety.get_gas_pressed_prev()
+
+    values = {
+      "ACC_STATUS": cruise_on,
+      "BRAKE_PRESSED": brake_pressed,
+      "PEDAL_GAS": gas_pressed,
+      "COUNTER": self.cnt_powertrain_data % 4
+    }
+    self.__class__.cnt_powertrain_data += 1
+    return self.packer.make_can_msg_safety("POWERTRAIN_DATA", self.PT_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    return self._powertrain_data_msg(cruise_on=enable)
+
+  def _speed_msg(self, speed):
+    values = {"XMISSION_SPEED": speed, "COUNTER": self.cnt_speed % 4}
+    self.__class__.cnt_speed += 1
+    return self.packer.make_can_msg_safety("ENGINE_DATA", self.PT_BUS, values)
+
+  def _acc_state_msg(self, main_on):
+    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
+    self.__class__.cnt_acc_state += 1
+    return self.packer.make_can_msg_safety("SCM_FEEDBACK", self.PT_BUS, values)
+
+  def _button_msg(self, buttons, main_on=False, bus=None):
+    bus = self.PT_BUS if bus is None else bus
+    values = {"CRUISE_BUTTONS": buttons, "COUNTER": self.cnt_button % 4}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
+
+  def _user_brake_msg(self, brake):
+    return self._powertrain_data_msg(brake_pressed=brake)
+
+  def _user_gas_msg(self, gas):
+    return self._powertrain_data_msg(gas_pressed=gas)
+
+  def _send_steer_msg(self, steer):
+    values = {"STEER_TORQUE": steer}
+    return self.packer.make_can_msg_safety("STEERING_CONTROL", self.STEER_BUS, values)
+
+  def _send_brake_msg(self, brake):
+    # must be implemented when inherited
+    raise NotImplementedError
+
+  def test_disengage_on_brake(self):
+    self.safety.set_controls_allowed(1)
+    self._rx(self._user_brake_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._send_steer_msg(0x0000)))
+    self.assertFalse(self._tx(self._send_steer_msg(0x1000)))
+
+  def _lkas_button_msg(self, lkas_button=False, setting_btn=0):
+    values = {"CRUISE_SETTING": 1 if lkas_button else setting_btn, "COUNTER": self.cnt_button % 4}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", self.PT_BUS, values)
+
+  def test_enable_control_allowed_with_aol_button(self):
+    """Tests AOL button state transitions and internal button press state."""
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        # Verify initial state
+        self._rx(self._lkas_button_msg(False, 0))
+        self.assertEqual(0, self.safety.get_aol_button_press())  # NOT_PRESSED
+        self.assertFalse(self.safety.get_controls_allowed_lat())
+
+        # Verify press sets correct internal state
+        self._rx(self._lkas_button_msg(False, 1))
+        self.assertEqual(1, self.safety.get_aol_button_press())  # PRESSED
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        # Verify release sets correct internal state
+        self._rx(self._lkas_button_msg(False, 0))
+        self.assertEqual(0, self.safety.get_aol_button_press())  # NOT_PRESSED
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        # Test invalid values - should not change button press state
+        for invalid_setting in (2, 3):
+          self._rx(self._lkas_button_msg(False, invalid_setting))
+          self.assertEqual(0, self.safety.get_aol_button_press())  # Should remain NOT_PRESSED
+          self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        # Verify we can still transition after invalid values
+        self._rx(self._lkas_button_msg(False, 1))
+        self.assertEqual(1, self.safety.get_aol_button_press())
+        self._rx(self._lkas_button_msg(False, 0))
+        self.assertEqual(0, self.safety.get_aol_button_press())
+
+
+# ********************* Honda Nidec **********************
+
+
+class TestHondaNidecSafetyBase(HondaBase):
+  TX_MSGS = HONDA_N_COMMON_TX_MSGS
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194, 0x33D, 0x30C)}
+
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 0
+
+  MAX_GAS = 198
+
+  BRAKE_SIG = "COMPUTER_BRAKE"
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_civic_touring_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    values = {self.BRAKE_SIG: brake, "AEB_REQ_1": aeb_req}
+    return self.packer.make_can_msg_safety("BRAKE_COMMAND", bus, values)
+
+  def _rx_brake_msg(self, brake, aeb_req=0):
+    return self._send_brake_msg(brake, aeb_req, bus=2)
+
+  def _send_acc_hud_msg(self, pcm_gas, pcm_speed):
+    # Used to control ACC on Nidec without pedal
+    values = {"PCM_GAS": pcm_gas, "PCM_SPEED": pcm_speed}
+    return self.packer.make_can_msg_safety("ACC_HUD", 0, values)
+
+  def test_acc_hud_safety_check(self):
+    for controls_allowed in [True, False]:
+      self.safety.set_controls_allowed(controls_allowed)
+      for pcm_gas in range(255):
+        for pcm_speed in range(100):
+          send = (controls_allowed and pcm_gas <= self.MAX_GAS) or (pcm_gas == 0 and pcm_speed == 0)
+          self.assertEqual(send, self._tx(self._send_acc_hud_msg(pcm_gas, pcm_speed)))
+
+  def test_fwd_hook(self):
+    # normal operation, not forwarding AEB
+    self.FWD_BLACKLISTED_ADDRS[2].append(0x1FA)
+    self.safety.set_honda_fwd_brake(False)
+    super().test_fwd_hook()
+
+    # forwarding AEB brake signal
+    self.FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]}
+    self.safety.set_honda_fwd_brake(True)
+    super().test_fwd_hook()
+
+  def test_honda_fwd_brake_latching(self):
+    # Shouldn't fwd stock Honda requesting brake without AEB
+    self.assertTrue(self._rx(self._rx_brake_msg(self.MAX_BRAKE, aeb_req=0)))
+    self.assertFalse(self.safety.get_honda_fwd_brake())
+
+    # Now allow controls and request some brake
+    openpilot_brake = round(self.MAX_BRAKE / 2.0)
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._send_brake_msg(openpilot_brake)))
+
+    # Still shouldn't fwd stock Honda brake until it's more than openpilot's
+    for stock_honda_brake in range(self.MAX_BRAKE + 1):
+      self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
+      should_fwd_brake = stock_honda_brake >= openpilot_brake
+      self.assertEqual(should_fwd_brake, self.safety.get_honda_fwd_brake())
+
+    # Shouldn't stop fwding until AEB event is over
+    for stock_honda_brake in range(self.MAX_BRAKE + 1)[::-1]:
+      self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
+      self.assertTrue(self.safety.get_honda_fwd_brake())
+
+    self.assertTrue(self._rx(self._rx_brake_msg(0, aeb_req=0)))
+    self.assertFalse(self.safety.get_honda_fwd_brake())
+
+  def test_brake_safety_check(self):
+    for fwd_brake in [False, True]:
+      self.safety.set_honda_fwd_brake(fwd_brake)
+      for brake in np.arange(0, self.MAX_BRAKE + 10, 1):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if fwd_brake:
+            send = False  # block openpilot brake msg when fwd'ing stock msg
+          elif controls_allowed:
+            send = self.MAX_BRAKE >= brake >= 0
+          else:
+            send = brake == 0
+          self.assertEqual(send, self._tx(self._send_brake_msg(brake)))
+
+    # Inactive brake must pass when gas blocks longitudinal actuation
+    self.safety.set_honda_fwd_brake(False)
+    self.safety.set_controls_allowed(True)
+    self.safety.set_gas_pressed_prev(True)
+    self.assertFalse(self.safety.get_longitudinal_allowed())
+    self.assertTrue(self._tx(self._send_brake_msg(0)))
+    self.assertFalse(self._tx(self._send_brake_msg(1)))
+
+
+class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers the Honda Nidec safety mode
+  """
+
+  # Nidec doesn't disengage on falling edge of cruise. See comment in safety_honda.h
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+
+class TestHondaNidecGasInterceptorSafety(GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers the Honda Nidec safety mode with a gas interceptor, switches to a button-enable car
+  """
+
+  TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]]
+  INTERCEPTOR_THRESHOLD = 492
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_civic_touring_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(HondaSafetyFlagsIQ.GAS_INTERCEPTOR)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
+    self.safety.init_tests()
+
+
+class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
+  """
+    Covers the Honda Nidec safety mode with alt SCM messages
+  """
+  def setUp(self):
+    self.packer = CANPackerSafety("acura_ilx_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_ALT)
+    self.safety.init_tests()
+
+  def _acc_state_msg(self, main_on):
+    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
+    self.__class__.cnt_acc_state += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", self.PT_BUS, values)
+
+  def _button_msg(self, buttons, main_on=False, bus=None):
+    bus = self.PT_BUS if bus is None else bus
+    values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
+
+
+class TestHondaNidecAltGasInterceptorSafety(GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase):
+  """
+    Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor, switches to a button-enable car
+  """
+
+  TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]]
+  INTERCEPTOR_THRESHOLD = 492
+
+  def setUp(self):
+    self.packer = CANPackerSafety("acura_ilx_2016_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(HondaSafetyFlagsIQ.GAS_INTERCEPTOR)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, HondaSafetyFlags.NIDEC_ALT)
+    self.safety.init_tests()
+
+  def _acc_state_msg(self, main_on):
+    values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4}
+    self.__class__.cnt_acc_state += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", self.PT_BUS, values)
+
+  def _button_msg(self, buttons, main_on=False, bus=None):
+    bus = self.PT_BUS if bus is None else bus
+    values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4}
+    self.__class__.cnt_button += 1
+    return self.packer.make_can_msg_safety("SCM_BUTTONS", bus, values)
+
+
+# ********************* Honda Bosch **********************
+
+
+class TestHondaBoschSafetyBase(HondaBase):
+  PT_BUS = 1
+  STEER_BUS = 0
+  BUTTONS_BUS = 1
+
+  TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0], [0x33DA, 0], [0x33DB, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB)}  # STEERING_CONTROL, BOSCH_SUPPLEMENTAL_1
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_civic_hatchback_ex_2017_can_generated")
+    self.safety = libsafety_py.libsafety
+
+  def _alt_brake_msg(self, brake):
+    values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4}
+    self.__class__.cnt_brake += 1
+    return self.packer.make_can_msg_safety("BRAKE_MODULE", self.PT_BUS, values)
+
+  def _send_brake_msg(self, brake):
+    pass
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=self.BUTTONS_BUS)))
+    self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS)))
+    self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=self.BUTTONS_BUS)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS)))
+
+
+class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
+  """
+    Base Bosch safety test class with an alternate brake message
+  """
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.ALT_BRAKE)
+    self.safety.init_tests()
+
+  def _user_brake_msg(self, brake):
+    return self._alt_brake_msg(brake)
+
+  def test_alt_brake_rx_hook(self):
+    self.safety.set_honda_alt_brake_msg(1)
+    self.safety.set_controls_allowed(1)
+    msg = self._alt_brake_msg(0)
+    self.assertTrue(self._rx(msg))
+    msg[0].data[2] = msg[0].data[2] & 0xF0  # invalidate checksum
+    self.assertFalse(self._rx(msg))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_alt_disengage_on_brake(self):
+    self.safety.set_honda_alt_brake_msg(1)
+    self.safety.set_controls_allowed(1)
+    self._rx(self._alt_brake_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    self.safety.set_honda_alt_brake_msg(0)
+    self.safety.set_controls_allowed(1)
+    self._rx(self._alt_brake_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+
+class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
+  """
+    Covers the Honda Bosch safety mode with stock longitudinal
+  """
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, 0)
+    self.safety.init_tests()
+
+
+class TestHondaBoschAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase):
+  """
+    Covers the Honda Bosch safety mode with stock longitudinal and an alternate brake message
+  """
+
+
+class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
+  """
+    Covers the Honda Bosch safety mode with longitudinal control
+  """
+  NO_GAS = -30000
+  MAX_GAS = 2200
+  MAX_ACCEL = 2.0  # accel is used for brakes, but openpilot can set positive values
+  MIN_ACCEL = -3.5
+
+  STEER_BUS = 1
+  TX_MSGS = [[0xE4, 1], [0x1DF, 1], [0x1EF, 1], [0x1FA, 1], [0x30C, 1], [0x33D, 1], [0x33DA, 1], [0x33DB, 1], [0x39F, 1], [0x18DAB0F1, 1]]
+  FWD_BLACKLISTED_ADDRS = {}
+  # 0x1DF is to test that radar is disabled
+  RELAY_MALFUNCTION_ADDRS = {1: (0xE4, 0x1DF, 0x33D, 0x33DA, 0x33DB)}  # STEERING_CONTROL, ACC_CONTROL
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_LONG)
+    self.safety.init_tests()
+
+  def _send_gas_brake_msg(self, gas, accel):
+    values = {
+      "GAS_COMMAND": gas,
+      "ACCEL_COMMAND": accel,
+      "BRAKE_REQUEST": accel < 0,
+    }
+    return self.packer.make_can_msg_safety("ACC_CONTROL", self.PT_BUS, values)
+
+  # Longitudinal doesn't need to send buttons
+  def test_spam_cancel_safety_check(self):
+    pass
+
+  def test_diagnostics(self):
+    tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
+    self.assertTrue(self._tx(tester_present))
+
+    not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
+    self.assertFalse(self._tx(not_tester_present))
+
+    # the radar disable requests are only allowed on CANFD
+    ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
+    self.assertFalse(self._tx(ext_diag))
+    comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
+    self.assertFalse(self._tx(comm_control_disable))
+
+  def test_gas_safety_check(self):
+    for controls_allowed in [True, False]:
+      for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100):
+        accel = 0 if gas < 0 else min(gas / 1000, self.MAX_ACCEL)
+        self.safety.set_controls_allowed(controls_allowed)
+        send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS
+        self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel))
+
+  def test_brake_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.01):
+        accel = round(accel, 2)  # floats might not hit exact boundary conditions without rounding
+        self.safety.set_controls_allowed(controls_allowed)
+        send = self.MIN_ACCEL <= accel <= self.MAX_ACCEL if controls_allowed else accel == 0
+        self.assertEqual(send, self._tx(self._send_gas_brake_msg(self.NO_GAS, accel)), (controls_allowed, accel))
+
+
+class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase):
+  """Base class for radarless Honda Bosch"""
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 2  # camera controls ACC, need to send buttons on bus 2
+
+  TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}  # STEERING_CONTROL
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_bosch_radarless_generated")
+    self.safety = libsafety_py.libsafety
+
+
+class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase):
+  """
+    Covers the Honda Bosch Radarless safety mode with stock longitudinal
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS)
+    self.safety.init_tests()
+
+
+class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
+  """
+    Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.ALT_BRAKE)
+    self.safety.init_tests()
+
+
+class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, HondaButtonEnableBase,
+                                        TestHondaBoschRadarlessSafetyBase):
+  """
+    Covers the Honda Bosch Radarless safety mode with longitudinal control
+  """
+  TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D, 0x1C8, 0x30C]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1C8, 0x30C, 0x33D)}
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.RADARLESS | HondaSafetyFlags.BOSCH_LONG)
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel):
+    values = {
+      "ACCEL_COMMAND": accel,
+    }
+    return self.packer.make_can_msg_safety("ACC_CONTROL", self.PT_BUS, values)
+
+  # Longitudinal doesn't need to send buttons
+  def test_spam_cancel_safety_check(self):
+    pass
+
+
+class TestHondaBoschCANFDSafetyBase(TestHondaBoschSafetyBase):
+  """Base class for CANFD Honda Bosch"""
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 0
+
+  TX_MSGS = [[0xE4, 0], [0x296, 0], [0x296, 2], [0x33D, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x33D]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x33D)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_common_canfd_generated")
+    self.safety = libsafety_py.libsafety
+
+  def test_buttons_fwd(self):
+    # SCM_BUTTONS (0x296) forwards to the camera unless OP's replacement button stream is flowing
+    # (engaged + a recent OP SCM_BUTTONS tx on the camera bus); see the radarless variant of this test
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+    self.safety.set_controls_allowed(True)
+    for _ in range(10):
+      self._rx(self._button_msg(Btn.NONE, main_on=True))
+    self.assertEqual(2, self.safety.safety_fwd_hook(0, 0x296))
+
+  def test_radar_diag_response_fwd(self):
+    # the radar's UDS responses (0x18DAF1B0) never forward to the camera: the radar disable handshake
+    # happens after the relay is open on CAN FD
+    self.safety.set_controls_allowed(False)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
+    self.safety.set_controls_allowed(True)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(0, 0x18DAF1B0))
+
+  def test_buttons_tx_camera_bus(self):
+    # Buttons to the camera (bus 2): cancel-only while disengaged, any button while engaged
+    # (OP takes over SCM_BUTTONS towards the camera when engaged)
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=2)))
+    self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=2)))
+    self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=2)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(Btn.NONE, bus=2)))
+    self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=2)))
+
+
+class TestHondaBoschCANFDSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase):
+  """
+    Covers the Honda Bosch CANFD safety mode with stock longitudinal
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD)
+    self.safety.init_tests()
+
+
+class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDSafetyBase, TestHondaBoschAltBrakeSafetyBase):
+  """
+    Covers the Honda Bosch CANFD safety mode with stock longitudinal and an alternate brake message
+  """
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.ALT_BRAKE)
+    self.safety.init_tests()
+
+
+class TestHondaBoschCANFDLongSafety(TestHondaBoschLongSafety, TestHondaBoschCANFDSafetyBase):
+  """
+    Covers the Honda Bosch CANFD safety mode with longitudinal control
+  """
+
+  PT_BUS = 0
+  STEER_BUS = 0
+  BUTTONS_BUS = 0
+
+  # the radar look-alikes are sent on both the powertrain bus (0) and the camera bus (2)
+  TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x296, 2], [0x18DAB0F1, 0],
+             [0x310, 0], [0x6CD5558, 0], [0x6CD5559, 0], [0xF31AA52, 0], [0xF31AA5C, 0], [0x1A45AA4E, 0],
+             [0x310, 2], [0x6CD5558, 2], [0x6CD5559, 2], [0xF31AA52, 2], [0xF31AA5C, 2], [0x1A45AA4E, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [0x6CD5558, 0xF31AA5C], 2: [0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C]}
+  # STEERING_CONTROL, ACC_CONTROL, LKAS_HUD on the pt bus; the radar's LANE_PATH and RADAR_LEAD are
+  # additionally blocked from forwarding to the camera in both directions
+  RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x1DF, 0x33D, 0x6CD5558, 0xF31AA5C), 2: (0x6CD5558, 0xF31AA5C)}
+
+  def setUp(self):
+    super().setUp()
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, HondaSafetyFlags.BOSCH_CANFD | HondaSafetyFlags.BOSCH_LONG)
+    self.safety.init_tests()
+
+  def test_diagnostics(self):
+    # CAN FD silences the radar from CarController after the relay opens, so exactly the extended
+    # diagnostic session and the suppressed-response CommunicationControl disable are allowed too
+    tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00")
+    self.assertTrue(self._tx(tester_present))
+    ext_diag = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x00")
+    self.assertTrue(self._tx(ext_diag))
+    comm_control_disable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x83\x03\x00\x00\x00\x00")
+    self.assertTrue(self._tx(comm_control_disable))
+
+    # anything else stays blocked, including re-enabling the radar and non-zero trailing bytes
+    comm_control_enable = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\x28\x80\x03\x00\x00\x00\x00")
+    self.assertFalse(self._tx(comm_control_enable))
+    not_tester_present = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00")
+    self.assertFalse(self._tx(not_tester_present))
+    trailing_bytes = libsafety_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x10\x03\x00\x00\x00\x00\x01")
+    self.assertFalse(self._tx(trailing_bytes))
+
+
+class TestHondaNidecHybridSafety(TestHondaNidecPcmSafety):
+  """
+    Covers the Honda Nidec safety mode with hybrid brake
+  """
+
+  BRAKE_SIG = "COMPUTER_BRAKE_HYBRID"
+
+  def setUp(self):
+    self.packer = CANPackerSafety("honda_clarity_hybrid_2018_can_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(HondaSafetyFlagsIQ.NIDEC_HYBRID)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hondaNidec, 0)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_hyundai.py

