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safety replay: make Ford work (#1272)

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* make replay work for ford

* revert debugging stuff

* clean that up
This commit is contained in:
Shane Smiskol
2023-03-03 20:48:04 -08:00
committed by GitHub
parent f7ba061279
commit e0e754de2c
1 changed files with 21 additions and 14 deletions
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35
tests/safety_replay/helpers.py
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@@ -22,26 +22,30 @@ def is_steering_msg(mode, addr):
ret = addr == 0x292
elif mode == Panda.SAFETY_SUBARU:
ret = addr == 0x122
elif mode == Panda.SAFETY_FORD:
ret = addr == 0x3d3
return ret
def get_steer_torque(mode, to_send):
ret = 0
def get_steer_value(mode, to_send):
torque, angle = 0, 0
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
ret = to_send.RDLR & 0xFFFF0000
torque = to_send.RDLR & 0xFFFF0000
elif mode == Panda.SAFETY_TOYOTA:
ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
ret = to_signed(ret, 16)
torque = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_GM:
ret = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
ret = to_signed(ret, 11)
torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
torque = to_signed(torque, 11)
elif mode == Panda.SAFETY_HYUNDAI:
ret = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
elif mode == Panda.SAFETY_CHRYSLER:
ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
torque = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
elif mode == Panda.SAFETY_SUBARU:
ret = ((to_send.RDLR >> 16) & 0x1FFF)
ret = to_signed(ret, 13)
return ret
torque = ((to_send.RDLR >> 16) & 0x1FFF)
torque = to_signed(torque, 13)
elif mode == Panda.SAFETY_FORD:
angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
return torque, angle
def package_can_msg(msg):
return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
@@ -56,8 +60,11 @@ def init_segment(safety, lr, mode):
return
to_send = package_can_msg(msg)
torque = get_steer_torque(mode, to_send)
torque, angle = get_steer_value(mode, to_send)
if torque != 0:
safety.set_controls_allowed(1)
safety.set_desired_torque_last(torque)
assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"
elif angle != 0:
safety.set_controls_allowed(1)
safety.set_desired_angle_last(angle)
assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"