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VW: Allow inactive accel values at all times (#1247) 

* allow inactive accel values at all times

* cleaner

* unnecessary, done by default

* better comments

* move test to common class

* fix

* flip

* comment

* append 0 and INACTIVE_ACCEL to test accels + check acc_07 sends if inactive only

* cleanup

* fix that

* copy testing convention of VW and Honda

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Young 2023-04-13 20:28:33 -04:00 committed by GitHub
parent 22b8e5df7f
commit fddca54fd6
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3 changed files with 14 additions and 15 deletions
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10
board/safety.h
View File

@ -493,13 +493,9 @@ float interpolate(struct lookup_t xy, float x) {
// Safety checks for longitudinal actuation
bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) {
bool violation = false;
if (!get_longitudinal_allowed()) {
violation |= desired_accel != limits.inactive_accel;
} else {
violation |= max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
}
return violation;
bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel);
bool accel_inactive = desired_accel == limits.inactive_accel;
return !(accel_valid || accel_inactive);
}
bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits) {

9
tests/safety/common.py
View File

@ -156,16 +156,17 @@ class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
(self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
for min_accel, max_accel, alternative_experience in limits:
for accel in np.arange(min_accel - 1, max_accel + 1, 0.05):
# enforce we don't skip over 0 or inactive accel
for accel in np.concatenate((np.arange(min_accel - 1, max_accel + 1, 0.05), [0, self.INACTIVE_ACCEL])):
accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_alternative_experience(alternative_experience)
if stock_longitudinal:
should_tx = False
elif controls_allowed:
should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
else:
should_tx = np.isclose(accel, self.INACTIVE_ACCEL, atol=0.0001)
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)))

10
tests/safety/test_volkswagen_mqb.py
View File

@ -208,16 +208,18 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
def test_accel_safety_check(self):
for controls_allowed in [True, False]:
for accel in np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03):
# enforce we don't skip over 0 or inactive accel
for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding
send = MIN_ACCEL <= accel <= MAX_ACCEL if controls_allowed else accel == self.INACTIVE_ACCEL
is_inactive_accel = accel == self.INACTIVE_ACCEL
send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
self.safety.set_controls_allowed(controls_allowed)
# primary accel request used by ECU
self.assertEqual(send, self._tx(self._acc_06_msg(accel)), (controls_allowed, accel))
# additional accel request used by ABS/ESP
self.assertEqual(send, self._tx(self._acc_07_msg(accel)), (controls_allowed, accel))
# ensure the optional secondary accel field remains disabled for now
self.assertFalse(self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel))
# ensure the optional secondary accel field remains inactive for now
self.assertEqual(is_inactive_accel, self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel))
if __name__ == "__main__":