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draft

This commit is contained in:
Shane Smiskol 2023-10-03 22:43:56 -07:00
parent 97f403cb07
commit 813750e7e5
6 changed files with 80 additions and 31 deletions
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24
board/safety.h
View File

@ -81,14 +81,14 @@ int safety_fwd_hook(int bus_num, int addr) {
return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, addr));
}
bool get_longitudinal_allowed(void) {
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_longitudinal_allowed() && !brake_pressed_prev;
return get_decel_allowed() && !brake_pressed_prev && !regen_braking_prev;
}
// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
@ -510,27 +510,15 @@ int ROUND(float val) {
// Safety checks for longitudinal actuation
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
// bool braking = desired_accel < 0;
bool accel_valid = get_accel_allowed() && !max_limit_check(desired_accel, limits.max_accel, 0);
bool decel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, 0, limits.min_accel);
// if (get_longitudinal_allowed()) {
// if (!get_accel_allowed())
// }
//
// int max_accel =
// if (get_accel_allowed()) {
// bool accel_valid
// }
// bool accel_valid = get_accel_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
bool decel_valid = get_decel_allowed() && !max_limit_check(desired_accel, 0, limits.min_accel);
bool accel_inactive = desired_accel == limits.inactive_accel;
print("here: "); puth(accel_valid); print(" "); puth(accel_valid); print(" "); puth(decel_valid); print(" "); puth(accel_inactive); print("\n");
return !(accel_valid || decel_valid || accel_inactive);
}
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits) {
return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed);
return !get_decel_allowed() && (desired_speed != limits.inactive_speed);
}
bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) {
@ -547,7 +535,7 @@ 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_longitudinal_allowed() && (desired_brake != 0);
violation |= !get_decel_allowed() && (desired_brake != 0);
violation |= desired_brake > limits.max_brake;
return violation;
}

2
board/safety_declarations.h
View File

@ -147,7 +147,7 @@ bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
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);

6
tests/libpanda/safety_helpers.py
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@ -5,7 +5,8 @@ def setup_safety_helpers(ffi):
ffi.cdef("""
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
bool get_longitudinal_allowed(void);
bool get_decel_allowed(void);
bool get_accel_allowed(void);
void set_alternative_experience(int mode);
int get_alternative_experience(void);
void set_relay_malfunction(bool c);
@ -55,7 +56,8 @@ def setup_safety_helpers(ffi):
class PandaSafety(Protocol):
def set_controls_allowed(self, c: bool) -> None: ...
def get_controls_allowed(self) -> bool: ...
def get_longitudinal_allowed(self) -> bool: ...
def get_decel_allowed(self) -> bool: ...
def get_accel_allowed(self) -> bool: ...
def set_alternative_experience(self, mode: int) -> None: ...
def get_alternative_experience(self) -> int: ...
def set_relay_malfunction(self, c: bool) -> None: ...

