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Ford: check longitudinal actuation bits (#2067) 

ford long: check brake actuation bits
This commit is contained in:
Shane Smiskol 2024-10-25 16:11:53 -05:00 committed by GitHub
parent 8422a7437f
commit 2bd2f2a702
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GPG Key ID: B5690EEEBB952194
2 changed files with 21 additions and 12 deletions
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5
board/safety/safety_ford.h
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@ -223,6 +223,9 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
// Signal: CmbbDeny_B_Actl
bool cmbb_deny = GET_BIT(to_send, 37U);
// Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
bool violation = false;
violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
@ -231,6 +234,8 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
// Safety check for stock AEB
violation |= cmbb_deny; // do not prevent stock AEB actuation
violation |= !get_longitudinal_allowed() && brake_actuation;
if (violation) {
tx = false;
}

28
tests/safety/test_ford.py
View File

@ -406,12 +406,14 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
raise unittest.SkipTest
# ACC command
def _acc_command_msg(self, gas: float, brake: float, cmbb_deny: bool = False):
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
"CmbbDeny_B_Actl": 1 if cmbb_deny else 0, # [0|1] deny AEB actuation
"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_panda("ACCDATA", 0, values)
@ -421,9 +423,9 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
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, 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, 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):
@ -431,15 +433,17 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase):
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)))
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 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
self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake)))
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):