@@ -0,0 +1,107 @@
+import pytest
+
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.hyundai_common import TESTER_PRESENT, classic_accel, classic_steer, packet
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.fixture
+def safety():
+  return libsafety_py.libsafety
+
+
+@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
+@pytest.mark.parametrize("param", (
+  0,
+  HyundaiSafetyFlags.EV_GAS,
+  HyundaiSafetyFlags.HYBRID_GAS,
+  HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CAMERA_SCC,
+  HyundaiSafetyFlags.ALT_LIMITS,
+  HyundaiSafetyFlags.FCEV_GAS,
+  HyundaiSafetyFlags.ALT_LIMITS_2,
+))
+def test_classic_safety_configurations_initialize(safety, mode, param):
+  assert safety.set_safety_hooks(mode, param) == 0
+  safety.init_tests()
+  assert safety.get_current_safety_param() == param
+
+
+@pytest.mark.parametrize("mode", (CarParams.SafetyModel.hyundai, CarParams.SafetyModel.hyundaiLegacy))
+def test_classic_tx_whitelist_and_steering_limits(safety, mode):
+  safety.set_safety_hooks(mode, 0)
+  safety.init_tests()
+
+  assert not safety.safety_tx_hook(packet(0x123, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x340, 1, 8))
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(classic_steer(0, False))
+  assert not safety.safety_tx_hook(classic_steer(1))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(classic_steer(10))
+  safety.set_desired_torque_last(512)
+  safety.set_rt_torque_last(512)
+  assert safety.safety_tx_hook(classic_steer(512))
+  assert not safety.safety_tx_hook(classic_steer(513))
+  assert not safety.safety_tx_hook(classic_steer(-513))
+
+
+def test_classic_alt_limits_2(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+  safety.set_desired_torque_last(170)
+  safety.set_rt_torque_last(170)
+  assert safety.safety_tx_hook(classic_steer(170))
+  assert not safety.safety_tx_hook(classic_steer(171))
+
+
+def test_classic_longitudinal_accel_and_aeb_guards(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(classic_accel(0))
+  assert not safety.safety_tx_hook(classic_accel(1))
+
+  safety.set_controls_allowed(True)
+  for accel in (-400, 0, 250):
+    assert safety.safety_tx_hook(classic_accel(accel))
+  for accel in (-401, 251):
+    assert not safety.safety_tx_hook(classic_accel(accel))
+  assert not safety.safety_tx_hook(classic_accel(0, aeb_decel=1))
+  assert not safety.safety_tx_hook(classic_accel(0, aeb_request=True))
+
+  assert safety.safety_tx_hook(packet(0x38D, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {1: 1}))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {2: 1 << 4}))
+  assert not safety.safety_tx_hook(packet(0x38D, 0, 8, {3: 1 << 7}))
+
+
+def test_classic_buttons(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 1}))
+  assert not safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 2}))
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+  safety.set_controls_allowed(False)
+  safety.set_cruise_engaged_prev(True)
+  assert safety.safety_tx_hook(packet(0x4F1, 0, 4, {0: 4}))
+
+
+def test_classic_diagnostic_payload_is_restricted(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+  assert safety.safety_tx_hook(packet(0x7D0, 0, 8, dict(enumerate(TESTER_PRESENT))))
+  assert not safety.safety_tx_hook(packet(0x7D0, 0, 8, {0: 3, 1: 0x22}))

artifacts/package_runtime/iqdbc/safety/tests/test_hyundai_canfd.py

@@ -0,0 +1,146 @@
+import pytest
+
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.hyundai_common import TESTER_PRESENT, canfd_accel, canfd_steer, packet
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.fixture
+def safety():
+  return libsafety_py.libsafety
+
+
+@pytest.mark.parametrize("param", (
+  0,
+  HyundaiSafetyFlags.EV_GAS,
+  HyundaiSafetyFlags.HYBRID_GAS,
+  HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CAMERA_SCC,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING,
+  HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG,
+  HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CANFD_ALT_BUTTONS,
+))
+def test_canfd_safety_configurations_initialize(safety, param):
+  assert safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param) == 0
+  safety.init_tests()
+  assert safety.get_current_safety_param() == param
+
+
+@pytest.mark.parametrize(("param", "addr", "length"), (
+  (0, 0x12A, 16),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING, 0x50, 16),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT, 0x110, 32),
+  (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG, 0x12A, 16),
+))
+def test_canfd_steering_limits(safety, param, addr, length):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 0, False))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, 1))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 2))
+  safety.set_desired_torque_last(270)
+  safety.set_rt_torque_last(270)
+  assert safety.safety_tx_hook(canfd_steer(addr, length, 270))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, 271))
+  assert not safety.safety_tx_hook(canfd_steer(addr, length, -271))
+
+
+def test_canfd_tx_whitelist_and_buttons(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 0)
+  safety.init_tests()
+  assert not safety.safety_tx_hook(packet(0x123, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x12A, 1, 16))
+
+  safety.set_controls_allowed(False)
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 2}))
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+  safety.set_controls_allowed(False)
+  safety.set_cruise_engaged_prev(True)
+  assert safety.safety_tx_hook(packet(0x1CF, 0, 8, {2: 4}))
+
+
+def test_canfd_camera_scc_button_passthrough(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CAMERA_SCC)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(packet(0x1CF, 2, 8))
+  assert not safety.safety_tx_hook(packet(0x1CF, 0, 8))
+  assert not safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 2}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 4}))
+
+  safety.set_controls_allowed(True)
+  assert safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 1}))
+  assert not safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 2}))
+  assert safety.safety_tx_hook(packet(0x1CF, 2, 8, {2: 4}))
+
+
+def test_canfd_camera_scc_single_owner_forwarding(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CAMERA_SCC)
+  safety.init_tests()
+  safety.set_timer(1_000_000)
+
+  assert safety.safety_fwd_hook(2, 0x12A) == -1
+  assert safety.safety_fwd_hook(2, 0x1E0) == -1
+  assert safety.safety_fwd_hook(2, 0x1A0) == 0
+  assert safety.safety_fwd_hook(0, 0xEA) == 2
+  assert not safety.safety_tx_hook(packet(0xEA, 2, 24))
+  assert not safety.safety_tx_hook(packet(0x2AF, 2, 8))
+
+
+def test_canfd_camera_scc_longitudinal_single_owner_forwarding(safety):
+  param = HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.LONG
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+  safety.init_tests()
+  safety.set_timer(1_000_000)
+
+  assert safety.safety_fwd_hook(2, 0x12A) == -1
+  assert safety.safety_fwd_hook(2, 0x1A0) == -1
+  assert safety.safety_fwd_hook(0, 0x175) == -1
+  assert safety.safety_fwd_hook(0, 0xEA) == 2
+
+
+def test_canfd_stock_longitudinal_only_allows_cancel(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, 0)
+  safety.init_tests()
+  assert safety.safety_tx_hook(canfd_accel(0, acc_mode=4))
+  assert not safety.safety_tx_hook(canfd_accel(1, acc_mode=4))
+  assert not safety.safety_tx_hook(canfd_accel(0, acc_mode=0))
+
+
+def test_canfd_longitudinal_accel_limits(safety):
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.LONG)
+  safety.init_tests()
+
+  safety.set_controls_allowed(False)
+  assert safety.safety_tx_hook(canfd_accel(0))
+  assert not safety.safety_tx_hook(canfd_accel(1))
+
+  safety.set_controls_allowed(True)
+  for accel in (-400, 0, 250):
+    assert safety.safety_tx_hook(canfd_accel(accel))
+  for accel in (-401, 251):
+    assert not safety.safety_tx_hook(canfd_accel(accel))
+
+
+def test_canfd_hda2_diagnostic_payload_is_restricted(safety):
+  param = HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.LONG
+  safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+  safety.init_tests()
+  assert safety.safety_tx_hook(packet(0x730, 1, 8, dict(enumerate(TESTER_PRESENT))))
+  assert not safety.safety_tx_hook(packet(0x730, 1, 8, {0: 3, 1: 0x22}))

artifacts/package_runtime/iqdbc/safety/tests/test_hyundai_controller.py

@@ -0,0 +1,60 @@
+import pytest
+
+from iqdbc.car import gen_empty_fingerprint, structs
+from iqdbc.car.hyundai.interface import CarInterface
+from iqdbc.car.hyundai.values import CAR, HyundaiFlags
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.mark.parametrize("candidate", list(CAR), ids=lambda candidate: candidate.value)
+@pytest.mark.parametrize("alpha_long", (False, True), ids=("stock_long", "openpilot_long"))
+def test_controller_frames_match_configured_safety(candidate, alpha_long, monkeypatch, tmp_path):
+  """Run real controller output through the safety configuration selected for every HKG platform."""
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path / candidate.value))
+  fingerprint = gen_empty_fingerprint()
+  cp = CarInterface.get_params(candidate, fingerprint, [], alpha_long, False, False)
+  cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], alpha_long, False, False)
+  interface = CarInterface(cp, cp_iq)
+  interface.update([])
+
+  safety_config = cp.safetyConfigs[-1]
+  safety = libsafety_py.libsafety
+  assert safety.set_safety_hooks(safety_config.safetyModel.raw, safety_config.safetyParam) == 0
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+
+  control = structs.CarControl.new_message()
+  control.enabled = True
+  control.latActive = True
+  control.longActive = alpha_long
+  control.actuators.torque = 0.01
+  control.actuators.accel = 0.0
+
+  for frame in range(20):
+    _, can_sends = interface.apply(control.as_reader(), structs.IQCarControl())
+    assert isinstance(can_sends, list)
+    for address, data, bus in can_sends:
+      packet = libsafety_py.make_CANPacket(address, bus, data)
+      rejection = f"{candidate.value} frame {frame}: safety rejected address={address:#x} bus={bus} data={data.hex()}"
+      assert safety.safety_tx_hook(packet), rejection
+
+
+def test_ev6_camera_scc_has_one_lfa_sender(monkeypatch, tmp_path):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  fingerprint = gen_empty_fingerprint()
+  cp = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
+  cp.flags &= ~HyundaiFlags.CANFD_HDA2.value
+  cp.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+  cp_iq = CarInterface.get_params_iq(cp, CAR.KIA_EV6, fingerprint, [], False, False, False)
+  interface = CarInterface(cp, cp_iq)
+  interface.update([])
+
+  control = structs.CarControl.new_message()
+  control.enabled = True
+  control.latActive = True
+  control.actuators.torque = 0.01
+
+  for _ in range(20):
+    _, can_sends = interface.apply(control.as_reader(), structs.IQCarControl())
+    assert [(address, bus) for address, _, bus in can_sends if address == 0x12A] == [(0x12A, 0)]
+    assert all(address not in (0xEA, 0x2AF) for address, _, _ in can_sends)

artifacts/package_runtime/iqdbc/safety/tests/test_mazda.py

@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+
+class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+
+  TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]]
+  STANDSTILL_THRESHOLD = .1
+  RELAY_MALFUNCTION_ADDRS = {0: (0x243, 0x440)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]}
+
+  MAX_RATE_UP = 10
+  MAX_RATE_DOWN = 25
+  MAX_TORQUE_LOOKUP = [0], [800]
+
+  MAX_RT_DELTA = 300
+
+  DRIVER_TORQUE_ALLOWANCE = 15
+  DRIVER_TORQUE_FACTOR = 1
+
+  # Mazda actually does not set any bit when requesting torque
+  NO_STEER_REQ_BIT = True
+
+  def setUp(self):
+    self.packer = CANPackerSafety("mazda_2017")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.mazda, 0)
+    self.safety.init_tests()
+
+  def _torque_meas_msg(self, torque):
+    values = {"STEER_TORQUE_MOTOR": torque}
+    return self.packer.make_can_msg_safety("STEER_TORQUE", 0, values)
+
+  def _torque_driver_msg(self, torque):
+    values = {"STEER_TORQUE_SENSOR": torque}
+    return self.packer.make_can_msg_safety("STEER_TORQUE", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_REQUEST": torque}
+    return self.packer.make_can_msg_safety("CAM_LKAS", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {"SPEED": speed}
+    return self.packer.make_can_msg_safety("ENGINE_DATA", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_ON": brake}
+    return self.packer.make_can_msg_safety("PEDALS", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"PEDAL_GAS": gas}
+    return self.packer.make_can_msg_safety("ENGINE_DATA", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CRZ_ACTIVE": enable}
+    return self.packer.make_can_msg_safety("CRZ_CTRL", 0, values)
+
+  def _button_msg(self, resume=False, cancel=False):
+    values = {
+      "CAN_OFF": cancel,
+      "CAN_OFF_INV": (cancel + 1) % 2,
+      "RES": resume,
+      "RES_INV": (resume + 1) % 2,
+    }
+    return self.packer.make_can_msg_safety("CRZ_BTNS", 0, values)
+
+  def test_buttons(self):
+    # only cancel allows while controls not allowed
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertTrue(self._tx(self._button_msg(resume=True)))
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_nissan.py

