From 2faae4b62710370ee29acbfb4eefbb33cec15a0e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 4 Apr 2025 22:27:54 -0400 Subject: [PATCH] Revert "MADS: Steering Mode on Brake Pedal Press (#92)" (#114) This reverts commit a26ea1e3ee982a4b2c377f5f75fdde63cba6a007. --- opendbc/safety/__init__.py | 5 +- opendbc/safety/sunnypilot/safety_mads.h | 14 ++-- .../sunnypilot/safety_mads_declarations.h | 8 +- opendbc/safety/tests/hyundai_common.py | 8 +- .../safety/tests/libsafety/safety_helpers.h | 14 +--- .../safety/tests/libsafety/safety_helpers.py | 6 +- opendbc/safety/tests/mads_common.py | 74 +++++++++---------- .../tests/safety_replay/replay_drive.py | 6 +- opendbc/safety/tests/test_ford.py | 2 +- opendbc/safety/tests/test_honda.py | 2 +- opendbc/safety/tests/test_hyundai.py | 2 +- opendbc/safety/tests/test_subaru.py | 2 +- 12 files changed, 62 insertions(+), 81 deletions(-) diff --git a/opendbc/safety/__init__.py b/opendbc/safety/__init__.py index 99f3096e..0404a43f 100644 --- a/opendbc/safety/__init__.py +++ b/opendbc/safety/__init__.py @@ -11,6 +11,5 @@ class ALTERNATIVE_EXPERIENCE: ALLOW_AEB = 16 # sunnypilot - ENABLE_MADS = 1024 - MADS_DISENGAGE_LATERAL_ON_BRAKE = 2048 - MADS_PAUSE_LATERAL_ON_BRAKE = 4096 + ENABLE_MADS = 2 ** 10 + DISENGAGE_LATERAL_ON_BRAKE = 2 ** 11 diff --git a/opendbc/safety/sunnypilot/safety_mads.h b/opendbc/safety/sunnypilot/safety_mads.h index b051b7fb..e18f9cf7 100644 --- a/opendbc/safety/sunnypilot/safety_mads.h +++ b/opendbc/safety/sunnypilot/safety_mads.h @@ -45,7 +45,6 @@ inline void m_mads_state_init(void) { m_mads_state.system_enabled = false; m_mads_state.disengage_lateral_on_brake = false; - m_mads_state.pause_lateral_on_brake = false; m_mads_state.acc_main.previous = false; m_mads_state.acc_main.transition = MADS_EDGE_NO_CHANGE; @@ -97,7 +96,7 @@ inline void m_update_control_state(void) { } // Secondary control conditions - only checked if primary conditions don't block further control processing - if (allowed && (m_mads_state.disengage_lateral_on_brake || m_mads_state.pause_lateral_on_brake)) { + if (allowed && m_mads_state.disengage_lateral_on_brake) { // Brake rising edge immediately blocks controls // Brake release might request controls if brake was the ONLY reason for disengagement if (m_mads_state.braking.transition == MADS_EDGE_RISING) { @@ -105,8 +104,7 @@ inline void m_update_control_state(void) { allowed = false; } else if ((m_mads_state.braking.transition == MADS_EDGE_FALLING) && (m_mads_state.current_disengage.active_reason == MADS_DISENGAGE_REASON_BRAKE) && - (m_mads_state.current_disengage.pending_reasons == MADS_DISENGAGE_REASON_BRAKE) && - m_mads_state.pause_lateral_on_brake) { + (m_mads_state.current_disengage.pending_reasons == MADS_DISENGAGE_REASON_BRAKE)) { m_mads_state.controls_requested_lat = true; } else if (m_mads_state.braking.current) { allowed = false; @@ -140,17 +138,15 @@ inline void mads_heartbeat_engaged_check(void) { inline void mads_set_alternative_experience(const int *mode) { const bool mads_enabled = (*mode & ALT_EXP_ENABLE_MADS) != 0; - const bool disengage_lateral_on_brake = (*mode & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0; - const bool pause_lateral_on_brake = (*mode & ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE) != 0; + const bool disengage_lateral_on_brake = (*mode & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0; - mads_set_system_state(mads_enabled, disengage_lateral_on_brake, pause_lateral_on_brake); + mads_set_system_state(mads_enabled, disengage_lateral_on_brake); } -extern inline void mads_set_system_state(const bool enabled, const bool disengage_lateral_on_brake, const bool pause_lateral_on_brake) { +extern inline void mads_set_system_state(const bool enabled, const bool disengage_lateral_on_brake) { m_mads_state_init(); m_mads_state.system_enabled = enabled; m_mads_state.disengage_lateral_on_brake = disengage_lateral_on_brake; - m_mads_state.pause_lateral_on_brake = pause_lateral_on_brake; } inline void mads_exit_controls(const DisengageReason reason) { diff --git a/opendbc/safety/sunnypilot/safety_mads_declarations.h b/opendbc/safety/sunnypilot/safety_mads_declarations.h index c2fd49bd..e1a068ab 100644 --- a/opendbc/safety/sunnypilot/safety_mads_declarations.h +++ b/opendbc/safety/sunnypilot/safety_mads_declarations.h @@ -38,8 +38,7 @@ typedef enum __attribute__((packed)) { // =============================== #define ALT_EXP_ENABLE_MADS 1024 -#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048 -#define ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE 4096 +#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048 #define MISMATCH_DEFAULT_THRESHOLD 25 @@ -76,7 +75,6 @@ typedef struct { bool system_enabled : 1; bool disengage_lateral_on_brake : 1; - bool pause_lateral_on_brake : 1; bool controls_requested_lat : 1; bool controls_allowed_lat : 1; } MADSState; @@ -96,7 +94,7 @@ extern uint32_t heartbeat_engaged_mads_mismatches; // External Function Declarations (kept as needed) // =============================== -extern void mads_set_system_state(bool enabled, bool disengage_lateral_on_brake, bool pause_lateral_on_brake); +extern void mads_set_system_state(bool enabled, bool disengage_lateral_on_brake); extern void mads_set_alternative_experience(const int *mode); extern void mads_state_update(bool op_vehicle_moving, bool op_acc_main, bool op_allowed, bool is_braking); extern void mads_exit_controls(DisengageReason reason); @@ -111,4 +109,4 @@ extern EdgeTransition m_get_edge_transition(bool current, bool last); extern void m_mads_state_init(void); extern void m_update_button_state(ButtonStateTracking *button_state); extern void m_update_binary_state(BinaryStateTracking *state); -extern void m_update_control_state(void); +extern void m_update_control_state(void); \ No newline at end of file diff --git a/opendbc/safety/tests/hyundai_common.py b/opendbc/safety/tests/hyundai_common.py index 3634f44c..a00ae47c 100644 --- a/opendbc/safety/tests/hyundai_common.py +++ b/opendbc/safety/tests/hyundai_common.py @@ -158,7 +158,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest): # Test initial state self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.assertFalse(self.safety.get_acc_main_on()) @@ -191,7 +191,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest): self.safety.set_safety_hooks(default_safety_mode, default_safety_param) self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) # Initial state self._rx(self._main_cruise_button_msg(0)) @@ -226,7 +226,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest): self.safety.set_safety_hooks(default_safety_mode, default_safety_param) self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.safety.set_controls_allowed_lat(True) # Start with matched states @@ -269,7 +269,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest): self.safety.set_safety_hooks(default_safety_mode, default_safety_param) self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) # Create initial mismatch self._rx(self._main_cruise_button_msg(1)) # Press button diff --git a/opendbc/safety/tests/libsafety/safety_helpers.h b/opendbc/safety/tests/libsafety/safety_helpers.h index 33b50c8b..7f5ee97a 100644 --- a/opendbc/safety/tests/libsafety/safety_helpers.h +++ b/opendbc/safety/tests/libsafety/safety_helpers.h @@ -60,10 +60,6 @@ bool get_disengage_lateral_on_brake(void){ return get_mads_state()->disengage_lateral_on_brake; } -bool get_pause_lateral_on_brake(void){ - return get_mads_state()->pause_lateral_on_brake; -} - int get_alternative_experience(void){ return alternative_experience; } @@ -242,17 +238,13 @@ void set_controls_requested_lat(bool c){ m_mads_state.controls_requested_lat = c; } -void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake){ +void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake){ alternative_experience = 0; if (enable_mads) { alternative_experience |= ALT_EXP_ENABLE_MADS; - if (disengage_lateral_on_brake) { - alternative_experience |= ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE; - } else if (pause_lateral_on_brake) { - alternative_experience |= ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE; - } else { - } + if (disengage_lateral_on_brake) + alternative_experience |= ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE; } mads_set_alternative_experience(&alternative_experience); diff --git a/opendbc/safety/tests/libsafety/safety_helpers.py b/opendbc/safety/tests/libsafety/safety_helpers.py index d66aa0c8..272acda4 100644 --- a/opendbc/safety/tests/libsafety/safety_helpers.py +++ b/opendbc/safety/tests/libsafety/safety_helpers.py @@ -57,7 +57,6 @@ def