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Fix Ford CAN FD safety replay (#1889)

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This commit is contained in:
Shane Smiskol
2025-03-01 02:53:54 -06:00
committed by GitHub
parent 58841ebe53
commit 7df0d85420
2 changed files with 10 additions and 7 deletions
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8
opendbc/safety/tests/safety_replay/helpers.py
View File

@@ -1,3 +1,4 @@
from opendbc.car.ford.values import FordSafetyFlags
from opendbc.car.toyota.values import ToyotaSafetyFlags
from opendbc.car.structs import CarParams
from opendbc.safety.tests.libsafety import libsafety_py
@@ -23,7 +24,7 @@ def is_steering_msg(mode, param, addr):
elif mode == CarParams.SafetyModel.subaru:
ret = addr == 0x122
elif mode == CarParams.SafetyModel.ford:
ret = addr == 0x3d3
ret = addr == 0x3d6 if param & FordSafetyFlags.CANFD else addr == 0x3d3
elif mode == CarParams.SafetyModel.nissan:
ret = addr == 0x169
elif mode == CarParams.SafetyModel.rivian:
@@ -53,7 +54,10 @@ def get_steer_value(mode, param, to_send):
torque = ((to_send.data[3] & 0x1F) << 8) | to_send.data[2]
torque = -to_signed(torque, 13)
elif mode == CarParams.SafetyModel.ford:
angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
if param & FordSafetyFlags.CANFD:
angle = ((to_send.data[2] << 3) | (to_send.data[3] >> 5)) - 1000
else:
angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
elif mode == CarParams.SafetyModel.nissan:
angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6)
angle = -angle + (1310 * 100)

9
opendbc/safety/tests/safety_replay/replay_drive.py
View File

@@ -7,16 +7,15 @@ from opendbc.safety.tests.libsafety import libsafety_py
from opendbc.safety.tests.safety_replay.helpers import package_can_msg, init_segment
# replay a drive to check for safety violations
def replay_drive(lr, safety_mode, param, alternative_experience, segment=False):
def replay_drive(lr, safety_mode, param, alternative_experience):
safety = libsafety_py.libsafety
err = safety.set_safety_hooks(safety_mode, param)
assert err == 0, "invalid safety mode: %d" % safety_mode
safety.set_alternative_experience(alternative_experience)
if segment:
init_segment(safety, lr, safety_mode, param)
lr.reset()
init_segment(safety, lr, safety_mode, param)
lr.reset()
rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0
safety_tick_rx_invalid = False
@@ -93,4 +92,4 @@ if __name__ == "__main__":
args.alternative_experience = CP.alternativeExperience
print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}")
replay_drive(lr, args.mode, args.param, args.alternative_experience, segment=len(lr.logreader_identifiers) == 1)
replay_drive(lr, args.mode, args.param, args.alternative_experience)