@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.nissan.values import NissanSafetyFlags
+from iqdbc.car.structs import CarParams
+
+# NISSAN_PARAM_IQ_LEAF in safety/modes/nissan.h (IQ safety framework flag)
+NISSAN_PARAM_IQ_LEAF = 1
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+
+class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+
+  TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
+  GAS_PRESSED_THRESHOLD = 3
+  RELAY_MALFUNCTION_ADDRS = {0: (0x169, 0x2b1, 0x4cc), 2: (0x280,)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x280], 2: [0x169, 0x2b1, 0x4cc]}
+
+  EPS_BUS = 0
+  CRUISE_BUS = 2
+  ACC_MAIN_BUS = 1
+
+  # Angle control limits
+  STEER_ANGLE_MAX = 600  # deg, reasonable limit
+  DEG_TO_CAN = 100
+
+  ANGLE_RATE_BP = [0., 5., 15.]
+  ANGLE_RATE_UP = [5., .8, .15]  # windup limit
+  ANGLE_RATE_DOWN = [5., 3.5, .4]  # unwind limit
+
+  def setUp(self):
+    self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": 1 if enabled else 0}
+    return self.packer.make_can_msg_safety("LKAS", 0, values)
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"STEER_ANGLE": angle}
+    return self.packer.make_can_msg_safety("STEER_ANGLE_SENSOR", self.EPS_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CRUISE_ENABLED": enable}
+    return self.packer.make_can_msg_safety("CRUISE_STATE", self.CRUISE_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"WHEEL_SPEED_%s" % s: speed * 3.6 for s in ["RR", "RL"]}
+    return self.packer.make_can_msg_safety("WHEEL_SPEEDS_REAR", self.EPS_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"USER_BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_safety("DOORS_LIGHTS", self.EPS_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL": gas}
+    return self.packer.make_can_msg_safety("GAS_PEDAL", self.EPS_BUS, values)
+
+  def _acc_state_msg(self, main_on):
+    values = {"CRUISE_ON": main_on}
+    return self.packer.make_can_msg_safety("PRO_PILOT", self.ACC_MAIN_BUS, values)
+
+  def _acc_button_cmd(self, cancel=0, propilot=0, flw_dist=0, _set=0, res=0):
+    no_button = not any([cancel, propilot, flw_dist, _set, res])
+    values = {"CANCEL_BUTTON": cancel, "PROPILOT_BUTTON": propilot,
+              "FOLLOW_DISTANCE_BUTTON": flw_dist, "SET_BUTTON": _set,
+              "RES_BUTTON": res, "NO_BUTTON_PRESSED": no_button}
+    return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 2, values)
+
+  def test_acc_buttons(self):
+    btns = [
+      ("cancel", True),
+      ("propilot", False),
+      ("flw_dist", False),
+      ("_set", False),
+      ("res", False),
+      (None, False),
+    ]
+    for controls_allowed in (True, False):
+      for btn, should_tx in btns:
+        self.safety.set_controls_allowed(controls_allowed)
+        args = {} if btn is None else {btn: 1}
+        tx = self._tx(self._acc_button_cmd(**args))
+        self.assertEqual(tx, should_tx)
+
+
+class TestNissanSafetyAltEpsBus(TestNissanSafety):
+  """Altima uses different buses"""
+
+  EPS_BUS = 1
+  CRUISE_BUS = 1
+  ACC_MAIN_BUS = 2
+
+  def setUp(self):
+    self.packer = CANPackerSafety("nissan_x_trail_2017_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, NissanSafetyFlags.ALT_EPS_BUS)
+    self.safety.init_tests()
+
+
+class TestNissanLeafSafety(TestNissanSafety):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("nissan_leaf_2018_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(NISSAN_PARAM_IQ_LEAF)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.nissan, 0)
+    self.safety.init_tests()
+
+  def _user_brake_msg(self, brake):
+    values = {"USER_BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL": gas}
+    return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 0, values)
+
+  def _acc_state_msg(self, main_on):
+    values = {"CRUISE_AVAILABLE": main_on}
+    return self.packer.make_can_msg_safety("CRUISE_THROTTLE", 0, values)
+
+  # TODO: leaf should use its own safety param
+  def test_acc_buttons(self):
+    pass
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_psa.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+LANE_KEEP_ASSIST = 0x3F2
+
+
+class TestPsaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (LANE_KEEP_ASSIST,)}
+  FWD_BLACKLISTED_ADDRS = {2: [LANE_KEEP_ASSIST]}
+  TX_MSGS = [[1010, 0]]
+
+  MAIN_BUS = 0
+  ADAS_BUS = 1
+  CAM_BUS = 2
+
+  STEER_ANGLE_MAX = 390
+  DEG_TO_CAN = 10
+
+  ANGLE_RATE_BP = [0., 5., 25.]
+  ANGLE_RATE_UP = [2.5, 1.5, .2]
+  ANGLE_RATE_DOWN = [5., 2., .3]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    values = {"SET_ANGLE": angle, "TORQUE_FACTOR": 100 if enabled else 0}
+    return self.packer.make_can_msg_safety("LANE_KEEP_ASSIST", self.MAIN_BUS, values)
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"ANGLE": angle}
+    return self.packer.make_can_msg_safety("STEERING_ALT", self.MAIN_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"RVV_ACC_ACTIVATION_REQ": enable}
+    return self.packer.make_can_msg_safety("HS2_DAT_MDD_CMD_452", self.ADAS_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"VITESSE_VEHICULE_ROUES": speed * 3.6}
+    return self.packer.make_can_msg_safety("HS2_DYN_ABR_38D", self.MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"P013_MainBrake": brake}
+    return self.packer.make_can_msg_safety("Dat_BSI", self.CAM_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"P002_Com_rAPP": int(gas * 100)}
+    return self.packer.make_can_msg_safety("Dyn_CMM", self.MAIN_BUS, values)
+
+  def test_rx_hook(self):
+    # speed
+    for _ in range(10):
+      self.assertTrue(self._rx(self._speed_msg(0)))
+    msg = self._speed_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+
+    # cruise
+    for _ in range(10):
+      self.assertTrue(self._rx(self._pcm_status_msg(0)))
+    msg = self._pcm_status_msg(0)
+    # invalidate checksum
+    msg[0].data[5] = 0x00
+    self.assertFalse(self._rx(msg))
+    msg = self._pcm_status_msg(0)
+    # write to unused payload byte
+    msg[0].data[6] = 0xAB
+    self.assertTrue(self._rx(msg))
+
+
+class TestPsaStockSafety(TestPsaSafetyBase):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("psa_aee2010_r3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.psa, 0)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+    unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_rivian.py

@@ -0,0 +1,146 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+from iqdbc.car.rivian.values import RivianSafetyFlags
+from iqdbc.car.rivian.riviancan import checksum as _checksum
+
+
+def checksum(msg):
+  addr, dat, bus = msg
+  ret = bytearray(dat)
+
+  # ESP_Status
+  if addr == 0x208:
+    ret[0] = _checksum(ret[1:], 0x1D, 0xB1)
+  elif addr == 0x150:
+    ret[0] = _checksum(ret[1:], 0x1D, 0x9A)
+
+  return addr, ret, bus
+
+
+class TestRivianSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.LongitudinalAccelSafetyTest,
+                           common.VehicleSpeedSafetyTest, common.SecondSpeedSafetyTest):
+
+  TX_MSGS = [[0x120, 0], [0x321, 2], [0x162, 2]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x120,), 2: (0x321, 0x162)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x321, 0x162], 2: [0x120]}
+
+  MAX_TORQUE_LOOKUP = [9, 17], [350, 250]
+  DYNAMIC_MAX_TORQUE = True
+  MAX_RATE_UP = 3
+  MAX_RATE_DOWN = 5
+
+  MAX_RT_DELTA = 125
+
+  DRIVER_TORQUE_ALLOWANCE = 100
+  DRIVER_TORQUE_FACTOR = 2
+
+  cnt_speed = 0
+  cnt_speed_2 = 0
+
+  def _torque_driver_msg(self, torque):
+    values = {"EPAS_TorsionBarTorque": torque / 100.0}
+    return self.packer.make_can_msg_safety("EPAS_SystemStatus", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"ACM_lkaStrToqReq": torque, "ACM_lkaActToi": steer_req}
+    return self.packer.make_can_msg_safety("ACM_lkaHbaCmd", 0, values)
+
+  def _speed_msg(self, speed, quality_flag=True):
+    values = {"ESP_Vehicle_Speed": speed * 3.6, "ESP_Status_Counter": self.cnt_speed % 15,
+              "ESP_Vehicle_Speed_Q": 1 if quality_flag else 0}
+    self.__class__.cnt_speed += 1
+    return self.packer.make_can_msg_safety("ESP_Status", 0, values, fix_checksum=checksum)
+
+  def _speed_msg_2(self, speed, quality_flag=True):
+    # Rivian has a dynamic max torque limit based on speed, so it checks two sources
+    return self._user_gas_msg(0, speed, quality_flag)
+
+  def _user_brake_msg(self, brake):
+    values = {"iBESP2_BrakePedalApplied": brake}
+    return self.packer.make_can_msg_safety("iBESP2", 0, values)
+
+  def _user_gas_msg(self, gas, speed=0, quality_flag=True):
+    values = {"VDM_AcceleratorPedalPosition": gas, "VDM_VehicleSpeed": speed * 3.6,
+              "VDM_PropStatus_Counter": self.cnt_speed_2 % 15, "VDM_VehicleSpeedQ": 1 if quality_flag else 0}
+    self.__class__.cnt_speed_2 += 1
+    return self.packer.make_can_msg_safety("VDM_PropStatus", 0, values, fix_checksum=checksum)
+
+  def _pcm_status_msg(self, enable):
+    values = {"ACM_FeatureStatus": enable, "ACM_Unkown1": 1}
+    return self.packer.make_can_msg_safety("ACM_Status", 2, values)
+
+  def _accel_msg(self, accel: float):
+    values = {"ACM_AccelerationRequest": accel}
+    return self.packer.make_can_msg_safety("ACM_longitudinalRequest", 0, values)
+
+  def test_wheel_touch(self):
+    # For hiding hold wheel alert on engage
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+      values = {
+        "SCCM_WheelTouch_HandsOn": 1 if controls_allowed else 0,
+        "SCCM_WheelTouch_CapacitiveValue": 100 if controls_allowed else 0,
+        "SETME_X52": 100,
+      }
+      self.assertTrue(self._tx(self.packer.make_can_msg_safety("SCCM_WheelTouch", 2, values)))
+
+  def test_rx_hook(self):
+    # checksum, counter, and quality flag checks
+    for quality_flag in (True, False):
+      for msg_type in ("speed", "speed_2"):
+        self.safety.set_controls_allowed(True)
+        # send multiple times to verify counter checks
+        for _ in range(10):
+          if msg_type == "speed":
+            msg = self._speed_msg(0, quality_flag=quality_flag)
+          elif msg_type == "speed_2":
+            msg = self._speed_msg_2(0, quality_flag=quality_flag)
+
+          self.assertEqual(quality_flag, self._rx(msg))
+          self.assertEqual(quality_flag, self.safety.get_controls_allowed())
+
+        # Mess with checksum to make it fail
+        msg[0].data[0] = 0xff
+        self.assertFalse(self._rx(msg))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+
+class TestRivianStockSafety(TestRivianSafetyBase):
+
+  LONGITUDINAL = False
+
+  def setUp(self):
+    self.packer = CANPackerSafety("rivian_primary_actuator")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, 0)
+    self.safety.init_tests()
+
+  def test_adas_status(self):
+    # For canceling stock ACC
+    for controls_allowed in (True, False):
+      self.safety.set_controls_allowed(controls_allowed)
+      for interface_status in range(4):
+        values = {"VDM_AdasInterfaceStatus": interface_status}
+        self.assertTrue(self._tx(self.packer.make_can_msg_safety("VDM_AdasSts", 2, values)))
+
+
+class TestRivianLongitudinalSafety(TestRivianSafetyBase):
+
+  TX_MSGS = [[0x120, 0], [0x321, 2], [0x160, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x120, 0x160), 2: (0x321,)}
+  FWD_BLACKLISTED_ADDRS = {0: [0x321], 2: [0x120, 0x160]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("rivian_primary_actuator")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.rivian, RivianSafetyFlags.LONG_CONTROL)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_subaru.py