74
tests/safety/common.py
View File

@ -143,10 +143,12 @@ 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_longitudinal_allowed())
self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_decel_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_longitudinal_allowed())
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_accel_allowed())
def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(self._interceptor_user_gas(0x1000))
@ -201,9 +203,29 @@ class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
should_tx = False
else:
should_tx = controls_allowed and min_accel <= accel <= max_accel
should_tx = should_tx or accel == self.INACTIVE_ACCEL
self.assertEqual(should_tx, self._tx(self._accel_msg(accel)))
def test_brake_preenable(self):
"""Asserts safety for enabling at a standstill with brake depressed"""
# Brake was already pressed
self._rx(self._speed_msg(0))
self._rx(self._user_brake_msg(1))
self.safety.set_controls_allowed(1)
self._rx(self._user_brake_msg(1))
# Test we allow brake but not positive accel
for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL):
self.assertTrue(self._tx(self._accel_msg(valid_accel)))
self.assertFalse(self._tx(self._accel_msg(self.MAX_ACCEL)))
# Make sure we can re-gain longitudinal actuation
self._rx(self._user_brake_msg(0))
for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL, self.MAX_ACCEL):
self.assertTrue(self._tx(self._accel_msg(valid_accel)))
class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
@ -237,6 +259,33 @@ class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC):
def test_gas_safety_check(self):
self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS)
def test_brake_preenable(self):
"""Asserts safety for enabling at a standstill with brake depressed"""
# Brake was already pressed
self._rx(self._speed_msg(0))
self._rx(self._user_brake_msg(1))
self.safety.set_controls_allowed(1)
self._rx(self._user_brake_msg(1))
# Test we allow brake but not gas
self.assertFalse(self._tx(self._send_gas_msg(0)))
self.assertTrue(self._tx(self._send_gas_msg(self.INACTIVE_GAS)))
if self.INACTIVE_GAS != self.MIN_GAS:
self.assertFalse(self._tx(self._send_gas_msg(self.MIN_GAS)))
self.assertTrue(self._tx(self._send_brake_msg(0)))
self.assertTrue(self._tx(self._send_brake_msg(self.MIN_BRAKE)))
self.assertTrue(self._tx(self._send_brake_msg(self.MAX_BRAKE)))
# for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL):
# self.assertTrue(self._tx(self._accel_msg(valid_accel)))
# self.assertFalse(self._tx(self._accel_msg(self.MAX_ACCEL)))
#
# # Make sure we can re-gain longitudinal actuation
# self._rx(self._user_brake_msg(0))
# for valid_accel in (0, self.INACTIVE_ACCEL, self.MIN_ACCEL, self.MAX_ACCEL):
# self.assertTrue(self._tx(self._accel_msg(valid_accel)))
class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC):
@ -868,10 +917,12 @@ class PandaSafetyTest(PandaSafetyTestBase):
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_longitudinal_allowed())
self.assertFalse(self.safety.get_decel_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_longitudinal_allowed())
self.assertTrue(self.safety.get_decel_allowed())
self.assertTrue(self.safety.get_accel_allowed())
def test_prev_user_brake(self, _user_brake_msg=None, get_brake_pressed_prev=None):
if _user_brake_msg is None:
@ -913,14 +964,17 @@ class PandaSafetyTest(PandaSafetyTestBase):
self.safety.set_controls_allowed(1)
self._rx(_user_brake_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_longitudinal_allowed())
self.assertTrue(self.safety.get_decel_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_longitudinal_allowed())
self.assertTrue(self.safety.get_decel_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_longitudinal_allowed())
self.assertFalse(self.safety.get_decel_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(_user_brake_msg(0)) # reset no brakes
def test_not_allow_user_brake_when_moving(self, _user_brake_msg=None, get_brake_pressed_prev=None):
@ -933,11 +987,13 @@ class PandaSafetyTest(PandaSafetyTestBase):
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_longitudinal_allowed())
self.assertTrue(self.safety.get_decel_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_longitudinal_allowed())
self.assertFalse(self.safety.get_decel_allowed())
self.assertFalse(self.safety.get_accel_allowed())
self._rx(self._vehicle_moving_msg(0))
def test_vehicle_moving(self):

2
tests/safety/test_tesla.py
View File

@ -144,7 +144,7 @@ class TestTeslaLongitudinalSafety(TestTeslaSafety):
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])))
self.assertEqual(send, self._tx(self._long_control_msg(10, acc_val=4, accel_limits=[min_accel, max_accel])), (min_accel, max_accel))
class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):

3
tests/safety/test_toyota.py
View File

@ -186,6 +186,9 @@ class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
def test_accel_actuation_limits(self, stock_longitudinal=True):
super().test_accel_actuation_limits(stock_longitudinal=stock_longitudinal)
def test_brake_preenable(self):
raise unittest.SkipTest
def test_acc_cancel(self):
"""
Regardless of controls allowed, never allow ACC_CONTROL if cancel bit isn't set