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remove get_decel_allowed

This commit is contained in:
Shane Smiskol 2023-11-10 23:50:22 -08:00
parent 024663a6e9
commit 26a45ca18d
4 changed files with 14 additions and 23 deletions
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14
board/safety.h
View File

@ -86,16 +86,8 @@ bool get_longitudinal_allowed(void) {
return controls_allowed && !gas_pressed_prev;
}
bool get_decel_allowed(void) {
// No longitudinal control when overriding with gas. Only brake is allowed when pre-enabling at a standstill
return controls_allowed && !gas_pressed_prev;
}
bool get_accel_allowed(void) {
// No positive acceleration/gas command while pre-enabled at a stop with brake
// return get_decel_allowed() && !brake_pressed_prev && !regen_braking_prev;
// No gas while pre-enabled at a stop with brake
return get_longitudinal_allowed() && !brake_pressed_prev && !regen_braking_prev;
}
@ -527,7 +519,7 @@ bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limit
}
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits) {
return !get_decel_allowed() && (desired_speed != limits.inactive_speed);
return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
}
bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) {
@ -544,7 +536,7 @@ bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) {
bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits) {
bool violation = false;
violation |= !get_decel_allowed() && (desired_brake != 0);
violation |= !get_longitudinal_allowed() && (desired_brake != 0);
violation |= desired_brake > limits.max_brake;
return violation;
}

1
board/safety_declarations.h
View File

@ -149,7 +149,6 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
bool get_longitudinal_allowed(void);
bool get_decel_allowed(void);
bool get_accel_allowed(void);
bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
float interpolate(struct lookup_t xy, float x);

4
tests/libpanda/safety_helpers.py
View File

@ -5,7 +5,7 @@ def setup_safety_helpers(ffi):
ffi.cdef("""
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
bool get_decel_allowed(void);
bool get_longitudinal_allowed(void);
bool get_accel_allowed(void);
void set_alternative_experience(int mode);
int get_alternative_experience(void);
@ -57,7 +57,7 @@ def setup_safety_helpers(ffi):
class PandaSafety(Protocol):
def set_controls_allowed(self, c: bool) -> None: ...
def get_controls_allowed(self) -> bool: ...
def get_decel_allowed(self) -> bool: ...
def get_longitudinal_allowed(self) -> bool: ...
def get_accel_allowed(self) -> bool: ...
def set_alternative_experience(self, mode: int) -> None: ...
def get_alternative_experience(self) -> int: ...

18
tests/safety/common.py
View File

@ -165,11 +165,11 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
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_decel_allowed())
self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_longitudinal_allowed())
self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_accel_allowed())
# Make sure we can re-gain longitudinal actuation
self._rx(self._interceptor_user_gas(0))
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertTrue(self.safety.get_accel_allowed())
def test_allow_engage_with_gas_interceptor_pressed(self):
@ -1010,11 +1010,11 @@ class PandaCarSafetyTest(PandaSafetyTest):
self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
# Test we allow lateral, but not longitudinal
self.assertTrue(self.safety.get_controls_allowed())
self.assertFalse(self.safety.get_decel_allowed())
self.assertFalse(self.safety.get_longitudinal_allowed())
self.assertFalse(self.safety.get_accel_allowed())
# Make sure we can re-gain longitudinal actuation
self._rx(self._user_gas_msg(0))
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertTrue(self.safety.get_accel_allowed())
def test_prev_user_brake(self, _user_brake_msg=None, get_brake_pressed_prev=None):
@ -1057,16 +1057,16 @@ class PandaCarSafetyTest(PandaSafetyTest):
self.safety.set_controls_allowed(1)
self._rx(_user_brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(_user_brake_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertTrue(self.safety.get_accel_allowed())
# rising edge of brake should disengage
self._rx(_user_brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.assertFalse(self.safety.get_decel_allowed())
self.assertFalse(self.safety.get_longitudinal_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(_user_brake_msg(0)) # reset no brakes
@ -1080,12 +1080,12 @@ class PandaCarSafetyTest(PandaSafetyTest):
self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD))
self._rx(_user_brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD + 1))
self._rx(_user_brake_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
self.assertFalse(self.safety.get_decel_allowed())
self.assertFalse(self.safety.get_longitudinal_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(self._vehicle_moving_msg(0))