@@ -0,0 +1,252 @@
+#!/usr/bin/env python3
+import enum
+import unittest
+
+from iqdbc.car.subaru.values import SubaruSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+from functools import partial
+
+
+class SubaruMsg(enum.IntEnum):
+  Brake_Status      = 0x13c
+  CruiseControl     = 0x240
+  Throttle          = 0x40
+  Steering_Torque   = 0x119
+  Wheel_Speeds      = 0x13a
+  ES_LKAS           = 0x122
+  ES_LKAS_ANGLE     = 0x124
+  ES_Brake          = 0x220
+  ES_Distance       = 0x221
+  ES_Status         = 0x222
+  ES_DashStatus     = 0x321
+  ES_LKAS_State     = 0x322
+  ES_Infotainment   = 0x323
+  ES_UDS_Request    = 0x787
+  ES_HighBeamAssist = 0x22A
+  ES_STATIC_1       = 0x325
+  ES_STATIC_2       = 0x121
+
+
+SUBARU_MAIN_BUS = 0
+SUBARU_ALT_BUS  = 1
+SUBARU_CAM_BUS  = 2
+
+
+def lkas_tx_msgs(alt_bus, lkas_msg=SubaruMsg.ES_LKAS):
+  return [[lkas_msg,                    SUBARU_MAIN_BUS],
+          [SubaruMsg.ES_Distance,       alt_bus],
+          [SubaruMsg.ES_DashStatus,     SUBARU_MAIN_BUS],
+          [SubaruMsg.ES_LKAS_State,     SUBARU_MAIN_BUS],
+          [SubaruMsg.ES_Infotainment,   SUBARU_MAIN_BUS]]
+
+
+def long_tx_msgs(alt_bus):
+  return [[SubaruMsg.ES_Brake,          alt_bus],
+          [SubaruMsg.ES_Status,         alt_bus]]
+
+
+def gen2_long_additional_tx_msgs():
+  return [[SubaruMsg.ES_UDS_Request,    SUBARU_CAM_BUS],
+          [SubaruMsg.ES_HighBeamAssist, SUBARU_MAIN_BUS],
+          [SubaruMsg.ES_STATIC_1,       SUBARU_MAIN_BUS],
+          [SubaruMsg.ES_STATIC_2,       SUBARU_MAIN_BUS]]
+
+
+def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS):
+  return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}
+
+
+class TestSubaruSafetyBase(common.CarSafetyTest):
+  FLAGS = 0
+  RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
+                                               SubaruMsg.ES_Infotainment)}
+  FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr()
+
+  MAX_RT_DELTA = 940
+
+  DRIVER_TORQUE_ALLOWANCE = 60
+  DRIVER_TORQUE_FACTOR = 50
+
+  ALT_MAIN_BUS = SUBARU_MAIN_BUS
+  ALT_CAM_BUS = SUBARU_CAM_BUS
+
+  DEG_TO_CAN = 100
+
+  INACTIVE_GAS = 1818
+
+  def setUp(self):
+    self.packer = CANPackerSafety("subaru_global_2017_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.subaru, self.FLAGS)
+    self.safety.init_tests()
+
+  def _set_prev_torque(self, t):
+    self.safety.set_desired_torque_last(t)
+    self.safety.set_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    values = {"Steer_Torque_Sensor": torque}
+    return self.packer.make_can_msg_safety("Steering_Torque", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {s: speed for s in ["FR", "FL", "RR", "RL"]}
+    return self.packer.make_can_msg_safety("Wheel_Speeds", self.ALT_MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"Brake": brake}
+    return self.packer.make_can_msg_safety("Brake_Status", self.ALT_MAIN_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"Throttle_Pedal": gas}
+    return self.packer.make_can_msg_safety("Throttle", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"Cruise_Activated": enable}
+    return self.packer.make_can_msg_safety("CruiseControl", self.ALT_MAIN_BUS, values)
+
+  def _lkas_button_msg(self, lkas_pressed=False, lkas_hud=0):
+    values = {"LKAS_Dash_State": 2 if lkas_pressed else lkas_hud}
+    return self.packer.make_can_msg_safety("ES_LKAS_State", SUBARU_CAM_BUS, values)
+
+  def test_enable_control_allowed_with_aol_button(self):
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        for aol_button_press in range(4):
+          with self.subTest("aol_button_press", button_state=aol_button_press):
+            self.safety.set_aol_params(enable_aol, False, False)
+
+            self._rx(self._lkas_button_msg(False, aol_button_press))
+            self.assertEqual(enable_aol and aol_button_press in range(1, 4),
+                             self.safety.get_controls_allowed_lat())
+
+
+class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
+  def _cancel_msg(self, cancel, cruise_throttle=0):
+    values = {"Cruise_Cancel": cancel, "Cruise_Throttle": cruise_throttle}
+    return self.packer.make_can_msg_safety("ES_Distance", self.ALT_MAIN_BUS, values)
+
+  def test_cancel_message(self):
+    # test that we can only send the cancel message (ES_Distance) with inactive throttle (1818) and Cruise_Cancel=1
+    for cancel in [True, False]:
+      self._generic_limit_safety_check(partial(self._cancel_msg, cancel), self.INACTIVE_GAS, self.INACTIVE_GAS, 0, 2**12, 1, self.INACTIVE_GAS, cancel)
+
+
+class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest):
+  MIN_GAS = 808
+  MAX_GAS = 3400
+  INACTIVE_GAS = 1818
+  MAX_POSSIBLE_GAS = 2**13
+
+  MIN_BRAKE = 0
+  MAX_BRAKE = 600
+  MAX_POSSIBLE_BRAKE = 2**16
+
+  MIN_RPM = 0
+  MAX_RPM = 3600
+  MAX_POSSIBLE_RPM = 2**13
+
+  FWD_BLACKLISTED_ADDRS = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_Brake, SubaruMsg.ES_Distance,
+                               SubaruMsg.ES_Status, SubaruMsg.ES_DashStatus,
+                               SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}
+
+  def test_rpm_safety_check(self):
+    self._generic_limit_safety_check(self._send_rpm_msg, self.MIN_RPM, self.MAX_RPM, 0, self.MAX_POSSIBLE_RPM, 1)
+
+  def _send_brake_msg(self, brake):
+    values = {"Brake_Pressure": brake}
+    return self.packer.make_can_msg_safety("ES_Brake", self.ALT_MAIN_BUS, values)
+
+  def _send_gas_msg(self, gas):
+    values = {"Cruise_Throttle": gas}
+    return self.packer.make_can_msg_safety("ES_Distance", self.ALT_MAIN_BUS, values)
+
+  def _send_rpm_msg(self, rpm):
+    values = {"Cruise_RPM": rpm}
+    return self.packer.make_can_msg_safety("ES_Status", self.ALT_MAIN_BUS, values)
+
+
+class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
+  MAX_RATE_UP = 50
+  MAX_RATE_DOWN = 70
+  MAX_TORQUE_LOOKUP = [0], [2047]
+
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 7
+  MAX_INVALID_STEERING_FRAMES = 1
+  STEER_STEP = 2
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_Output": torque, "LKAS_Request": steer_req}
+    return self.packer.make_can_msg_safety("ES_LKAS", SUBARU_MAIN_BUS, values)
+
+
+class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
+  FLAGS = 0
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
+
+
+class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
+  ALT_MAIN_BUS = SUBARU_ALT_BUS
+  ALT_CAM_BUS = SUBARU_ALT_BUS
+
+  MAX_RATE_UP = 35
+  MAX_RATE_DOWN = 50
+  MAX_TORQUE_LOOKUP = [0], [1500]
+
+
+class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
+  FLAGS = SubaruSafetyFlags.GEN2
+  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
+
+
+class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
+  FLAGS = SubaruSafetyFlags.LONG
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)
+  RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
+                                               SubaruMsg.ES_Infotainment, SubaruMsg.ES_Brake, SubaruMsg.ES_Status,
+                                               SubaruMsg.ES_Distance)}
+
+
+class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
+  FLAGS = SubaruSafetyFlags.LONG | SubaruSafetyFlags.GEN2
+  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + gen2_long_additional_tx_msgs()
+  FWD_BLACKLISTED_ADDRS = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
+                               SubaruMsg.ES_Infotainment]}
+  RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,
+                                               SubaruMsg.ES_Infotainment),
+                             SUBARU_ALT_BUS: (SubaruMsg.ES_Brake, SubaruMsg.ES_Status, SubaruMsg.ES_Distance)}
+
+  def _rdbi_msg(self, did: int):
+    return b'\x03\x22' + did.to_bytes(2) + b'\x00\x00\x00\x00'
+
+  def _es_uds_msg(self, msg: bytes):
+    return libsafety_py.make_CANPacket(SubaruMsg.ES_UDS_Request, 2, msg)
+
+  def test_es_uds_message(self):
+    tester_present = b'\x02\x3E\x80\x00\x00\x00\x00\x00'
+    not_tester_present = b"\x03\xAA\xAA\x00\x00\x00\x00\x00"
+
+    button_did = 0x1130
+
+    # Tester present is allowed for gen2 long to keep eyesight disabled
+    self.assertTrue(self._tx(self._es_uds_msg(tester_present)))
+
+    # Non-Tester present is not allowed
+    self.assertFalse(self._tx(self._es_uds_msg(not_tester_present)))
+
+    # Only button_did is allowed to be read via UDS
+    for did in range(0xFFFF):
+      should_tx = (did == button_did)
+      self.assertEqual(self._tx(self._es_uds_msg(self._rdbi_msg(did))), should_tx)
+
+    # any other msg is not allowed
+    for sid in range(0xFF):
+      msg = b'\x03' + sid.to_bytes(1) + b'\x00' * 6
+      self.assertFalse(self._tx(self._es_uds_msg(msg)))
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_subaru_preglobal.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import unittest
+
+from iqdbc.car.structs import CarParams
+from iqdbc.car.subaru.values import SubaruSafetyFlags
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+
+class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  FLAGS = 0
+  DBC = "subaru_outback_2015_generated"
+  TX_MSGS = [[0x161, 0], [0x164, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x164, 0x161)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x161, 0x164]}
+
+  MAX_RATE_UP = 50
+  MAX_RATE_DOWN = 70
+  MAX_TORQUE_LOOKUP = [0], [2047]
+
+  MAX_RT_DELTA = 940
+
+  DRIVER_TORQUE_ALLOWANCE = 75
+  DRIVER_TORQUE_FACTOR = 10
+
+  def setUp(self):
+    self.packer = CANPackerSafety(self.DBC)
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.subaruPreglobal, self.FLAGS)
+    self.safety.init_tests()
+
+  def _set_prev_torque(self, t):
+    self.safety.set_desired_torque_last(t)
+    self.safety.set_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    values = {"Steer_Torque_Sensor": torque}
+    return self.packer.make_can_msg_safety("Steering_Torque", 0, values)
+
+  def _speed_msg(self, speed):
+    # subaru safety doesn't use the scaled value, so undo the scaling
+    values = {s: speed*0.0592 for s in ["FR", "FL", "RR", "RL"]}
+    return self.packer.make_can_msg_safety("Wheel_Speeds", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"Brake_Pedal": brake}
+    return self.packer.make_can_msg_safety("Brake_Pedal", 0, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_Command": torque, "LKAS_Active": steer_req}
+    return self.packer.make_can_msg_safety("ES_LKAS", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"Throttle_Pedal": gas}
+    return self.packer.make_can_msg_safety("Throttle", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"Cruise_Activated": enable}
+    return self.packer.make_can_msg_safety("CruiseControl", 0, values)
+
+
+class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
+  FLAGS = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE
+  DBC = "subaru_outback_2019_generated"
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_tesla.py

