commaai
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tesla: add longitudinal controls allowed safety (#890) 

* no long actuation if controls not allowed

* comment (bump)

* don't compare floats

* tesla longitudinal test

* clean up

* forgot all

* update constant

* fix
This commit is contained in:
Shane Smiskol 2022-03-28 13:03:07 -07:00 committed by GitHub
parent c8f6cb0dd3
commit 31d70299ae
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 21 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
board/safety/safety_tesla.h
View File

@ -26,6 +26,8 @@ const CanMsg TESLA_PT_TX_MSGS[] = {
};
#define TESLA_PT_TX_LEN (sizeof(TESLA_PT_TX_MSGS) / sizeof(TESLA_PT_TX_MSGS[0]))
const int TESLA_NO_ACCEL_VALUE = 375; // value sent when not requesting acceleration
AddrCheckStruct tesla_addr_checks[] = {
{.msg = {{0x370, 0, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}}, // EPAS_sysStatus (25Hz)
{.msg = {{0x108, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
@ -192,6 +194,13 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
if ((accel_max < TESLA_MIN_ACCEL) || (accel_min < TESLA_MIN_ACCEL)){
violation = true;
}
// Don't allow longitudinal actuation if controls aren't allowed
if (!controls_allowed) {
if ((raw_accel_max != TESLA_NO_ACCEL_VALUE) || (raw_accel_min != TESLA_NO_ACCEL_VALUE)) {
violation = true;
}
}
} else {
violation = true;
}

21
tests/safety/test_tesla.py
View File

@ -177,15 +177,18 @@ class TestTeslaLongitudinalSafety(TestTeslaSafety):
self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
def test_acc_accel_limits(self):
for min_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
for max_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
# floats might not hit exact boundary conditions without rounding
min_accel = round(min_accel, 2)
max_accel = round(max_accel, 2)
self.safety.set_controls_allowed(True)
send = (MIN_ACCEL <= min_accel <= MAX_ACCEL) and (MIN_ACCEL <= max_accel <= MAX_ACCEL)
self.assertEqual(self._tx(self._long_control_msg(10, acc_val=4, accel_limits=[min_accel, max_accel])), send)
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
for min_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
for max_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
# floats might not hit exact boundary conditions without rounding
min_accel = round(min_accel, 2)
max_accel = round(max_accel, 2)
if controls_allowed:
send = (MIN_ACCEL <= min_accel <= MAX_ACCEL) and (MIN_ACCEL <= max_accel <= MAX_ACCEL)
else:
send = np.all(np.isclose([min_accel, max_accel], 0, atol=0.0001))
self.assertEqual(send, self._tx(self._long_control_msg(10, acc_val=4, accel_limits=[min_accel, max_accel])))
class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):
TX_MSGS = [[0x488, 0], [0x45, 0], [0x45, 2], [0x2B9, 0]]