Ford: add safety code for LCA vehicles #966
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Ready for a review? I'm cool merging this behind the |
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Sure! |
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Your review comments disappeared but I've made those changes anyway |
incognitojam
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board/safety/safety_ford.h
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| {.msg = {{MSG_ENG_BRAKE_DATA, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, | ||
| {.msg = {{MSG_ENG_VEHICLE_SP_THROTTLE2, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, | ||
| {.msg = {{MSG_ENG_VEHICLE_SP_THROTTLE, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, |
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these don't have any counters or checksums?
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Oh I missed this, ApedPos_Pc_ActlArb has a checksum and counter in MSG_ENG_VEHICLE_SP_THROTTLE...
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I'm cool merging this as-is and adding counter/checksum handling in a follow up PR if you want
board/safety/safety_ford.h
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| bool violation = 0U != (GET_BYTE(to_send, 0) | | ||
| (GET_BYTE(to_send, 1) & 0xFEU) | | ||
| GET_BYTE(to_send, 2) | | ||
| GET_BYTE(to_send, 3) | | ||
| GET_BYTE(to_send, 4) | | ||
| GET_BYTE(to_send, 5)); |
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this can be cleaned up with GET_BYTES_04
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I tried switching it to GET_BYTES_04(to_send) & 0xFEU but then we would be allowing some other button presses to get through
Co-authored-by: Adeeb Shihadeh <[email protected]>
Co-authored-by: Adeeb Shihadeh <[email protected]>
Co-authored-by: Adeeb Shihadeh <[email protected]>
Co-authored-by: Adeeb Shihadeh <[email protected]>
tests/safety/test_ford.py
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| def _user_brake_msg(self, brake: bool): | ||
| # brake pedal and cruise state share same message, so we have to send | ||
| # the other signal too | ||
| enable: bool = self.safety.get_controls_allowed() |
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this type annoation shouldn't be necessary. can we annotate the return type of safety.get_controls_allowed() instead?
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I've added a whole set of type hints which I think is a good start
I couldn't find any way to get CFFI to generate them? not really sure how that would work
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Once those comments are address and the tests pass, this should be good to merge. |
* Ford: add CAN messages and signal definitions * Ford: implement safety hooks * Ford: add safety unit tests * Use standstill signal * Rename bus Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify brake pressed Co-authored-by: Adeeb Shihadeh <[email protected]> * Ford LKAS msg helper * Simplify button violation check Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify LKAS action check Co-authored-by: Adeeb Shihadeh <[email protected]> * Tidy up tests * Use standstill signal for tests * Misra fix * Unused definition Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify signal bit shifting * Remove type hints * Add panda safety type hints * Fix vehicle moving signal * Fix button checks * Fix steer allowed tests * Fix standstill threshold in tests * Maybe this works? * More button tests * Revert "Simplify button violation check" This reverts commit c649626. Co-authored-by: Adeeb Shihadeh <[email protected]>
* Ford: add CAN messages and signal definitions * Ford: implement safety hooks * Ford: add safety unit tests * Use standstill signal * Rename bus Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify brake pressed Co-authored-by: Adeeb Shihadeh <[email protected]> * Ford LKAS msg helper * Simplify button violation check Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify LKAS action check Co-authored-by: Adeeb Shihadeh <[email protected]> * Tidy up tests * Use standstill signal for tests * Misra fix * Unused definition Co-authored-by: Adeeb Shihadeh <[email protected]> * Simplify signal bit shifting * Remove type hints * Add panda safety type hints * Fix vehicle moving signal * Fix button checks * Fix steer allowed tests * Fix standstill threshold in tests * Maybe this works? * More button tests * Revert "Simplify button violation check" This reverts commit c649626. Co-authored-by: Adeeb Shihadeh <[email protected]>
Safety code for the LCA vehicles (support added in commaai/openpilot#23331)
Currently this does not include any rate limit checks.