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safety replay: support Toyota LTA angle control (#1693) 

* safety replay: support toyota lta

* one line
This commit is contained in:
Shane Smiskol 2023-10-17 16:48:13 -07:00 committed by GitHub
parent b496de2d08
commit 549fa32fc7
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 13 additions and 9 deletions
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20
tests/safety_replay/helpers.py
View File

@ -7,12 +7,12 @@ def to_signed(d, bits):
ret = d - (1 << bits)
return ret
def is_steering_msg(mode, addr):
def is_steering_msg(mode, param, addr):
ret = False
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == 0x2E4
ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
elif mode == Panda.SAFETY_GM:
ret = addr == 384
elif mode == Panda.SAFETY_HYUNDAI:
@ -25,14 +25,18 @@ def is_steering_msg(mode, addr):
ret = addr == 0x3d3
return ret
def get_steer_value(mode, to_send):
def get_steer_value(mode, param, to_send):
torque, angle = 0, 0
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
torque = (to_send.data[0] << 8) | to_send.data[1]
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_TOYOTA:
torque = (to_send.data[1] << 8) | (to_send.data[2])
torque = to_signed(torque, 16)
if param & Panda.FLAG_TOYOTA_LTA:
angle = (to_send.data[1] << 8) | to_send.data[2]
angle = to_signed(angle, 16)
else:
torque = (to_send.data[1] << 8) | (to_send.data[2])
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_GM:
torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
torque = to_signed(torque, 11)
@ -50,9 +54,9 @@ def get_steer_value(mode, to_send):
def package_can_msg(msg):
return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
def init_segment(safety, lr, mode):
def init_segment(safety, lr, mode, param):
sendcan = (msg for msg in lr if msg.which() == 'sendcan')
steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, can.address))
steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))
msg = next(steering_msgs, None)
if msg is None:
@ -60,7 +64,7 @@ def init_segment(safety, lr, mode):
return
to_send = package_can_msg(msg)
torque, angle = get_steer_value(mode, to_send)
torque, angle = get_steer_value(mode, param, to_send)
if torque != 0:
safety.set_controls_allowed(1)
safety.set_desired_torque_last(torque)

2
tests/safety_replay/replay_drive.py
View File

@ -15,7 +15,7 @@ def replay_drive(lr, safety_mode, param, alternative_experience, segment=False):
safety.set_alternative_experience(alternative_experience)
if segment:
init_segment(safety, lr, safety_mode)
init_segment(safety, lr, safety_mode, param)
lr.reset()
rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0