@@ -0,0 +1,502 @@
+#!/usr/bin/env python3
+import random
+import unittest
+import numpy as np
+
+import pytest
+try:
+  from iqdbc.car.tesla.carcontroller import get_safety_CP
+  from iqdbc.lvbs.car.tesla.values import TeslaSafetyFlagsIQ
+except ImportError:
+  pytest.skip("requires openpilot dependencies", allow_module_level=True)
+
+from iqdbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
+from iqdbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags, CANBUS
+from iqdbc.car.structs import CarParams
+from iqdbc.car.vehicle_model import VehicleModel
+from iqdbc.can import CANDefine
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety, MAX_SPEED_DELTA, MAX_WRONG_COUNTERS, away_round, round_speed
+
+MSG_DAS_steeringControl = 0x488
+MSG_APS_eacMonitor = 0x27d
+MSG_DAS_Control = 0x2b9
+MSG_DAS_bodyControls = 0x3E9
+
+
+def round_angle(apply_angle, can_offset=0):
+  apply_angle_can = (apply_angle + 1638.35) / 0.1 + can_offset
+  # 0.49999_ == 0.5
+  rnd_offset = 1e-5 if apply_angle >= 0 else -1e-5
+  return away_round(apply_angle_can + rnd_offset) * 0.1 - 1638.35
+
+
+class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
+  SAFETY_PARAM = 0
+  STEER_TYPE_SHIFT = 0  # legacy firmware uses a 2-bit field, one bit up from the 3-bit signal
+
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
+  TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]
+
+  STANDSTILL_THRESHOLD = 0.1
+  GAS_PRESSED_THRESHOLD = 3
+
+  # Angle control limits
+  STEER_ANGLE_MAX = 360  # deg
+  DEG_TO_CAN = 10
+
+  # Tesla uses get_max_angle_delta_vm and get_max_angle_vm for real lateral accel and jerk limits
+  # TODO: integrate this into AngleSteeringSafetyTest
+  ANGLE_RATE_BP = None
+  ANGLE_RATE_UP = None
+  ANGLE_RATE_DOWN = None
+
+  # Real time limits
+  LATERAL_FREQUENCY = 50  # Hz
+
+  # Long control limits
+  MAX_ACCEL = 2.0
+  MIN_ACCEL = -3.48
+  INACTIVE_ACCEL = 0.0
+
+  cnt_epas = 0
+  cnt_angle_cmd = 0
+
+  packer: CANPackerSafety
+
+  def _get_steer_cmd_angle_max(self, speed):
+    return get_max_angle_vm(max(speed, 1), self.VM, CarControllerParams)
+
+  def setUp(self):
+    self.VM = VehicleModel(get_safety_CP())
+    self.packer = CANPackerSafety("tesla_model3_party")
+    self.define = CANDefine("tesla_model3_party")
+    self.acc_states = {d: v for v, d in self.define.dv["DAS_control"]["DAS_accState"].items()}
+    self.autopark_states = {d: v for v, d in self.define.dv["DI_state"]["DI_autoparkState"].items()}
+    self.active_autopark_states = [self.autopark_states[s] for s in ('ACTIVE', 'COMPLETE', 'SELFPARK_STARTED')]
+
+    self.steer_control_types = {d: v for v, d in self.define.dv["DAS_steeringControl"]["DAS_steeringControlType"].items()}
+
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(0)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, state: bool | int, increment_timer: bool = True, bus: int = 0):
+    values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": int(state) << self.STEER_TYPE_SHIFT}
+    if increment_timer:
+      self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
+      self.__class__.cnt_angle_cmd += 1
+    return self.packer.make_can_msg_safety("DAS_steeringControl", bus, values)
+
+  def _angle_meas_msg(self, angle: float, hands_on_level: int = 0, eac_status: int = 1, eac_error_code: int = 0):
+    values = {"EPAS3S_internalSAS": angle, "EPAS3S_handsOnLevel": hands_on_level,
+              "EPAS3S_eacStatus": eac_status, "EPAS3S_eacErrorCode": eac_error_code,
+              "EPAS3S_sysStatusCounter": self.cnt_epas % 16}
+    self.__class__.cnt_epas += 1
+    return self.packer.make_can_msg_safety("EPAS3S_sysStatus", 0, values)
+
+  def _user_brake_msg(self, brake, quality_flag: bool = True):
+    values = {"ESP_driverBrakeApply": 2 if brake else 1}
+    if not quality_flag:
+      values["ESP_driverBrakeApply"] = random.choice((0, 3))  # NotInit_orOff, Faulty_SNA
+    return self.packer.make_can_msg_safety("ESP_status", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {"DI_vehicleSpeed": speed * 3.6}
+    return self.packer.make_can_msg_safety("DI_speed", 0, values)
+
+  def _speed_msg_2(self, speed, quality_flag=True):
+    values = {"ESP_vehicleSpeed": speed * 3.6, "ESP_wheelSpeedsQF": quality_flag}
+    return self.packer.make_can_msg_safety("ESP_B", 0, values)
+
+  def _vehicle_moving_msg(self, speed: float, quality_flag=True):
+    values = {"ESP_vehicleStandstillSts": 1 if speed <= self.STANDSTILL_THRESHOLD else 0,
+              "ESP_wheelSpeedsQF": quality_flag}
+    return self.packer.make_can_msg_safety("ESP_B", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"DI_accelPedalPos": gas}
+    return self.packer.make_can_msg_safety("DI_systemStatus", 0, values)
+
+  def _pcm_status_msg(self, enable, autopark_state=0):
+    values = {
+      "DI_cruiseState": 2 if enable else 0,
+      "DI_autoparkState": autopark_state,
+    }
+    return self.packer.make_can_msg_safety("DI_state", 0, values)
+
+  def _long_control_msg(self, set_speed, acc_state=0, jerk_limits=(0, 0), accel_limits=(0, 0), aeb_event=0, bus=0):
+    values = {
+      "DAS_setSpeed": set_speed,
+      "DAS_accState": acc_state,
+      "DAS_aebEvent": aeb_event,
+      "DAS_jerkMin": jerk_limits[0],
+      "DAS_jerkMax": jerk_limits[1],
+      "DAS_accelMin": accel_limits[0],
+      "DAS_accelMax": accel_limits[1],
+    }
+    return self.packer.make_can_msg_safety("DAS_control", bus, values)
+
+  def _accel_msg(self, accel: float):
+    # For common.LongitudinalAccelSafetyTest
+    return self._long_control_msg(10, accel_limits=(accel, max(accel, 0)))
+
+  def test_rx_hook(self):
+    # counter check
+    for msg_type in ("angle", "long", "speed", "speed_2"):
+      # send multiple times to verify counter checks
+      for i in range(10):
+        if msg_type == "angle":
+          msg = self._angle_cmd_msg(0, True, bus=2)
+        elif msg_type == "long":
+          msg = self._long_control_msg(0, bus=2)
+        elif msg_type == "speed":
+          msg = self._speed_msg(0)
+        elif msg_type == "speed_2":
+          msg = self._speed_msg_2(0)
+
+        should_rx = i >= 5
+        if not should_rx:
+          # mess with checksums
+          if msg_type == "angle":
+            msg[0].data[3] = 0
+          elif msg_type == "long":
+            msg[0].data[7] = 0
+          elif msg_type == "speed":
+            msg[0].data[0] = 0
+          elif msg_type == "speed_2":
+            msg[0].data[7] = 0
+
+        self.safety.set_controls_allowed(True)
+        self.assertEqual(should_rx, self._rx(msg))
+        self.assertEqual(should_rx, self.safety.get_controls_allowed())
+
+      # Send static counters
+      for i in range(MAX_WRONG_COUNTERS + 1):
+        should_rx = i + 1 < MAX_WRONG_COUNTERS
+        self.assertEqual(should_rx, self._rx(msg))
+        self.assertEqual(should_rx, self.safety.get_controls_allowed())
+
+  def test_vehicle_speed_measurements(self):
+    # OVERRIDDEN: 79.1667 is the max speed in m/s
+    self._common_measurement_test(self._speed_msg, 0, 285 / 3.6, 1,
+                                  self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
+
+  def test_rx_hook_speed_mismatch(self):
+    # TODO: overridden because of custom rounding
+    # Tesla relies on speed for lateral limits close to ISO 11270, so it checks two sources
+    for speed in np.arange(0, 40, 0.5):
+      # match signal rounding on CAN
+      speed = away_round(speed / 0.08 * 3.6) * 0.08 / 3.6
+      for speed_delta in np.arange(-5, 5, 0.1):
+        speed_2 = max(speed + speed_delta, 0)
+        speed_2 = away_round(speed_2 * 2 * 3.6) / 2 / 3.6
+
+        # Set controls allowed in between rx since first message can reset it
+        self.assertTrue(self._rx(self._speed_msg(speed)))
+        self.safety.set_controls_allowed(True)
+        self.assertTrue(self._rx(self._speed_msg_2(speed_2)))
+
+        within_delta = abs(speed - speed_2) <= MAX_SPEED_DELTA
+        self.assertEqual(self.safety.get_controls_allowed(), within_delta)
+
+    # Test ESP_B quality flag
+    for quality_flag in (True, False):
+      self.safety.set_controls_allowed(True)
+      self.assertTrue(self._rx(self._speed_msg(0)))
+      self.assertEqual(quality_flag, self._rx(self._speed_msg_2(0, quality_flag=quality_flag)))
+      self.assertEqual(quality_flag, self.safety.get_controls_allowed())
+
+  def test_rt_limits(self):
+    self._test_rt_limits()
+
+  def test_user_brake_quality_flag(self):
+    for quality_flag in (True, False):
+      msg = self._user_brake_msg(True, quality_flag=quality_flag)
+      self.assertEqual(quality_flag, self._rx(msg))
+
+  def test_steering_wheel_disengage(self):
+    # Tesla disengages when the user forcibly overrides the locked-in angle steering control
+    # Either when the hands on level is high, or if there is a high angle rate fault
+    for hands_on_level in range(4):
+      for eac_status in range(8):
+        for eac_error_code in range(16):
+          self.safety.set_controls_allowed(True)
+
+          should_disengage = hands_on_level >= 3 or (eac_status == 0 and eac_error_code == 9)
+          self.assertTrue(self._rx(self._angle_meas_msg(0, hands_on_level=hands_on_level, eac_status=eac_status,
+                                                        eac_error_code=eac_error_code)))
+          self.assertNotEqual(should_disengage, self.safety.get_controls_allowed())
+          self.assertEqual(should_disengage, self.safety.get_steering_disengage_prev())
+
+          # Should not recover
+          self.assertTrue(self._rx(self._angle_meas_msg(0, hands_on_level=0, eac_status=1, eac_error_code=0)))
+          self.assertNotEqual(should_disengage, self.safety.get_controls_allowed())
+          self.assertFalse(self.safety.get_steering_disengage_prev())
+
+  def test_autopark_summon_while_enabled(self):
+    # We should not respect Autopark that activates while controls are allowed
+    self._rx(self._pcm_status_msg(True, 0))
+
+    self._rx(self._pcm_status_msg(True, self.autopark_states["SELFPARK_STARTED"]))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+    self.assertTrue(self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"])))
+
+    # We should still not respect Autopark if we disengage cruise
+    self._rx(self._pcm_status_msg(False, self.autopark_states["SELFPARK_STARTED"]))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.assertTrue(self._tx(self._angle_cmd_msg(0, False)))
+    self.assertTrue(self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"])))
+
+  def test_autopark_summon_behavior(self):
+    for autopark_state in range(16):
+      self._rx(self._pcm_status_msg(False, 0))
+
+      # We shouldn't allow controls if Autopark is an active state
+      autopark_active = autopark_state in self.active_autopark_states
+      self._rx(self._pcm_status_msg(False, autopark_state))
+      self._rx(self._pcm_status_msg(True, autopark_state))
+      self.assertNotEqual(autopark_active, self.safety.get_controls_allowed())
+
+      # We should also start blocking all inactive/active openpilot msgs
+      self.assertNotEqual(autopark_active, self._tx(self._angle_cmd_msg(0, False)))
+      self.assertNotEqual(autopark_active, self._tx(self._angle_cmd_msg(0, True)))
+      self.assertNotEqual(autopark_active, self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"])))
+      self.assertNotEqual(autopark_active or not self.LONGITUDINAL, self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_ON"])))
+
+      # Regain controls when Autopark disables
+      self._rx(self._pcm_status_msg(True, 0))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.assertTrue(self._tx(self._angle_cmd_msg(0, False)))
+      self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+      self.assertTrue(self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"])))
+      self.assertEqual(self.LONGITUDINAL, self._tx(self._long_control_msg(0, acc_state=self.acc_states["ACC_ON"])))
+
+  def test_steering_control_type(self):
+    # Only angle control is allowed (no LANE_KEEP_ASSIST or EMERGENCY_LANE_KEEP)
+    self.safety.set_controls_allowed(True)
+    for steer_control_type in range(4):
+      should_tx = steer_control_type in (self.steer_control_types["NONE"],
+                                         self.steer_control_types["ANGLE_CONTROL"],
+                                         self.steer_control_types["LANE_KEEP_ASSIST"])
+      self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(0, state=steer_control_type)))
+
+  def test_stock_lkas_passthrough(self):
+    for control_type in ('ANGLE_CONTROL', 'LANE_KEEP_ASSIST'):
+      no_lkas_msg = self._angle_cmd_msg(0, state=False)
+      no_lkas_msg_cam = self._angle_cmd_msg(0, state=self.steer_control_types['NONE'], bus=2)
+      lkas_msg_cam = self._angle_cmd_msg(0, state=self.steer_control_types[control_type], bus=2)
+
+      self.assertEqual(1, self._rx(no_lkas_msg_cam))
+      self.assertEqual(-1, self.safety.safety_fwd_hook(2, no_lkas_msg_cam.addr))
+      self.assertTrue(self._tx(no_lkas_msg))
+
+      self.assertEqual(1, self._rx(lkas_msg_cam))
+      self.assertEqual(0, self.safety.safety_fwd_hook(2, lkas_msg_cam.addr))
+      self.assertFalse(self._tx(no_lkas_msg))
+
+  def test_fsd_visualization(self):
+    self.safety.set_current_safety_param_iq(TeslaSafetyFlagsIQ.FSD_VISUALIZATION)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+    stock_msg = self._angle_cmd_msg(0, state=self.steer_control_types['ANGLE_CONTROL'], bus=2)
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, stock_msg.addr))
+    self.assertEqual(1, self._rx(stock_msg))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, stock_msg.addr))
+
+    self.safety.set_controls_allowed(True)
+    iq_msg = self._angle_cmd_msg(0, state=self.steer_control_types['ANGLE_CONTROL'])
+    self.assertTrue(self._tx(iq_msg))
+
+  def test_angle_cmd_when_enabled(self):
+    # We properly test lateral acceleration and jerk below
+    pass
+
+  def test_lateral_accel_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match DI_vehicleSpeed rounding on CAN
+      speed = round_speed(away_round(speed / 0.08 * 3.6) * 0.08 / 3.6)
+      for sign in (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+
+        # angle signal can't represent 0, so it biases one unit down
+        angle_unit_offset = -1 if sign == -1 else 0
+
+        # at limit (safety tolerance adds 1)
+        max_angle = round_angle(get_max_angle_vm(speed, self.VM, CarControllerParams), angle_unit_offset + 1) * sign
+        max_angle = np.clip(max_angle, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX)
+        self.safety.set_desired_angle_last(round(max_angle * self.DEG_TO_CAN))
+
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle, True)))
+
+        # 1 unit above limit
+        max_angle_raw = round_angle(get_max_angle_vm(speed, self.VM, CarControllerParams), angle_unit_offset + 2) * sign
+        max_angle = np.clip(max_angle_raw, -self.STEER_ANGLE_MAX, self.STEER_ANGLE_MAX)
+        self._tx(self._angle_cmd_msg(max_angle, True))
+
+        # at low speeds max angle is above 360, so adding 1 has no effect
+        should_tx = abs(max_angle_raw) >= self.STEER_ANGLE_MAX
+        self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(max_angle, True)))
+
+  def test_lateral_jerk_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match DI_vehicleSpeed rounding on CAN
+      speed = round_speed(away_round(speed / 0.08 * 3.6) * 0.08 / 3.6)
+      for sign in (-1, 1):  # (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+        self._tx(self._angle_cmd_msg(0, True))
+
+        # angle signal can't represent 0, so it biases one unit down
+        angle_unit_offset = 1 if sign == -1 else 0
+
+        # Stay within limits
+        # Up
+        max_angle_delta = round_angle(get_max_angle_delta_vm(speed, self.VM, CarControllerParams), angle_unit_offset) * sign
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Inject too high rates
+        # Up
+        max_angle_delta = round_angle(get_max_angle_delta_vm(speed, self.VM, CarControllerParams), angle_unit_offset + 1) * sign
+        self.assertFalse(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.safety.set_desired_angle_last(round(max_angle_delta * self.DEG_TO_CAN))
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertFalse(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Recover
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+
+
+class TestTeslaStockSafety(TestTeslaSafetyBase):
+
+  LONGITUDINAL = False
+
+  def test_cancel(self):
+    for acc_state in range(16):
+      self.safety.set_controls_allowed(True)
+      should_tx = acc_state == self.acc_states["ACC_CANCEL_GENERIC_SILENT"]
+      self.assertFalse(self._tx(self._long_control_msg(0, acc_state=acc_state, accel_limits=(self.MIN_ACCEL, self.MAX_ACCEL))))
+      self.assertEqual(should_tx, self._tx(self._long_control_msg(0, acc_state=acc_state)))
+
+  def test_no_aeb(self):
+    for aeb_event in range(4):
+      should_tx = aeb_event == 0
+      ret = self._tx(self._long_control_msg(10, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"], aeb_event=aeb_event))
+      self.assertEqual(ret, should_tx)
+
+  def test_stock_aeb_no_cancel(self):
+    # No passthrough logic since we always forward DAS_control,
+    # but ensure we can't send cancel cmd while stock AEB is active
+    no_aeb_msg = self._long_control_msg(10, acc_state=self.acc_states["ACC_CANCEL_GENERIC_SILENT"], aeb_event=0)
+    no_aeb_msg_cam = self._long_control_msg(10, aeb_event=0, bus=2)
+    aeb_msg_cam = self._long_control_msg(10, aeb_event=1, bus=2)
+
+    # stock system sends no AEB -> no forwarding, and OP is allowed to TX
+    self.assertEqual(1, self._rx(no_aeb_msg_cam))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, no_aeb_msg_cam.addr))
+    self.assertTrue(self._tx(no_aeb_msg))
+
+    # stock system sends AEB -> forwarding, and OP is not allowed to TX
+    self.assertEqual(1, self._rx(aeb_msg_cam))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, aeb_msg_cam.addr))
+    self.assertFalse(self._tx(no_aeb_msg))
+
+
+class TestTeslaLegacyDasSteeringStockSafety(TestTeslaStockSafety):
+  SAFETY_PARAM = TeslaSafetyFlags.LEGACY_DAS_STEERING
+  STEER_TYPE_SHIFT = 1
+
+
+class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
+  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL
+
+  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]}
+
+  def test_no_aeb(self):
+    for aeb_event in range(4):
+      self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
+
+  def test_stock_aeb_passthrough(self):
+    no_aeb_msg = self._long_control_msg(10, aeb_event=0)
+    no_aeb_msg_cam = self._long_control_msg(10, aeb_event=0, bus=2)
+    aeb_msg_cam = self._long_control_msg(10, aeb_event=1, bus=2)
+
+    # stock system sends no AEB -> no forwarding, and OP is allowed to TX
+    self.assertEqual(1, self._rx(no_aeb_msg_cam))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, no_aeb_msg_cam.addr))
+    self.assertTrue(self._tx(no_aeb_msg))
+
+    # stock system sends AEB -> forwarding, and OP is not allowed to TX
+    self.assertEqual(1, self._rx(aeb_msg_cam))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, aeb_msg_cam.addr))
+    self.assertFalse(self._tx(no_aeb_msg))
+
+  def test_prevent_reverse(self):
+    # Note: Tesla can reverse while at a standstill if both accel_min and accel_max are negative.
+    self.safety.set_controls_allowed(True)
+
+    # accel_min and accel_max are positive
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(1.1, 0.8))))
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(1.1, 0.8))))
+
+    # accel_min and accel_max are both zero
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(0, 0))))
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0, 0))))
+
+    # accel_min and accel_max have opposing signs
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=10, accel_limits=(-0.8, 1.3))))
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0.8, -1.3))))
+    self.assertTrue(self._tx(self._long_control_msg(set_speed=0, accel_limits=(0, -1.3))))
+
+    # accel_min and accel_max are negative
+    self.assertFalse(self._tx(self._long_control_msg(set_speed=10, accel_limits=(-1.1, -0.6))))
+    self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.6, -1.1))))
+    self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))
+
+
+class TestTeslaLegacyDasSteeringLongitudinalSafety(TestTeslaLongitudinalSafety):
+  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.LEGACY_DAS_STEERING
+  STEER_TYPE_SHIFT = 1
+
+
+class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
+
+  LONGITUDINAL = False
+
+  # With the vehicle bus harness, DAS_bodyControls is also TX'd on bus 1 (blinker MITM)
+  TX_MSGS = [*TestTeslaSafetyBase.TX_MSGS, [MSG_DAS_bodyControls, 1]]
+
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.packer_adas = CANPackerSafety("tesla_model3_vehicle")
+    self.safety.set_current_safety_param_iq(TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
+    self.safety.init_tests()
+
+  def _lkas_button_msg(self, enabled):
+    values = {"UI_activeTouchPoints": 3 if enabled else 0}
+    return self.packer_adas.make_can_msg_safety("UI_status2", CANBUS.vehicle, values)
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_toyota.py

