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rename unsafeMode to alternativeExperience (#878) 

* alternative experiences

* not unsafe

* more renames

more renames

* not yet true

* I think we import from panda now

* update comments and test

* not needed

* bump health pkt version

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Shane Smiskol 2022-03-24 14:31:31 -07:00 committed by GitHub
parent e01c64574c
commit 7104818e14
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GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 56 additions and 58 deletions
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6
board/health.h
View File

@ -1,5 +1,5 @@
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 3
// When changing this struct, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 4
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@ -20,6 +20,6 @@ struct __attribute__((packed)) health_t {
uint8_t fault_status_pkt;
uint8_t power_save_enabled_pkt;
uint8_t heartbeat_lost_pkt;
uint16_t unsafe_mode_pkt;
uint16_t alternative_experience_pkt;
uint32_t blocked_msg_cnt_pkt;
};

2
board/safety.h
View File

@ -204,7 +204,7 @@ bool addr_safety_check(CANPacket_t *to_push,
void generic_rx_checks(bool stock_ecu_detected) {
// exit controls on rising edge of gas press
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

8
board/safety/safety_ford.h
View File

@ -12,7 +12,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int bus = GET_BUS(to_push);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
if (addr == 0x217) {
// wheel speeds are 14 bits every 16
@ -47,7 +47,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
if (!alt_exp_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@ -73,8 +73,8 @@ static int ford_tx_hook(CANPacket_t *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = brake_pressed_prev && vehicle_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
if (!alt_exp_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);

4
board/safety/safety_gm.h
View File

@ -124,8 +124,8 @@ static int gm_tx_hook(CANPacket_t *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = brake_pressed_prev && vehicle_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
if (!alt_exp_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !pedal_pressed;

8
board/safety/safety_honda.h
View File

@ -195,8 +195,8 @@ static int honda_rx_hook(CANPacket_t *to_push) {
}
}
// disable stock Honda AEB in unsafe mode
if (!(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB)) {
// disable stock Honda AEB in alternative experience
if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
@ -260,8 +260,8 @@ static int honda_tx_hook(CANPacket_t *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = brake_pressed_prev && vehicle_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
if (!alt_exp_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);

14
board/safety_declarations.h
View File

@ -127,23 +127,21 @@ int desired_angle_last = 0;
struct sample_t angle_meas; // last 3 steer angles
// This can be set with a USB command
// It enables features we consider to be unsafe, but understand others may have different opinions
// It is always 0 on mainline comma.ai openpilot
// It enables features that allow alternative experiences, like not disengaging on gas press
// It is only either 0 or 1 on mainline comma.ai openpilot
// If using this flag, be very careful about what happens if your fork wants to brake while the
// user is pressing the gas. Tesla is careful with this.
#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1
// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
#define UNSAFE_DISABLE_STOCK_AEB 2
#define ALT_EXP_DISABLE_STOCK_AEB 2
// If using this flag, be aware that harder braking is more likely to lead to rear endings,
// and that alone this flag doesn't make braking compliant because there's also a time element.
// Setting this flag is used for allowing the full -5.0 to +4.0 m/s^2 at lower speeds
// See ISO 15622:2018 for more information.
#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
#define ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
int unsafe_mode = 0;
int alternative_experience = 0;
// time since safety mode has been changed
uint32_t safety_mode_cnt = 0U;

6
board/usb_comms.h
View File

@ -29,7 +29,7 @@ int get_health_pkt(void *dat) {
health->usb_power_mode_pkt = usb_power_mode;
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
health->safety_param_pkt = current_safety_param;
health->unsafe_mode_pkt = unsafe_mode;
health->alternative_experience_pkt = alternative_experience;
health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
health->blocked_msg_cnt_pkt = blocked_msg_cnt;
@ -288,11 +288,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
UNUSED(ret);
}
break;
// **** 0xdf: set unsafe mode
// **** 0xdf: set alternative experience
case 0xdf:
// you can only set this if you are in a non car safety mode
if (!is_car_safety_mode(current_safety_mode)) {
unsafe_mode = setup->b.wValue.w;
alternative_experience = setup->b.wValue.w;
}
break;
// **** 0xe0: uart read

4
python/__init__.py
View File

@ -160,7 +160,7 @@ class Panda(object):
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 3
HEALTH_PACKET_VERSION = 4
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
F2_DEVICES = (HW_TYPE_PEDAL, )
@ -375,7 +375,7 @@ class Panda(object):
"fault_status": a[16],
"power_save_enabled": a[17],
"heartbeat_lost": a[18],
"unsafe_mode": a[19],
"alternative_experience": a[19],
"blocked_msg_cnt": a[20],
}

12
tests/safety/common.py
View File

@ -10,7 +10,7 @@ from panda.tests.safety import libpandasafety_py
MAX_WRONG_COUNTERS = 5
class UNSAFE_MODE:
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
@ -82,15 +82,15 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
self._rx(self._interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
def test_alternative_experience_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self._rx(self._interceptor_msg(g, 0x201))
self.assertTrue(self.safety.get_controls_allowed())
self._rx(self._interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DEFAULT)
def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(self._interceptor_msg(0x1000, 0x201))
@ -349,10 +349,10 @@ class PandaSafetyTest(PandaSafetyTestBase):
self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
def test_alternative_experience_no_disengage_on_gas(self):
self._rx(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
self._rx(self._gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
self.assertTrue(self.safety.get_controls_allowed())