setup_safety_helpers(ffi): bool get_enable_mads(void); bool get_disengage_lateral_on_brake(void); - bool get_pause_lateral_on_brake(void); void set_mads_button_press(int mads_button_press); void set_controls_allowed_lat(bool c); void set_controls_requested_lat(bool c); @@ -69,7 +68,7 @@ def setup_safety_helpers(ffi): int mads_get_current_disengage_reason(void); int get_temp_debug(void); uint32_t get_acc_main_on_mismatches(void); - void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake); + void set_mads_params(bool enable_mads, bool disengage_lat_on_brake); void set_heartbeat_engaged_mads(bool c); void mads_heartbeat_engaged_check(void); """) @@ -134,14 +133,13 @@ class PandaSafety(Protocol): def set_mads_button_press(self, mads_button_press: int) -> None: ... def get_enable_mads(self) -> bool: ... def get_disengage_lateral_on_brake(self) -> bool: ... - def get_pause_lateral_on_brake(self) -> bool: ... def get_mads_button_press(self) -> int: ... def mads_set_current_disengage_reason(self, reason: int) -> None: ... def mads_get_current_disengage_reason(self) -> int: ... def get_acc_main_on_mismatches(self) -> int: ... - def set_mads_params(self, enable_mads: bool, disengage_lateral_on_brake: bool, pause_lateral_on_brake: bool) -> None: ... + def set_mads_params(self, enable_mads: bool, disengage_lat_on_brake: bool) -> None: ... def set_heartbeat_engaged_mads(self, c: bool) -> None: ... def mads_heartbeat_engaged_check(self) -> None: ... # def get_temp_debug(self) -> int: ... diff --git a/opendbc/safety/tests/mads_common.py b/opendbc/safety/tests/mads_common.py index 9b74667e..8dc488ab 100644 --- a/opendbc/safety/tests/mads_common.py +++ b/opendbc/safety/tests/mads_common.py @@ -20,7 +20,7 @@ class MadsSafetyTestBase(unittest.TestCase): self.safety.set_controls_allowed_lat(False) self.safety.set_controls_requested_lat(False) self.safety.set_acc_main_on(False) - self.safety.set_mads_params(False, False, False) + self.safety.set_mads_params(False, False) self.safety.set_heartbeat_engaged_mads(True) def test_heartbeat_engaged_mads_check(self): @@ -30,7 +30,7 @@ class MadsSafetyTestBase(unittest.TestCase): with self.subTest(heartbeat_engaged=boolean, should_remain_engaged=boolean): # Setup initial conditions self._mads_states_cleanup() - self.safety.set_mads_params(True, False, False) # Enable MADS + self.safety.set_mads_params(True, False) # Enable MADS self.safety.set_controls_allowed_lat(True) self.assertTrue(self.safety.get_controls_allowed_lat()) @@ -57,7 +57,7 @@ class MadsSafetyTestBase(unittest.TestCase): for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.assertEqual(enable_mads, self.safety.get_enable_mads()) self._rx(self._lkas_button_msg(True)) @@ -79,7 +79,7 @@ class MadsSafetyTestBase(unittest.TestCase): for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self._rx(self._acc_state_msg(True)) self._rx(self._speed_msg(0)) self.assertEqual(enable_mads, self.safety.get_controls_allowed_lat()) @@ -93,7 +93,7 @@ class MadsSafetyTestBase(unittest.TestCase): for mads_button_press in (-1, 0, 1): with self.subTest("mads_button_press", button_state=mads_button_press): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.safety.set_mads_button_press(mads_button_press) self._rx(self._speed_msg(0)) @@ -109,7 +109,7 @@ class MadsSafetyTestBase(unittest.TestCase): for acc_main_on in (True, False): with self.subTest("initial_acc_main", initial_acc_main=acc_main_on): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) # Set initial state self.safety.set_acc_main_on(acc_main_on) @@ -139,7 +139,7 @@ class MadsSafetyTestBase(unittest.TestCase): for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.safety.set_acc_main_on(True) self._rx(self._speed_msg(0)) @@ -151,22 +151,22 @@ class MadsSafetyTestBase(unittest.TestCase): finally: self._mads_states_cleanup() - def test_pause_lateral_on_brake_setup(self): + def test_disengage_lateral_on_brake_setup(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): - for pause_lateral_on_brake in (True, False): - with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake): + for disengage_on_brake in (True, False): + with self.subTest("disengage on brake", disengage_on_brake=disengage_on_brake): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, pause_lateral_on_brake) - self.assertEqual(enable_mads and pause_lateral_on_brake, self.safety.get_pause_lateral_on_brake()) + self.safety.set_mads_params(enable_mads, disengage_on_brake) + self.assertEqual(enable_mads and disengage_on_brake, self.safety.get_disengage_lateral_on_brake()) finally: self._mads_states_cleanup() - def test_pause_lateral_on_brake(self): + def test_disengage_lateral_on_brake(self): try: self._mads_states_cleanup() - self.safety.set_mads_params(True, False, True) + self.safety.set_mads_params(True, True) self._rx(self._user_brake_msg(False)) self.safety.set_controls_requested_lat(True) @@ -181,10 +181,10 @@ class MadsSafetyTestBase(unittest.TestCase): finally: self._mads_states_cleanup() - def test_no_pause_lateral_on_brake(self): + def test_no_disengage_lateral_on_brake(self): try: self._mads_states_cleanup() - self.safety.set_mads_params(True, False, False) + self.safety.set_mads_params(True, False) self._rx(self._user_brake_msg(False)) self.safety.set_controls_requested_lat(True) @@ -204,50 +204,50 @@ class MadsSafetyTestBase(unittest.TestCase): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): - for pause_lateral_on_brake in (True, False): - with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake): + for disengage_lateral_on_brake in (True, False): + with self.subTest("disengage_lateral_on_brake", disengage_lateral_on_brake=disengage_lateral_on_brake): with self.subTest("mads_button"): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, pause_lateral_on_brake) + self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Brake press rising edge self._rx(self._user_brake_msg(True)) self._rx(self._lkas_button_msg(True)) self._rx(self._speed_msg(0)) - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) # Continuous braking after the first frame of brake press rising edge - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) for _ in range(400): self._rx(self._user_brake_msg(True)) - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) with self.subTest("acc_main_on"): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, pause_lateral_on_brake) + self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Brake press rising edge self._rx(self._user_brake_msg(True)) self.safety.set_acc_main_on(True) self._rx(self._speed_msg(0)) - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) # Continuous braking after the first frame of brake press rising edge - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) for _ in range(400): self._rx(self._user_brake_msg(True)) - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_lateral_on_brake, self.safety.get_controls_allowed_lat()) finally: self._mads_states_cleanup() - def test_pause_lateral_on_brake_with_pressed_and_released(self): + def test_disengage_lateral_on_brake_with_pressed_and_released(self): try: for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): - for pause_lateral_on_brake in (True, False): - with self.subTest("pause_lateral_on_brake", pause_lateral_on_brake=pause_lateral_on_brake): + for disengage_lateral_on_brake in (True, False): + with self.subTest("disengage_lateral_on_brake", disengage_lateral_on_brake=disengage_lateral_on_brake): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, pause_lateral_on_brake) + self.safety.set_mads_params(enable_mads, disengage_lateral_on_brake) # Set controls_allowed_lat rising edge self.safety.set_controls_requested_lat(True) @@ -257,7 +257,7 @@ class MadsSafetyTestBase(unittest.TestCase): # User brake press, validate controls_allowed_lat is false self._rx(self._user_brake_msg(True)) self._rx(self._speed_msg(0)) - self.assertEqual(enable_mads and not pause_lateral_on_brake, self.safety.get_controls_allowed_lat()) + self.assertEqual(enable_mads and not disengage_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)) @@ -266,10 +266,10 @@ class MadsSafetyTestBase(unittest.TestCase): finally: self._mads_states_cleanup() - def test_pause_lateral_on_brake_persistent_control_allowed_off(self): + def test_disengage_lateral_on_brake_persistent_control_allowed_off(self): try: self._mads_states_cleanup() - self.safety.set_mads_params(True, False, True) + self.safety.set_mads_params(True, True) self.safety.set_controls_requested_lat(True) @@ -295,7 +295,7 @@ class MadsSafetyTestBase(unittest.TestCase): for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.safety.set_controls_allowed(False) self._rx(self._speed_msg(0)) @@ -328,7 +328,7 @@ class MadsSafetyTestBase(unittest.TestCase): for enable_mads in (True, False): with self.subTest("enable_mads", enable_mads=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self._rx(self._lkas_button_msg(True)) self._rx(self._speed_msg(0)) @@ -358,7 +358,7 @@ class MadsSafetyTestBase(unittest.TestCase): """ try: self._mads_states_cleanup() - self.safety.set_mads_params(True, False, True) # enable MADS with disengage on brake + self.safety.set_mads_params(True, True) # enable MADS with disengage on brake # Initial state self.safety.set_controls_allowed_lat(True) @@ -393,7 +393,7 @@ class MadsSafetyTestBase(unittest.TestCase): """ try: self._mads_states_cleanup() - self.safety.set_mads_params(True, False, True) # enable MADS with disengage on brake + self.safety.set_mads_params(True, True) # enable MADS with disengage on brake # Initial state - enable with ACC main self.safety.set_acc_main_on(True) diff --git a/opendbc/safety/tests/safety_replay/replay_drive.py b/opendbc/safety/tests/safety_replay/replay_drive.py index 931312fc..537761f4 100755 --- a/opendbc/safety/tests/safety_replay/replay_drive.py +++ b/opendbc/safety/tests/safety_replay/replay_drive.py @@ -32,13 +32,11 @@ def replay_drive(msgs, safety_mode, param, alternative_experience, param_sp): safety.set_alternative_experience(alternative_experience) _enable_mads = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.ENABLE_MADS) - _disengage_lateral_on_brake = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE) - _pause_lateral_on_brake = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE) - safety.set_mads_params(_enable_mads, _disengage_lateral_on_brake, _pause_lateral_on_brake) + _disengage_lateral_on_brake = bool(alternative_experience & ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE) + safety.set_mads_params(_enable_mads, _disengage_lateral_on_brake) print("alternative experience:") print(f" enable mads: {_enable_mads}") 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) diff --git a/opendbc/safety/tests/test_ford.py b/opendbc/safety/tests/test_ford.py index e6ceffc2..0744a831 100755 --- a/opendbc/safety/tests/test_ford.py +++ b/opendbc/safety/tests/test_ford.py @@ -400,7 +400,7 @@ class TestFordSafetyBase(common.PandaCarSafetyTest): for main_button_msg_valid in (True, False): with self.subTest("main_button_msg_valid", state_valid=main_button_msg_valid): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self._rx(self._pcm_status_msg(main_button_msg_valid)) self.assertEqual(enable_mads and main_button_msg_valid, self.safety.get_controls_allowed_lat()) finally: diff --git a/opendbc/safety/tests/test_honda.py b/opendbc/safety/tests/test_honda.py index 4456ae2e..11a74e12 100755 --- a/opendbc/safety/tests/test_honda.py +++ b/opendbc/safety/tests/test_honda.py @@ -253,7 +253,7 @@ class HondaBase(common.PandaCarSafetyTest): for enable_mads in (True, False): with self.subTest("enable_mads", mads_enabled=enable_mads): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) # Verify initial state self._rx(self._lkas_button_msg(False, 0)) diff --git a/opendbc/safety/tests/test_hyundai.py b/opendbc/safety/tests/test_hyundai.py index 3439d747..761ff453 100755 --- a/opendbc/safety/tests/test_hyundai.py +++ b/opendbc/safety/tests/test_hyundai.py @@ -179,7 +179,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.Dri self.safety.set_safety_hooks(default_safety_mode, default_safety_param) self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self.assertEqual(enable_mads, self.safety.get_enable_mads()) self._rx(self._lkas_button_msg(True)) diff --git a/opendbc/safety/tests/test_subaru.py b/opendbc/safety/tests/test_subaru.py index 14707feb..3bf6bedf 100755 --- a/opendbc/safety/tests/test_subaru.py +++ b/opendbc/safety/tests/test_subaru.py @@ -115,7 +115,7 @@ class TestSubaruSafetyBase(common.PandaCarSafetyTest): for mads_button_press in range(4): with self.subTest("mads_button_press", button_state=mads_button_press): self._mads_states_cleanup() - self.safety.set_mads_params(enable_mads, False, False) + self.safety.set_mads_params(enable_mads, False) self._rx(self._lkas_button_msg(False, mads_button_press)) self.assertEqual(enable_mads and mads_button_press in range(1, 4),