@@ -0,0 +1,540 @@
+#!/usr/bin/env python3
+import numpy as np
+import random
+import unittest
+import itertools
+
+from iqdbc.car.toyota.values import ToyotaSafetyFlags
+from iqdbc.lvbs.car.toyota.values import ToyotaSafetyFlagsIQ
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety, parameterized_safety_class
+from iqdbc.safety.tests.gas_interceptor_common import GasInterceptorSafetyTest
+
+TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]]  # LKAS + LTA + ACC & PCM cancel cmds
+TOYOTA_SECOC_TX_MSGS = [[0x131, 0], [0x183, 0]] + TOYOTA_COMMON_TX_MSGS
+TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
+                              [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
+                              [0x411, 0],  # PCS_HUD
+                              [0x750, 0]]  # radar diagnostic address
+GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
+
+UNSUPPORTED_DSU = [
+  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.LKAS_HUD},
+  {"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU | ToyotaSafetyFlagsIQ.LKAS_HUD},
+]
+
+
+class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyTest):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x343)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
+  EPS_SCALE = 73
+
+  SAFETY_PARAM_IQ: int = ToyotaSafetyFlagsIQ.LKAS_HUD
+
+  packer: CANPackerSafety
+  safety: libsafety_py.LibSafety
+
+  def _torque_meas_msg(self, torque: int, driver_torque: int | None = None):
+    values = {"STEER_TORQUE_EPS": (torque / self.EPS_SCALE) * 100.}
+    if driver_torque is not None:
+      values["STEER_TORQUE_DRIVER"] = driver_torque
+    return self.packer.make_can_msg_safety("STEER_TORQUE_SENSOR", 0, values)
+
+  # Both torque and angle safety modes test with each other's steering commands
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"STEER_TORQUE_CMD": torque, "STEER_REQUEST": steer_req}
+    return self.packer.make_can_msg_safety("STEERING_LKA", 0, values)
+
+  def _angle_meas_msg(self, angle: float, steer_angle_initializing: bool = False):
+    # This creates a steering torque angle message. Not set on all platforms,
+    # relative to init angle on some older TSS2 platforms. Only to be used with LTA
+    values = {"STEER_ANGLE": angle, "STEER_ANGLE_INITIALIZING": int(steer_angle_initializing)}
+    return self.packer.make_can_msg_safety("STEER_TORQUE_SENSOR", 0, values)
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool):
+    return self._lta_msg(int(enabled), int(enabled), angle, torque_wind_down=100 if enabled else 0)
+
+  def _lta_msg(self, req, req2, angle_cmd, torque_wind_down=100):
+    values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd, "TORQUE_WIND_DOWN": torque_wind_down}
+    return self.packer.make_can_msg_safety("STEERING_LTA", 0, values)
+
+  def _accel_msg_343(self, accel, cancel_req=0):
+    values = {"ACCEL_CMD": accel, "CANCEL_REQ": cancel_req}
+    return self.packer.make_can_msg_safety("ACC_CONTROL", 0, values)
+
+  def _accel_msg(self, accel, cancel_req=0):
+    return self._accel_msg_343(accel, cancel_req)
+
+  def _speed_msg(self, speed):
+    values = {("WHEEL_SPEED_%s" % n): speed * 3.6 for n in ["FR", "FL", "RR", "RL"]}
+    return self.packer.make_can_msg_safety("WHEEL_SPEEDS", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_safety("BRAKE_MODULE", 0, values)
+
+  def _user_gas_msg(self, gas):
+    cruise_active = self.safety.get_controls_allowed()
+    values = {"GAS_RELEASED": not gas, "CRUISE_ACTIVE": cruise_active}
+    return self.packer.make_can_msg_safety("PCM_CRUISE", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CRUISE_ACTIVE": enable}
+    return self.packer.make_can_msg_safety("PCM_CRUISE", 0, values)
+
+  def _acc_state_msg(self, enabled):
+    msg = "DSU_CRUISE" if self.SAFETY_PARAM_IQ & ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU else "PCM_CRUISE_2"
+    values = {"MAIN_ON": enabled}
+    return self.packer.make_can_msg_safety(msg, 0, values)
+
+  def _lkas_button_msg(self, lkas_button=False, lda_value=None):
+    values = {"LDA_ON_MESSAGE": (1 if lkas_button else 0) if lda_value is None else lda_value}
+    return self.packer.make_can_msg_safety("LKAS_HUD", 2, values)
+
+  def test_enable_control_allowed_with_aol_button(self):
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ | ToyotaSafetyFlagsIQ.LKAS_HUD)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
+    self.safety.init_tests()
+    for enable_aol in (True, False):
+      with self.subTest("enable_aol", aol_enabled=enable_aol):
+        self.safety.set_aol_params(enable_aol, False, False)
+
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(0, self.safety.get_aol_button_press())
+        self.assertFalse(self.safety.get_controls_allowed_lat())
+
+        self._rx(self._lkas_button_msg(True))
+        self.assertEqual(1, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self._rx(self._lkas_button_msg(False))
+        self.assertEqual(0, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+
+        self.safety.set_controls_allowed_lat(False)
+        self._rx(self._lkas_button_msg(False, lda_value=2))
+        self.assertEqual(1, self.safety.get_aol_button_press())
+        self.assertEqual(enable_aol, self.safety.get_controls_allowed_lat())
+        self._rx(self._lkas_button_msg(False))
+        self.safety.set_controls_allowed_lat(False)
+        self.safety.set_aol_params(False, False, False)
+
+  def test_lkas_button_requires_lkas_hud(self):
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ & ~ToyotaSafetyFlagsIQ.LKAS_HUD)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
+    self.safety.init_tests()
+    self.safety.set_aol_params(True, False, False)
+    button_state = self.safety.get_aol_button_press()
+    self._rx(self._lkas_button_msg(True))
+    self.assertEqual(button_state, self.safety.get_aol_button_press())
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+
+  def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
+    for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"),  # fwdCamera tester present
+                           (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"),  # non-tester present
+                           (True, b"\x0F\x02\x3E\x00\x00\x00\x00\x00")):
+      tester_present = libsafety_py.make_CANPacket(0x750, 0, msg)
+      self.assertEqual(should_tx and ecu_disabled and not stock_longitudinal, self._tx(tester_present))
+
+  def test_block_aeb(self, stock_longitudinal: bool = False):
+    for controls_allowed in (True, False):
+      for bad in (True, False):
+        for _ in range(10):
+          self.safety.set_controls_allowed(controls_allowed)
+          dat = [random.randint(1, 255) for _ in range(7)]
+          if not bad:
+            dat = [0]*6 + dat[-1:]
+          msg = libsafety_py.make_CANPacket(0x283, 0, bytes(dat))
+          self.assertEqual(not bad and not stock_longitudinal, self._tx(msg))
+
+  # Only allow LTA msgs with no actuation
+  def test_lta_steer_cmd(self):
+    for engaged, req, req2, torque_wind_down, angle in itertools.product([True, False],
+                                                                  [0, 1], [0, 1],
+                                                                  [0, 50, 100],
+                                                                  np.linspace(-20, 20, 5)):
+      self.safety.set_controls_allowed(engaged)
+
+      should_tx = not req and not req2 and angle == 0 and torque_wind_down == 0
+      self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)),
+                       f"{req=} {req2=} {angle=} {torque_wind_down=}")
+
+  def test_rx_hook(self):
+    # checksum checks
+    for msg in ["trq", "pcm"]:
+      self.safety.set_controls_allowed(1)
+      if msg == "trq":
+        msg = self._torque_meas_msg(0)
+      if msg == "pcm":
+        msg = self._pcm_status_msg(True)
+      self.assertTrue(self._rx(msg))
+      msg[0].data[4] = 0
+      msg[0].data[5] = 0
+      msg[0].data[6] = 0
+      msg[0].data[7] = 0
+      self.assertFalse(self._rx(msg))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+
+class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSafetyBase):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS
+  INTERCEPTOR_THRESHOLD = 805
+
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ | ToyotaSafetyFlagsIQ.GAS_INTERCEPTOR)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
+    self.safety.init_tests()
+
+  def test_stock_longitudinal(self):
+    # If stock longitudinal is set, the gas interceptor safety param should not be respected
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ | ToyotaSafetyFlagsIQ.GAS_INTERCEPTOR)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param() | ToyotaSafetyFlags.STOCK_LONGITUDINAL)
+    self.safety.init_tests()
+
+    # Spot check a few gas interceptor tests: (1) reading interceptor,
+    # (2) behavior around interceptor, and (3) txing interceptor msgs
+    for test in (self.test_prev_gas_interceptor, self.test_no_disengage_on_gas_interceptor,
+                 self.test_gas_interceptor_safety_check):
+      with self.subTest(test=test.__name__):
+        with self.assertRaises(AssertionError):
+          test()
+
+
+@parameterized_safety_class(UNSUPPORTED_DSU)
+class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
+
+  MAX_RATE_UP = 15
+  MAX_RATE_DOWN = 25
+  MAX_TORQUE_LOOKUP = [0], [1500]
+  MAX_RT_DELTA = 450
+  MAX_TORQUE_ERROR = 350
+  TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conservative for rounding
+
+  # Safety around steering req bit
+  MIN_VALID_STEERING_FRAMES = 17
+  MAX_INVALID_STEERING_FRAMES = 1
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestToyotaSafetyTorque":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE)
+    self.safety.init_tests()
+
+
+@parameterized_safety_class(UNSUPPORTED_DSU)
+class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque):
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestToyotaSafetyTorqueGasInterceptor":
+      cls.safety = None
+      raise unittest.SkipTest
+
+
+class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest):
+
+  # Angle control limits
+  STEER_ANGLE_MAX = 94.9461  # deg
+  DEG_TO_CAN = 17.452007  # 1 / 0.0573 deg to can
+
+  ANGLE_RATE_BP = [5., 25., 25.]
+  ANGLE_RATE_UP = [0.3, 0.15, 0.15]  # windup limit
+  ANGLE_RATE_DOWN = [0.36, 0.26, 0.26]  # unwind limit
+
+  MAX_LTA_ANGLE = 94.9461  # PCS faults if commanding above this, deg
+  MAX_MEAS_TORQUE = 1500  # max allowed measured EPS torque before wind down
+  MAX_LTA_DRIVER_TORQUE = 150  # max allowed driver torque before wind down
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.LTA)
+    self.safety.init_tests()
+
+  # Only allow LKA msgs with no actuation
+  def test_lka_steer_cmd(self):
+    for engaged, steer_req, torque in itertools.product([True, False],
+                                                        [0, 1],
+                                                        np.linspace(-1500, 1500, 7)):
+      self.safety.set_controls_allowed(engaged)
+      torque = int(torque)
+      self.safety.set_rt_torque_last(torque)
+      self.safety.set_torque_meas(torque, torque)
+      self.safety.set_desired_torque_last(torque)
+
+      should_tx = not steer_req and torque == 0
+      self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(torque, steer_req)))
+
+  def test_lta_steer_cmd(self):
+    """
+    Tests the LTA steering command message
+    controls_allowed:
+    * STEER_REQUEST and STEER_REQUEST_2 do not mismatch
+    * TORQUE_WIND_DOWN is only set to 0 or 100 when STEER_REQUEST and STEER_REQUEST_2 are both 1
+    * Full torque messages are blocked if either EPS torque or driver torque is above the threshold
+
+    not controls_allowed:
+    * STEER_REQUEST, STEER_REQUEST_2, and TORQUE_WIND_DOWN are all 0
+    """
+    for controls_allowed in (True, False):
+      for angle in np.arange(-90, 90, 1):
+        self.safety.set_controls_allowed(controls_allowed)
+        self._reset_angle_measurement(angle)
+        self._set_prev_desired_angle(angle)
+
+        self.assertTrue(self._tx(self._lta_msg(0, 0, angle, 0)))
+        if controls_allowed:
+          # Test the two steer request bits and TORQUE_WIND_DOWN torque wind down signal
+          for req, req2, torque_wind_down in itertools.product([0, 1], [0, 1], [0, 50, 100]):
+            mismatch = not (req or req2) and torque_wind_down != 0
+            should_tx = req == req2 and (torque_wind_down in (0, 100)) and not mismatch
+            self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)))
+
+          # Test max EPS torque and driver override thresholds
+          cases = itertools.product(
+            (0, self.MAX_MEAS_TORQUE - 1, self.MAX_MEAS_TORQUE, self.MAX_MEAS_TORQUE + 1, self.MAX_MEAS_TORQUE * 2),
+            (0, self.MAX_LTA_DRIVER_TORQUE - 1, self.MAX_LTA_DRIVER_TORQUE, self.MAX_LTA_DRIVER_TORQUE + 1, self.MAX_LTA_DRIVER_TORQUE * 2)
+          )
+
+          for eps_torque, driver_torque in cases:
+            for sign in (-1, 1):
+              for _ in range(6):
+                self._rx(self._torque_meas_msg(sign * eps_torque, sign * driver_torque))
+
+              # Toyota adds 1 to EPS torque since it is rounded after EPS factor
+              should_tx = (eps_torque - 1) <= self.MAX_MEAS_TORQUE and driver_torque <= self.MAX_LTA_DRIVER_TORQUE
+              self.assertEqual(should_tx, self._tx(self._lta_msg(1, 1, angle, 100)))
+              self.assertTrue(self._tx(self._lta_msg(1, 1, angle, 0)))  # should tx if we wind down torque
+
+        else:
+          # Controls not allowed
+          for req, req2, torque_wind_down in itertools.product([0, 1], [0, 1], [0, 50, 100]):
+            should_tx = not (req or req2) and torque_wind_down == 0
+            self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)))
+
+  def test_angle_measurements(self):
+    """
+    * Tests angle meas quality flag dictates whether angle measurement is parsed, and if rx is valid
+    * Tests rx hook correctly clips the angle measurement, since it is to be compared to LTA cmd when inactive
+    """
+    for steer_angle_initializing in (True, False):
+      for angle in np.arange(0, self.STEER_ANGLE_MAX * 2, 1):
+        # If init flag is set, do not rx or parse any angle measurements
+        for a in (angle, -angle, 0, 0, 0, 0):
+          self.assertEqual(not steer_angle_initializing,
+                           self._rx(self._angle_meas_msg(a, steer_angle_initializing)))
+
+        final_angle = 0 if steer_angle_initializing else round(angle * self.DEG_TO_CAN)
+        self.assertEqual(self.safety.get_angle_meas_min(), -final_angle)
+        self.assertEqual(self.safety.get_angle_meas_max(), final_angle)
+
+        self._rx(self._angle_meas_msg(0))
+        self.assertEqual(self.safety.get_angle_meas_min(), -final_angle)
+        self.assertEqual(self.safety.get_angle_meas_max(), 0)
+
+        self._rx(self._angle_meas_msg(0))
+        self.assertEqual(self.safety.get_angle_meas_min(), 0)
+        self.assertEqual(self.safety.get_angle_meas_max(), 0)
+
+
+class TestToyotaSafetyAngleGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyAngle):
+  pass
+
+
+@parameterized_safety_class(UNSUPPORTED_DSU)
+class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestToyotaAltBrakeSafety":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_new_mc_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.ALT_BRAKE)
+    self.safety.init_tests()
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_PRESSED": brake}
+    return self.packer.make_can_msg_safety("BRAKE_MODULE", 0, values)
+
+  # No LTA message in the DBC
+  def test_lta_steer_cmd(self):
+    pass
+
+
+@parameterized_safety_class(UNSUPPORTED_DSU)
+class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety):
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestToyotaAltBrakeSafetyGasInterceptor":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  # No LTA message in the DBC
+  def test_lta_steer_cmd(self):
+    pass
+
+
+class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS
+  # Base addresses minus ACC_CONTROL (0x343)
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]}
+
+  LONGITUDINAL = False
+
+  def test_diagnostics(self, stock_longitudinal: bool = True, ecu_disabled: bool = True):
+    super().test_diagnostics(stock_longitudinal=stock_longitudinal, ecu_disabled=ecu_disabled)
+
+  def test_block_aeb(self, stock_longitudinal: bool = True):
+    super().test_block_aeb(stock_longitudinal=stock_longitudinal)
+
+  def test_acc_cancel(self):
+    """
+      Regardless of controls allowed, never allow ACC_CONTROL if cancel bit isn't set
+    """
+    for controls_allowed in [True, False]:
+      self.safety.set_controls_allowed(controls_allowed)
+      for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.1):
+        self.assertFalse(self._tx(self._accel_msg_343(accel)))
+        should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
+        self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
+
+
+@parameterized_safety_class(UNSUPPORTED_DSU)
+class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToyotaSafetyTorque):
+
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestToyotaStockLongitudinalTorque":
+      cls.safety = None
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL)
+    self.safety.init_tests()
+
+
+class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyotaSafetyAngle):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
+                                 self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.LTA)
+    self.safety.init_tests()
+
+
+class TestToyotaSecOcSafetyBase(TestToyotaSafetyBase):
+
+  TX_MSGS = TOYOTA_SECOC_TX_MSGS
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x131)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x191, 0x412, 0x131]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
+                                 self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
+    self.safety.init_tests()
+
+  def test_diagnostics(self, ecu_disabled: bool = False):
+    super().test_diagnostics(ecu_disabled=ecu_disabled)
+
+  # This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL_USER": gas}
+    return self.packer.make_can_msg_safety("GAS_PEDAL", 0, values)
+
+  # This platform sends both STEERING_LTA (same as other Toyota) and STEERING_LTA_2 (SecOC signed)
+  # STEERING_LTA is checked for no-actuation by the base class, STEERING_LTA_2 is checked for no-actuation below
+
+  def _lta_2_msg(self, req, req2, angle_cmd, torque_wind_down=100):
+    values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd}
+    return self.packer.make_can_msg_safety("STEERING_LTA_2", 0, values)
+
+  def test_lta_2_steer_cmd(self):
+    for engaged, req, req2, angle in itertools.product([True, False], [0, 1], [0, 1], np.linspace(-20, 20, 5)):
+      self.safety.set_controls_allowed(engaged)
+
+      should_tx = not req and not req2 and angle == 0
+      self.assertEqual(should_tx, self._tx(self._lta_2_msg(req, req2, angle)), f"{req=} {req2=} {angle=}")
+
+  def _accel_msg_183(self, accel):
+    values = {"ACCEL_CMD": accel}
+    return self.packer.make_can_msg_safety("ACC_CONTROL_2", 0, values)
+
+  def _accel_msg(self, accel, cancel_req=0):
+    return self._accel_msg_183(accel)
+
+
+class TestToyotaSecOcSafetyStockLongitudinal(TestToyotaSecOcSafetyBase, TestToyotaStockLongitudinalBase):
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
+                                 self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.SECOC)
+    self.safety.init_tests()
+
+
+class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412, 0x131, 0x343, 0x183)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x191, 0x412, 0x131, 0x343, 0x183]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("toyota_secoc_pt_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
+    self.safety.init_tests()
+
+  def test_block_aeb(self, stock_longitudinal: bool = False):
+    for data in (bytes(8), bytes([1] * 8), bytes([255] * 8)):
+      self.assertFalse(self._tx(libsafety_py.make_CANPacket(0x283, 0, data)))
+
+  def test_343_actuation_blocked(self):
+    """
+    For SecOC cars, longitudinal acceleration must be sent in ACC_CONTROL_2, but all other ACC
+    data remains in ACC_CONTROL. Verify no actuation is sent via ACC_CONTROL.
+    """
+    for controls_allowed in [True, False]:
+      self.safety.set_controls_allowed(controls_allowed)
+      for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.1):
+        should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
+        self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel)))
+        self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_volkswagen_meb.py

@@ -0,0 +1,241 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
+from iqdbc.car.lateral import ISO_LATERAL_JERK
+
+MAX_ACCEL = 2.0
+MIN_ACCEL = -3.5
+
+MSG_ESC_51 = 0xFC
+MSG_QFK_01 = 0x13D
+MSG_Motor_54 = 0x14C
+MSG_Motor_51 = 0x10B
+MSG_ACC_18 = 0x14D
+MSG_MEB_ACC_01 = 0x300
+MSG_HCA_03 = 0x303
+MSG_GRA_ACC_01 = 0x12B
+MSG_LDW_02 = 0x397
+MSG_MOTOR_14 = 0x3BE
+MSG_TA_01 = 0x26B
+MSG_KLR_01 = 0x25D
+MSG_EA_01 = 0x1A4
+MSG_EA_02 = 0x1F0
+MSG_AWV_03 = 0xDB
+MSG_MEB_DISTANCE_01 = 0x24F
+MSG_UDS_FUNCTIONAL = 0x700
+
+
+class TestVolkswagenMebSafetyBase(common.CarSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02, MSG_EA_02),
+                             2: (MSG_KLR_01,)}
+
+  CURVATURE_TO_CAN = 149253.7313
+  MAX_CURVATURE = 0.195
+  SEND_RATE = 0.02
+  MAX_POWER = 225
+  POWER_FACTOR = 0.4
+
+  def _speed_msg(self, speed_mps: float):
+    spd_kph = speed_mps * 3.6
+    values = {"HL_Radgeschw": spd_kph, "HR_Radgeschw": spd_kph, "VL_Radgeschw": spd_kph, "VR_Radgeschw": spd_kph}
+    return self.packer.make_can_msg_safety("ESC_51", 0, values)
+
+  def _speed_msg_2(self, speed: float):
+    return None
+
+  def _motor_14_msg(self, brake):
+    values = {"MO_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("Motor_14", 0, values)
+
+  def _user_brake_msg(self, brake):
+    return self._motor_14_msg(brake)
+
+  def _user_gas_msg(self, gas):
+    values = {"Accel_Pedal_Pressure": gas, "TSK_Status": 3}
+    return self.packer.make_can_msg_safety("Motor_51", 0, values)
+
+  def _tsk_status_msg(self, enable, main_switch=True):
+    tsk_status = 3 if enable else (2 if main_switch else 0)
+    values = {"TSK_Status": tsk_status}
+    return self.packer.make_can_msg_safety("Motor_51", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    return self._tsk_status_msg(enable)
+
+  def _curvature_meas_msg(self, curvature):
+    values = {"Curvature": abs(curvature), "Curvature_VZ": curvature > 0}
+    return self.packer.make_can_msg_safety("QFK_01", 0, values)
+
+  def _curvature_cmd_msg(self, curvature, steer_req=True, power=50):
+    values = {
+      "Curvature": abs(curvature),
+      "Curvature_VZ": curvature > 0,
+      "RequestStatus": 4 if steer_req else 0,
+      "Power": power,
+    }
+    return self.packer.make_can_msg_safety("HCA_03", 0, values)
+
+  def _button_msg(self, cancel=0, resume=0, _set=0, bus=2):
+    values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
+    return self.packer.make_can_msg_safety("GRA_ACC_01", bus, values)
+
+  def test_curvature_measurements(self):
+    self._rx(self._curvature_meas_msg(0.15))
+    self._rx(self._curvature_meas_msg(-0.1))
+    for _ in range(4):
+      self._rx(self._curvature_meas_msg(0))
+
+    self.assertEqual(int(-0.1 * self.CURVATURE_TO_CAN), self.safety.get_angle_meas_min())
+    self.assertEqual(int(0.15 * self.CURVATURE_TO_CAN), self.safety.get_angle_meas_max())
+
+    self._reset_safety_hooks()
+    self.assertEqual(0, self.safety.get_angle_meas_min())
+    self.assertEqual(0, self.safety.get_angle_meas_max())
+
+  def test_curvature_cmd_limits(self):
+    self._rx(self._speed_msg(0.0))
+    self._rx(self._curvature_meas_msg(0.0))
+    self.safety.set_controls_allowed(True)
+
+    self.safety.set_desired_angle_last(int(self.MAX_CURVATURE * self.CURVATURE_TO_CAN))
+    self.assertTrue(self._tx(self._curvature_cmd_msg(self.MAX_CURVATURE, True, power=50)))
+    self.safety.set_desired_angle_last(int(self.MAX_CURVATURE * self.CURVATURE_TO_CAN))
+    self.assertTrue(self._tx(self._curvature_cmd_msg(self.MAX_CURVATURE + 0.05, True, power=50)))
+
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0.0, False, power=0)))
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0.01, False, power=0)))
+
+    power_over = (self.MAX_POWER + 1) * self.POWER_FACTOR
+    self.assertTrue(self._tx(self._curvature_cmd_msg(0.0, True, power=power_over)))
+
+  def test_curvature_cmd_jerk_limit(self):
+    speed = 10.0
+    for _ in range(common.MAX_SAMPLE_VALS):
+      self._rx(self._speed_msg(speed))
+    self._rx(self._curvature_meas_msg(0.0))
+    self.safety.set_controls_allowed(True)
+
+    max_rate = ISO_LATERAL_JERK / (speed * speed)
+    max_delta = max_rate * self.SEND_RATE
+    prev = 0.0
+    self.safety.set_desired_angle_last(int(prev * self.CURVATURE_TO_CAN))
+
+    self.assertTrue(self._tx(self._curvature_cmd_msg(prev + max_delta * 0.9, True, power=50)))
+    self.safety.set_desired_angle_last(int(prev * self.CURVATURE_TO_CAN))
+    self.assertTrue(self._tx(self._curvature_cmd_msg(prev + max_delta * 3.0, True, power=50)))
+
+
+class TestVolkswagenMebStockSafety(TestVolkswagenMebSafetyBase):
+  TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2],
+             [MSG_EA_01, 0], [MSG_EA_02, 0], [MSG_KLR_01, 0], [MSG_KLR_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01],
+                           2: [MSG_HCA_03, MSG_LDW_02, MSG_EA_02]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=1)))
+    self.assertFalse(self._tx(self._button_msg(resume=1)))
+    self.assertFalse(self._tx(self._button_msg(_set=1)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(resume=1)))
+
+
+class TestVolkswagenMqbEvoStockSafety(TestVolkswagenMebStockSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mqbevo")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMqbEvo, VolkswagenSafetyFlags.NO_GAS_OFFSET)
+    self.safety.init_tests()
+
+
+class TestVolkswagenMebLongSafety(TestVolkswagenMebSafetyBase):
+  TX_MSGS = [[MSG_HCA_03, 0], [MSG_LDW_02, 0],
+             [MSG_MEB_ACC_01, 0], [MSG_ACC_18, 0], [MSG_TA_01, 0],
+             [MSG_EA_01, 0], [MSG_EA_02, 0], [MSG_KLR_01, 0], [MSG_KLR_01, 2],
+             [MSG_AWV_03, 0], [MSG_MEB_DISTANCE_01, 0], [MSG_UDS_FUNCTIONAL, 0]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_KLR_01],
+                           2: [MSG_HCA_03, MSG_LDW_02, MSG_EA_02, MSG_MEB_ACC_01, MSG_ACC_18, MSG_TA_01]}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_03, MSG_LDW_02, MSG_EA_02, MSG_TA_01, MSG_MEB_ACC_01, MSG_ACC_18),
+                             2: (MSG_KLR_01,)}
+  INACTIVE_ACCEL = 3.01
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_meb")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMeb, safety_param)
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel):
+    values = {"ACC_Sollbeschleunigung_02": accel}
+    return self.packer.make_can_msg_safety("ACC_18", 0, values)
+
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      self.safety.set_controls_allowed(0)
+      self._rx(self._tsk_status_msg(False, main_switch=False))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed())
+      self._rx(self._tsk_status_msg(False, main_switch=True))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed())
+      self._rx(self._button_msg(bus=0))
+      self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_cancel_button(self):
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(cancel=True, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_main_switch(self):
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._tsk_status_msg(False, main_switch=False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_accel_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
+        accel = round(accel, 2)
+        self.safety.set_controls_allowed(controls_allowed)
+        self.assertTrue(self._tx(self._accel_msg(accel)), (controls_allowed, accel))
+
+  def test_accel_allowed_with_gas_pressed(self):
+    self._rx(self._user_gas_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._accel_msg(0.5)))
+
+
+class TestVolkswagenMqbEvoLongSafety(TestVolkswagenMebLongSafety):
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mqbevo")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.NO_GAS_OFFSET | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMqbEvo, safety_param)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_volkswagen_mlb.py

@@ -0,0 +1,287 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
+
+MAX_ACCEL = 2.0
+MIN_ACCEL = -2.95               # MLB floor, the shared -3.5 faults the Q5 ACC ECU until an ignition cycle
+INACTIVE_ACCEL = 3.01           # one increment above the ACC_01 range max
+INACTIVE_ACCEL_TOLERANCE = 15   # raw counts, matches VOLKSWAGEN_MLB_INACTIVE_ACCEL_TOLERANCE
+
+MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
+MSG_ACC_01 = 0x109      # TX by OP, ACC acceleration request to the drivetrain coordinator
+MSG_ESP_03 = 0x103      # RX from ABS, for wheel speeds
+MSG_MOTOR_03 = 0x105    # RX from ECU, for driver throttle input and driver brake input
+MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
+MSG_LS_01 = 0x10B       # TX by OP, ACC control buttons for cancel/resume
+MSG_TSK_02 = 0x10C      # RX from ECU, for ACC status from drivetrain coordinator
+MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
+MSG_ACC_02 = 0x30C      # TX by OP, ACC HUD data to the instrument cluster
+MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
+
+
+class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02)}
+
+  MAX_RATE_UP = 9
+  MAX_RATE_DOWN = 10
+  MAX_TORQUE_LOOKUP = [0], [300]
+  MAX_RT_DELTA = 169
+
+  DRIVER_TORQUE_ALLOWANCE = 80
+  DRIVER_TORQUE_FACTOR = 3
+
+  # Wheel speeds _esp_03_msg
+  def _speed_msg(self, speed):
+    values = {"ESP_%s_Radgeschw" % s: speed for s in ["HL", "HR", "VL", "VR"]}
+    return self.packer.make_can_msg_safety("ESP_03", 0, values)
+
+  # Driver brake pressure over threshold
+  def _esp_05_msg(self, brake):
+    values = {"ESP_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("ESP_05", 0, values)
+
+  # Brake pedal switch
+  def _motor_03_msg(self, brake_signal=False, gas_signal=0):
+    values = {
+      "MO_BLS": brake_signal,
+      "MO_Fahrpedalrohwert_01": gas_signal,
+    }
+    return self.packer.make_can_msg_safety("Motor_03", 0, values)
+
+  def _user_brake_msg(self, brake):
+    return self._motor_03_msg(brake_signal=brake)
+
+  def _user_gas_msg(self, gas):
+    return self._motor_03_msg(gas_signal=gas)
+
+  # ACC engagement status
+  def _tsk_status_msg(self, enable, main_switch=True):
+    values = {"ACC_Status_ACC": 1 if not main_switch else 3 if enable else 2}
+    return self.packer.make_can_msg_safety("ACC_05", 2, values)
+
+  def _pcm_status_msg(self, enable):
+    return self._tsk_status_msg(enable)
+
+  # Driver steering input torque
+  def _torque_driver_msg(self, torque):
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
+    return self.packer.make_can_msg_safety("LH_EPS_03", 0, values)
+
+  # openpilot steering output torque
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"HCA_01_LM_Offset": abs(torque),
+              "HCA_01_LM_OffSign": torque < 0,
+              "HCA_01_Sendestatus": steer_req,
+              "HCA_01_Status_HCA": 7 if steer_req else 3}
+    return self.packer.make_can_msg_safety("HCA_01", 0, values)
+
+  # Cruise control buttons
+  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=2):
+    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
+              "LS_Hauptschalter": main_switch}
+    return self.packer.make_can_msg_safety("LS_01", bus, values)
+
+  # Acceleration request to drivetrain coordinator
+  def _acc_01_msg(self, accel):
+    values = {"ACC_Sollbeschleunigung": accel}
+    return self.packer.make_can_msg_safety("ACC_01", 0, values)
+
+  # Verify brake_pressed is true if either the switch or pressure threshold signals are true
+  def test_redundant_brake_signals(self):
+    test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
+    for brake_pressed, motor_03_signal, esp_05_signal in test_combinations:
+      self._rx(self._motor_03_msg(brake_signal=False))
+      self._rx(self._esp_05_msg(False))
+      self.assertFalse(self.safety.get_brake_pressed_prev())
+      self._rx(self._motor_03_msg(brake_signal=motor_03_signal))
+      self._rx(self._esp_05_msg(esp_05_signal))
+      self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
+                       f"expected {brake_pressed=} with {motor_03_signal=} and {esp_05_signal=}")
+
+  def test_torque_measurements(self):
+    # TODO: make this test work with all cars
+    self._rx(self._torque_driver_msg(50))
+    self._rx(self._torque_driver_msg(-50))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+    self.assertEqual(50, self.safety.get_torque_driver_max())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(0, self.safety.get_torque_driver_min())
+
+
+class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LS_01, 0], [MSG_LS_01, 2]]
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mlb")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(resume=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(_set=1)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._ls_01_msg(resume=1)))
+
+  def test_cancel_button(self):
+    # Disable on rising edge of cancel button
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._ls_01_msg(cancel=True, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+
+class TestVolkswagenMlbLongSafety(TestVolkswagenMlbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_ACC_01, 0], [MSG_ACC_02, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mlb")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, safety_param)
+    self.safety.init_tests()
+
+  # stock cruise controls are entirely bypassed under openpilot longitudinal control
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      # ACC main switch must be on, engage on falling edge
+      self.safety.set_controls_allowed(0)
+      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), main_switch=0, bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
+      self._rx(self._ls_01_msg(main_switch=0, bus=0))
+      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
+      self._rx(self._ls_01_msg(bus=0))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
+
+  def test_main_switch(self):
+    # Disable as soon as the ACC main switch turns off
+    self._rx(self._ls_01_msg(bus=0))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._ls_01_msg(main_switch=0, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
+
+  @staticmethod
+  def _acc_01_accel_on_wire(accel):
+    # ACC_Sollbeschleunigung: 11 bits, 0.005 m/s^2 per count, offset -7.22, scaled by 1000 in safety
+    raw = round((accel + 7.22) / 0.005) & 0x7FF
+    return raw * 5 - 7220
+
+  def test_accel_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, INACTIVE_ACCEL])):
+        accel = round(accel, 2)
+        on_wire = self._acc_01_accel_on_wire(accel)
+        is_inactive_accel = on_wire == 0 or abs(on_wire - 3010) <= INACTIVE_ACCEL_TOLERANCE
+        send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
+        self.safety.set_controls_allowed(controls_allowed)
+        self.assertEqual(send, self._tx(self._acc_01_msg(accel)), (controls_allowed, accel))
+
+  def test_accel_allowed_with_gas_pressed(self):
+    self._rx(self._user_gas_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._acc_01_msg(0.5)))
+
+
+class TestVolkswagenMlbNoEcanSafety(TestVolkswagenMlbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 1], [MSG_LDW_02, 1], [MSG_LS_01, 1]]
+  FWD_BLACKLISTED_ADDRS = {}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  RELAY_MALFUNCTION_ADDRS = {1: (MSG_HCA_01, MSG_LDW_02)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mlb")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, VolkswagenSafetyFlags.MLB_NO_ECAN)
+    self.safety.init_tests()
+
+  def _speed_msg(self, speed):
+    values = {"ESP_%s_Radgeschw" % s: speed for s in ["HL", "HR", "VL", "VR"]}
+    return self.packer.make_can_msg_safety("ESP_03", 1, values)
+
+  def _esp_05_msg(self, brake):
+    values = {"ESP_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("ESP_05", 1, values)
+
+  def _motor_03_msg(self, brake_signal=False, gas_signal=0):
+    values = {"MO_BLS": brake_signal, "MO_Fahrpedalrohwert_01": gas_signal}
+    return self.packer.make_can_msg_safety("Motor_03", 1, values)
+
+  def _torque_driver_msg(self, torque):
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
+    return self.packer.make_can_msg_safety("LH_EPS_03", 1, values)
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"HCA_01_LM_Offset": abs(torque),
+              "HCA_01_LM_OffSign": torque < 0,
+              "HCA_01_Sendestatus": steer_req,
+              "HCA_01_Status_HCA": 7 if steer_req else 3}
+    return self.packer.make_can_msg_safety("HCA_01", 1, values)
+
+  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=1):
+    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
+              "LS_Hauptschalter": main_switch}
+    return self.packer.make_can_msg_safety("LS_01", bus, values)
+
+  def _tsk_status_msg(self, enable, main_switch=True):
+    values = {"TSK_Status": 1 if enable else 0 if main_switch else 3}
+    return self.packer.make_can_msg_safety("TSK_02", 1, values)
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(resume=1)))
+    self.assertFalse(self._tx(self._ls_01_msg(_set=1)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._ls_01_msg(resume=1)))
+
+  def test_cancel_button(self):
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._ls_01_msg(cancel=True))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+  def test_ecan_bus_is_ignored(self):
+    self._rx(self._torque_driver_msg(0))
+    self.safety.set_controls_allowed(1)
+    self._rx(self.packer.make_can_msg_safety("LS_01", 0, {"LS_Abbrechen": 1, "LS_Hauptschalter": 1}))
+    self.assertTrue(self.safety.get_controls_allowed(), "bus 0 cancel disengaged a no-ECAN car")
+    self._rx(self.packer.make_can_msg_safety("LH_EPS_03", 0, {"EPS_Lenkmoment": 200, "EPS_VZ_Lenkmoment": 0}))
+    self.assertEqual(0, self.safety.get_torque_driver_max(), "bus 0 EPS torque reached the driver sample")
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_volkswagen_mqb.py

@@ -0,0 +1,223 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
+
+MAX_ACCEL = 2.0
+MIN_ACCEL = -3.5
+
+MSG_ESP_19 = 0xB2       # RX from ABS, for wheel speeds
+MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
+MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
+MSG_TSK_06 = 0x120      # RX from ECU, for ACC status from drivetrain coordinator
+MSG_MOTOR_20 = 0x121    # RX from ECU, for driver throttle input
+MSG_ACC_06 = 0x122      # TX by OP, ACC control instructions to the drivetrain coordinator
+MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
+MSG_GRA_ACC_01 = 0x12B  # TX by OP, ACC control buttons for cancel/resume
+MSG_ACC_07 = 0x12E      # TX by OP, ACC control instructions to the drivetrain coordinator
+MSG_ACC_02 = 0x30C      # TX by OP, ACC HUD data to the instrument cluster
+MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
+
+
+MSG_MQB_APD_1 = 0x6A0
+
+
+class TestVolkswagenMqbSafetyBase(common.CarSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02), 2: (MSG_LH_EPS_03,)}
+
+  MAX_RATE_UP = 4
+  MAX_RATE_DOWN = 10
+  MAX_TORQUE_LOOKUP = [0], [300]
+  MAX_RT_DELTA = 75
+
+  DRIVER_TORQUE_ALLOWANCE = 80
+  DRIVER_TORQUE_FACTOR = 3
+
+  # Wheel speeds _esp_19_msg
+  def _speed_msg(self, speed):
+    values = {"ESP_%s_Radgeschw_02" % s: speed for s in ["HL", "HR", "VL", "VR"]}
+    return self.packer.make_can_msg_safety("ESP_19", 0, values)
+
+  # Driver brake pressure over threshold
+  def _esp_05_msg(self, brake):
+    values = {"ESP_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("ESP_05", 0, values)
+
+  # Brake pedal switch
+  def _motor_14_msg(self, brake):
+    values = {"MO_Fahrer_bremst": brake}
+    return self.packer.make_can_msg_safety("Motor_14", 0, values)
+
+  def _user_brake_msg(self, brake):
+    return self._motor_14_msg(brake)
+
+  # Driver throttle input
+  def _user_gas_msg(self, gas):
+    values = {"MO_Fahrpedalrohwert_01": gas}
+    return self.packer.make_can_msg_safety("Motor_20", 0, values)
+
+  # ACC engagement status
+  def _tsk_status_msg(self, enable, main_switch=True):
+    if main_switch:
+      tsk_status = 3 if enable else 2
+    else:
+      tsk_status = 0
+    values = {"TSK_Status": tsk_status}
+    return self.packer.make_can_msg_safety("TSK_06", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    return self._tsk_status_msg(enable)
+
+  # Driver steering input torque
+  def _torque_driver_msg(self, torque):
+    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
+    return self.packer.make_can_msg_safety("LH_EPS_03", 0, values)
+
+  # openpilot steering output torque
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"HCA_01_LM_Offset": abs(torque), "HCA_01_LM_OffSign": torque < 0, "HCA_01_Sendestatus": steer_req}
+    return self.packer.make_can_msg_safety("HCA_01", 0, values)
+
+  # Cruise control buttons
+  def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0, bus=2):
+    values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume}
+    return self.packer.make_can_msg_safety("GRA_ACC_01", bus, values)
+
+  # Acceleration request to drivetrain coordinator
+  def _acc_06_msg(self, accel):
+    values = {"ACC_Sollbeschleunigung_02": accel}
+    return self.packer.make_can_msg_safety("ACC_06", 0, values)
+
+  # Acceleration request to drivetrain coordinator
+  def _acc_07_msg(self, accel, secondary_accel=3.02):
+    values = {"ACC_Sollbeschleunigung_02": accel, "ACC_Folgebeschl": secondary_accel}
+    return self.packer.make_can_msg_safety("ACC_07", 0, values)
+
+  # Verify brake_pressed is true if either the switch or pressure threshold signals are true
+  def test_redundant_brake_signals(self):
+    test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
+    for brake_pressed, motor_14_signal, esp_05_signal in test_combinations:
+      self._rx(self._motor_14_msg(False))
+      self._rx(self._esp_05_msg(False))
+      self.assertFalse(self.safety.get_brake_pressed_prev())
+      self._rx(self._motor_14_msg(motor_14_signal))
+      self._rx(self._esp_05_msg(esp_05_signal))
+      self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
+                       f"expected {brake_pressed=} with {motor_14_signal=} and {esp_05_signal=}")
+
+  def test_torque_measurements(self):
+    # TODO: make this test work with all cars
+    self._rx(self._torque_driver_msg(50))
+    self._rx(self._torque_driver_msg(-50))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+    self.assertEqual(50, self.safety.get_torque_driver_max())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(0, self.safety.get_torque_driver_min())
+
+
+class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2], [MSG_MQB_APD_1, 1]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mqb")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1)))
+    self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1)))
+    self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1)))
+
+
+class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0], [MSG_MQB_APD_1, 1]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07), 2: (MSG_LH_EPS_03,)}
+  INACTIVE_ACCEL = 3.01
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mqb")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagen, safety_param)
+    self.safety.init_tests()
+
+  # stock cruise controls are entirely bypassed under openpilot longitudinal control
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      # ACC main switch must be on, engage on falling edge
+      self.safety.set_controls_allowed(0)
+      self._rx(self._tsk_status_msg(False, main_switch=False))
+      self._rx(self._gra_acc_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
+      self._rx(self._tsk_status_msg(False, main_switch=True))
+      self._rx(self._gra_acc_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
+      self._rx(self._gra_acc_01_msg(bus=0))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
+
+  def test_cancel_button(self):
+    # Disable on rising edge of cancel button
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._gra_acc_01_msg(cancel=True, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+  def test_main_switch(self):
+    # Disable as soon as main switch turns off
+    self._rx(self._tsk_status_msg(False, main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._tsk_status_msg(False, main_switch=False))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
+
+  def test_accel_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
+        accel = round(accel, 2)
+        is_inactive_accel = accel == self.INACTIVE_ACCEL
+        send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
+        self.safety.set_controls_allowed(controls_allowed)
+        self.assertEqual(send, self._tx(self._acc_06_msg(accel)), (controls_allowed, accel))
+        self.assertEqual(send, self._tx(self._acc_07_msg(accel)), (controls_allowed, accel))
+        both_send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
+        self.assertEqual(both_send, self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel))
+
+  def test_accel_allowed_with_gas_pressed(self):
+    self._rx(self._user_gas_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._acc_06_msg(0.5)))
+    self.assertTrue(self._tx(self._acc_07_msg(0.5)))
+
+
+if __name__ == "__main__":
+  unittest.main()

artifacts/package_runtime/iqdbc/safety/tests/test_volkswagen_pq.py

@@ -0,0 +1,294 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+
+from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
+from iqdbc.car.structs import CarParams
+from iqdbc.safety.tests.libsafety import libsafety_py
+import iqdbc.safety.tests.common as common
+from iqdbc.safety.tests.common import CANPackerSafety
+
+MSG_LENKHILFE_3 = 0x0D0       # RX from EPS, for steering angle and driver steering torque
+MSG_HCA_1 = 0x0D2             # TX by OP, Heading Control Assist steering torque
+MSG_BREMSE_1 = 0x1A0          # RX from ABS, for ego speed
+MSG_MOTOR_2 = 0x288           # RX from ECU, for CC state and brake switch state
+MSG_ACC_SYSTEM = 0x368        # TX by OP, longitudinal acceleration controls
+MSG_MOTOR_3 = 0x380           # RX from ECU, for driver throttle input
+MSG_GRA_NEU = 0x38A           # TX by OP, ACC control buttons for cancel/resume
+MSG_MOTOR_5 = 0x480           # RX from ECU, for ACC main switch state
+MSG_ACC_GRA_ANZEIGE = 0x56A   # TX by OP, ACC HUD
+MSG_LDW_1 = 0x5BE             # TX by OP, Lane line recognition and text alerts
+MSG_BLINKMODI_02 = 0x0AA      # TX by OP, turn signal control
+MSG_APD_1 = 0x3D6             # TX by OP, CarParams
+MSG_IQ = 0x6A1                # TX by OP
+
+
+class TestVolkswagenPqSafetyBase(common.CarSafetyTest):
+  cruise_engaged = False
+  tsk_status = False
+
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1, MSG_LDW_1)}
+
+  MAX_RATE_UP = 6
+  MAX_RATE_DOWN = 10
+  MAX_TORQUE_LOOKUP = [0], [300]
+  MAX_RT_DELTA = 113
+
+  DRIVER_TORQUE_ALLOWANCE = 80
+  DRIVER_TORQUE_FACTOR = 3
+
+  def _set_prev_torque(self, t):
+    self.safety.set_desired_torque_last(t)
+    self.safety.set_rt_torque_last(t)
+
+  # Ego speed (Bremse_1)
+  def _speed_msg(self, speed):
+    values = {"BR1_Rad_kmh": speed}
+    return self.packer.make_can_msg_safety("Bremse_1", 1, values)
+
+  # Brake light switch (shared message Motor_2)
+  def _user_brake_msg(self, brake):
+    # since this signal is used for engagement status, preserve current state
+    return self._motor_2_msg(brake_pressed=brake, cruise_engaged=self.safety.get_controls_allowed(), tsk_status=self.tsk_status)
+
+  # ACC engaged status (shared message Motor_2)
+  def _pcm_status_msg(self, enable):
+    self.__class__.cruise_engaged = enable
+    return self._motor_2_msg(cruise_engaged=enable, tsk_status=self.tsk_status)
+
+  # Acceleration request to drivetrain coordinator
+  def _accel_msg(self, accel):
+    values = {"ACS_Sollbeschl": accel}
+    return self.packer.make_can_msg_safety("ACC_System", 0, values)
+
+  # Driver steering input torque
+  def _torque_driver_msg(self, torque):
+    values = {"LH3_LM": abs(torque), "LH3_LMSign": torque < 0}
+    return self.packer.make_can_msg_safety("Lenkhilfe_3", 1, values)
+
+  # openpilot steering output torque
+  def _torque_cmd_msg(self, torque, steer_req=1, hca_status=7):
+    values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3}
+    return self.packer.make_can_msg_safety("HCA_1", 0, values)
+
+  # ACC engagement and brake light switch status
+  # Called indirectly for compatibility with common.py tests
+  def _motor_2_msg(self, brake_pressed=False, cruise_engaged=False, tsk_status=False):
+    values = {"MO2_BLS": brake_pressed,
+              "MO2_Sta_GRA": cruise_engaged,
+              "MO2_Status_TSK": tsk_status}
+    return self.packer.make_can_msg_safety("Motor_2", 1, values)
+
+  # ACC main switch status
+  def _motor_5_msg(self, main_switch=False):
+    values = {"MO5_GRA_Hauptsch": main_switch}
+    return self.packer.make_can_msg_safety("Motor_5", 1, values)
+
+  # Driver throttle input (Motor_3)
+  def _user_gas_msg(self, gas):
+    values = {"MO3_Pedalwert": gas}
+    return self.packer.make_can_msg_safety("Motor_3", 1, values)
+
+  # Cruise control buttons (GRA_Neu)
+  def _button_msg(self, _set=False, resume=False, cancel=False, bus=2):
+    values = {"GRA_Neu_Setzen": _set, "GRA_Recall": resume, "GRA_Abbrechen": cancel}
+    return self.packer.make_can_msg_safety("GRA_Neu", bus, values)
+
+  def test_torque_measurements(self):
+    # TODO: make this test work with all cars
+    self._rx(self._torque_driver_msg(50))
+    self._rx(self._torque_driver_msg(-50))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+    self._rx(self._torque_driver_msg(0))
+
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+    self.assertEqual(50, self.safety.get_torque_driver_max())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_torque_driver_min())
+
+    self._rx(self._torque_driver_msg(0))
+    self.assertEqual(0, self.safety.get_torque_driver_max())
+    self.assertEqual(0, self.safety.get_torque_driver_min())
+
+
+class TestVolkswagenPqStockSafety(TestVolkswagenPqSafetyBase):
+  # Transmit of GRA_Neu is allowed on bus 0/1/2 to keep compatibility with gateway and camera integration
+  TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 1], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0], [MSG_BLINKMODI_02, 0], [MSG_APD_1, 1], [MSG_IQ, 1]]
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_pq")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, 0)
+    self.safety.init_tests()
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+    self.assertFalse(self._tx(self._button_msg(_set=True)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(resume=True)))
+
+
+class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.LongitudinalAccelSafetyTest):
+  tsk_status = True
+
+  TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0],
+             [MSG_GRA_NEU, 1], [MSG_GRA_NEU, 2], [MSG_BLINKMODI_02, 0], [MSG_MOTOR_2, 2], [MSG_MOTOR_5, 2], [MSG_APD_1, 1], [MSG_IQ, 1]]
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_MOTOR_2, MSG_MOTOR_5, MSG_GRA_NEU],
+                           2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE),
+                             2: (MSG_MOTOR_2, MSG_GRA_NEU, MSG_MOTOR_5)}
+  INACTIVE_ACCEL = 3.01
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_pq")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, safety_param)
+    self.safety.init_tests()
+
+  # stock cruise controls are entirely bypassed under openpilot longitudinal control
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      # ACC main switch must be on, engage on falling edge
+      self.safety.set_controls_allowed(0)
+      self._rx(self._motor_5_msg(main_switch=False))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=1))
+      self._rx(self._button_msg(bus=1))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
+      self._rx(self._motor_5_msg(main_switch=True))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=1))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
+      self._rx(self._button_msg(bus=1))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
+
+  def test_cancel_button(self):
+    # Disable on rising edge of cancel button
+    self._rx(self._motor_5_msg(main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(cancel=True, bus=1))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
+
+  def test_main_switch(self):
+    # Disable as soon as main switch turns off
+    self._rx(self._motor_5_msg(main_switch=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._motor_5_msg(main_switch=False))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
+
+  def test_main_switch_tsk_or(self):
+    for main_switch, tsk_status, expected in (
+      (False, False, False),
+      (True,  False, True),
+      (False, True,  True),
+      (True,  True,  True),
+    ):
+      self._rx(self._motor_5_msg(main_switch=True))
+      self._rx(self._motor_2_msg(tsk_status=True))
+      self.safety.set_controls_allowed(1)
+      self._rx(self._motor_5_msg(main_switch=main_switch))
+      self._rx(self._motor_2_msg(tsk_status=tsk_status))
+      self.assertEqual(expected, self.safety.get_controls_allowed(),
+                       f"main_switch={main_switch} tsk_status={tsk_status} expected={expected}")
+
+  def test_main_switch_flicker_tsk_holds(self):
+    self._rx(self._motor_5_msg(main_switch=True))
+    self._rx(self._motor_2_msg(tsk_status=True))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._motor_5_msg(main_switch=False))
+    self.assertTrue(self.safety.get_controls_allowed(), "controls dropped on MO5 flicker while TSK ready")
+    self._rx(self._motor_5_msg(main_switch=True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self._rx(self._motor_5_msg(main_switch=False))
+    self._rx(self._motor_2_msg(tsk_status=False))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after both MO5 and TSK off")
+
+  def test_set_and_resume_buttons_with_tsk_only(self):
+    for button in ("set", "resume"):
+      self.safety.set_controls_allowed(0)
+      self._rx(self._motor_5_msg(main_switch=False))
+      self._rx(self._motor_2_msg(tsk_status=True))
+      self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=1))
+      self._rx(self._button_msg(bus=1))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge with TSK ready")
+
+  def test_torque_cmd_enable_variants(self):
+    # The EPS rack accepts either 5 or 7 for an enabled status, with different low speed tuning behavior
+    self.safety.set_controls_allowed(1)
+    for enabled_status in (5, 7):
+      self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP, steer_req=1, hca_status=enabled_status)),
+                      f"torque cmd rejected with {enabled_status=}")
+
+  def test_accel_actuation_limits(self):
+    for accel in np.concatenate((np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.05), [0, self.INACTIVE_ACCEL])):
+      accel = round(accel, 2)
+      for controls_allowed in [True, False]:
+        for gas_pressed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          self.safety.set_gas_pressed_prev(gas_pressed)
+          is_inactive = accel == self.INACTIVE_ACCEL
+          should_tx = (controls_allowed and self.MIN_ACCEL <= accel <= self.MAX_ACCEL) or is_inactive
+          self.assertEqual(should_tx, self._tx(self._accel_msg(accel)), (controls_allowed, gas_pressed, accel))
+
+  def test_accel_allowed_with_gas_pressed(self):
+    self._rx(self._user_gas_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._accel_msg(0.5)))
+    self.assertTrue(self._tx(self._accel_msg(0.0)))
+    self.assertTrue(self._tx(self._accel_msg(-0.5)))
+
+
+class TestVolkswagenPqLowlineSafety(TestVolkswagenPqSafetyBase):
+  """Non-ECAN lateral-only PQ cars: bus 0 dead, TX on bus 1 (ptCAN) directly to EPS."""
+  TX_MSGS = [[MSG_HCA_1, 1], [MSG_GRA_NEU, 1], [MSG_GRA_NEU, 2], [MSG_LDW_1, 1], [MSG_BLINKMODI_02, 1], [MSG_APD_1, 1], [MSG_IQ, 1]]
+  FWD_BUS_LOOKUP = {2: 0}
+  FWD_BLACKLISTED_ADDRS = {}
+  RELAY_MALFUNCTION_ADDRS = {1: (MSG_HCA_1, MSG_LDW_1)}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_pq")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, VolkswagenSafetyFlags.PQ_LOWLINE | VolkswagenSafetyFlags.PQ_NO_CAM_BUS)
+    self.safety.init_tests()
+
+  def _torque_cmd_msg(self, torque, steer_req=1, hca_status=7):
+    values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3}
+    return self.packer.make_can_msg_safety("HCA_1", 1, values)
+
+  def test_spam_cancel_safety_check(self):
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self._tx(self._button_msg(cancel=True)))
+    self.assertFalse(self._tx(self._button_msg(resume=True)))
+    self.assertFalse(self._tx(self._button_msg(_set=True)))
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(resume=True)))
+
+
+class TestVolkswagenPqNoCamSafety(TestVolkswagenPqStockSafety):
+  FWD_BUS_LOOKUP = {2: 0}
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_pq")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenPq, VolkswagenSafetyFlags.PQ_NO_CAM_BUS)
+    self.safety.init_tests()
+
+
+if __name__ == "__main__":
+  unittest.main()