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stash again

This commit is contained in:
Shane Smiskol 2023-10-23 21:34:08 -07:00
parent d7f60d0b49
commit 4ecf6cc91c
3 changed files with 34 additions and 27 deletions
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2
board/safety/safety_gm.h
View File

@ -75,7 +75,7 @@ static int gm_rx_hook(CANPacket_t *to_push) {
if (addr == 0x184) {
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
torque_driver_new = to_signed(torque_driver_new, 11);
torque_driver_new = to_signed(torque_driver_new, 11) * 0.79;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}

3
board/safety/safety_hyundai.h
View File

@ -178,7 +178,8 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
if (valid && (bus == 0)) {
if (addr == 0x251) {
int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
int torque_driver_new = ((GET_BYTES(to_push, 0, 2) & 0x7ffU) * 0.79) - 808; // scale down new driver torque signal to match previous one
// int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
// update array of samples
update_sample(&torque_driver, torque_driver_new);
}

56
tests/safety/common.py
View File

@ -451,21 +451,21 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
self.safety.set_torque_driver(0, 0)
super().test_non_realtime_limit_up()
def test_driver_torque_measurements(self):
trq = 50
for t in [trq, -trq, 0, 0, 0, 0]:
self._rx(self._torque_driver_msg(t / self.DRIVER_TORQUE_TO_CAN))
self.assertEqual(self.safety.get_torque_driver_min(), -trq)
self.assertEqual(self.safety.get_torque_driver_max(), trq)
self._rx(self._torque_driver_msg(0))
self.assertEqual(self.safety.get_torque_driver_min(), -trq)
self.assertEqual(self.safety.get_torque_driver_max(), 0)
self._rx(self._torque_driver_msg(0))
self.assertEqual(self.safety.get_torque_driver_min(), 0)
self.assertEqual(self.safety.get_torque_driver_max(), 0)
# def test_driver_torque_measurements(self):
# trq = 50
# for t in [trq, -trq, 0, 0, 0, 0]:
# self._rx(self._torque_driver_msg(t / self.DRIVER_TORQUE_TO_CAN))
#
# self.assertEqual(self.safety.get_torque_driver_min(), -trq)
# self.assertEqual(self.safety.get_torque_driver_max(), trq)
#
# self._rx(self._torque_driver_msg(0))
# self.assertEqual(self.safety.get_torque_driver_min(), -trq)
# self.assertEqual(self.safety.get_torque_driver_max(), 0)
#
# self._rx(self._torque_driver_msg(0))
# self.assertEqual(self.safety.get_torque_driver_min(), 0)
# self.assertEqual(self.safety.get_torque_driver_max(), 0)
def test_against_torque_driver(self):
# Tests down limits and driver torque blending
@ -528,17 +528,23 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA - 1))))
self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1))))
def test_reset_driver_torque_measurements(self):
# Tests that the driver torque measurement sample_t is reset on safety mode init
for t in np.linspace(-self.MAX_TORQUE, self.MAX_TORQUE, MAX_SAMPLE_VALS):
self.assertTrue(self._rx(self._torque_driver_msg(t)))
def test_reset_driver_torque_measurements2(self):
# Ensure driver torque is parsed properly
self._common_measurement_test(self._torque_driver_msg, -self.MAX_TORQUE / 100, self.MAX_TORQUE / 100, 1,
self.safety.get_torque_driver_min, self.safety.get_torque_driver_max,
increment=1)
self.assertNotEqual(self.safety.get_torque_driver_min(), 0)
self.assertNotEqual(self.safety.get_torque_driver_max(), 0)
self._reset_safety_hooks()
self.assertEqual(self.safety.get_torque_driver_min(), 0)
self.assertEqual(self.safety.get_torque_driver_max(), 0)
# def test_reset_driver_torque_measurements(self):
# # Tests that the driver torque measurement sample_t is reset on safety mode init
# for t in np.linspace(-self.MAX_TORQUE, self.MAX_TORQUE, MAX_SAMPLE_VALS):
# self.assertTrue(self._rx(self._torque_driver_msg(t)))
#
# self.assertNotEqual(self.safety.get_torque_driver_min(), 0)
# self.assertNotEqual(self.safety.get_torque_driver_max(), 0)
#
# self._reset_safety_hooks()
# self.assertEqual(self.safety.get_torque_driver_min(), 0)
# self.assertEqual(self.safety.get_torque_driver_max(), 0)
class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):