4
tests/safety/libpandasafety_py.py
View File

@ -27,8 +27,8 @@ typedef struct
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
void set_unsafe_mode(int mode);
int get_unsafe_mode(void);
void set_alternative_experience(int mode);
int get_alternative_experience(void);
void set_relay_malfunction(bool c);
bool get_relay_malfunction(void);
void set_gas_interceptor_detected(bool c);

10
tests/safety/test.c
View File

@ -89,8 +89,8 @@ void set_controls_allowed(bool c){
controls_allowed = c;
}
void set_unsafe_mode(int mode){
unsafe_mode = mode;
void set_alternative_experience(int mode){
alternative_experience = mode;
}
void set_relay_malfunction(bool c){
@ -105,8 +105,8 @@ bool get_controls_allowed(void){
return controls_allowed;
}
int get_unsafe_mode(void){
return unsafe_mode;
int get_alternative_experience(void){
return alternative_experience;
}
bool get_relay_malfunction(void){
@ -212,7 +212,7 @@ void init_tests(void){
hw_type = atoi(getenv("HW_TYPE"));
}
safety_mode_cnt = 2U; // avoid ignoring relay_malfunction logic
unsafe_mode = 0;
alternative_experience = 0;
set_timer(0);
}

8
tests/safety/test_gm.py
View File

@ -5,7 +5,7 @@ import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, UNSAFE_MODE
from panda.tests.safety.common import CANPackerPanda, ALTERNATIVE_EXPERIENCE
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@ -242,9 +242,9 @@ class TestGmSafety(common.PandaSafetyTest):
elif pedal == 'gas':
self._rx(self._gas_msg(0))
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
def test_tx_hook_on_pedal_pressed_on_alternative_gas_experience(self):
for pedal in ['brake', 'gas']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and vehicle_moving
self._rx(self._speed_msg(100))
@ -262,7 +262,7 @@ class TestGmSafety(common.PandaSafetyTest):
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DEFAULT)
self._tx(self._send_brake_msg(0))
self._tx(self._torque_msg(0))
if pedal == 'brake':

18
tests/safety/test_honda.py
View File

@ -6,7 +6,7 @@ from typing import Optional
from panda import Panda
from panda.tests.safety import libpandasafety_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
from panda.tests.safety.common import CANPackerPanda, make_msg, MAX_WRONG_COUNTERS, ALTERNATIVE_EXPERIENCE
class Btn:
NONE = 0
@ -130,9 +130,9 @@ class HondaButtonEnableBase(common.PandaSafetyTest):
self.assertTrue(self.safety.get_controls_allowed())
def test_tx_hook_on_pedal_pressed(self):
for mode in [UNSAFE_MODE.DEFAULT, UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS]:
for mode in [ALTERNATIVE_EXPERIENCE.DEFAULT, ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS]:
for pedal in ['brake', 'gas']:
self.safety.set_unsafe_mode(mode)
self.safety.set_alternative_experience(mode)
allow_ctrl = False
if pedal == 'brake':
# brake_pressed_prev and vehicle_moving
@ -141,7 +141,7 @@ class HondaButtonEnableBase(common.PandaSafetyTest):
elif pedal == 'gas':
# gas_pressed_prev
self._rx(self._gas_msg(1))
allow_ctrl = mode == UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS
allow_ctrl = mode == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
@ -152,7 +152,7 @@ class HondaButtonEnableBase(common.PandaSafetyTest):
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DEFAULT)
if hw == HONDA_NIDEC:
self._tx(self._send_brake_msg(0))
self._tx(self._send_steer_msg(0))
@ -342,12 +342,12 @@ class TestHondaNidecSafetyBase(HondaBase):
self.safety.set_honda_fwd_brake(False)
def test_tx_hook_on_interceptor_pressed(self):
for mode in [UNSAFE_MODE.DEFAULT, UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS]:
self.safety.set_unsafe_mode(mode)
for mode in [ALTERNATIVE_EXPERIENCE.DEFAULT, ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS]:
self.safety.set_alternative_experience(mode)
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self._rx(self._interceptor_msg(self.INTERCEPTOR_THRESHOLD + 1, 0x201))
self._rx(self._interceptor_msg(self.INTERCEPTOR_THRESHOLD + 1, 0x201))
allow_ctrl = mode == UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS
allow_ctrl = mode == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
self.safety.set_controls_allowed(1)
self.safety.set_honda_fwd_brake(False)
@ -357,7 +357,7 @@ class TestHondaNidecSafetyBase(HondaBase):
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DEFAULT)
self._tx(self._send_brake_msg(0))
self._tx(self._send_steer_msg(0))
self._tx(self._interceptor_msg(0, 0x200))

10
tests/safety/test_toyota.py
View File

@ -5,7 +5,7 @@ import random
from panda import Panda
from panda.tests.safety import libpandasafety_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, make_msg, UNSAFE_MODE
from panda.tests.safety.common import CANPackerPanda, make_msg, ALTERNATIVE_EXPERIENCE
MAX_ACCEL = 2.0
MIN_ACCEL = -3.5
@ -93,14 +93,14 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
self.assertEqual(not bad, self._tx(msg))
def test_accel_actuation_limits(self):
limits = ((MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.DEFAULT),
(MIN_ACCEL, MAX_ACCEL, UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
limits = ((MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
(MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
for min_accel, max_accel, unsafe_mode in limits:
for min_accel, max_accel, alternative_experience in limits:
for accel in np.arange(min_accel - 1, max_accel + 1, 0.1):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_unsafe_mode(unsafe_mode)
self.safety.set_alternative_experience(alternative_experience)
if controls_allowed:
should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
else: