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Honda safety: better naming

master
Riccardo 2019-06-04 12:21:52 -07:00
parent 95b010943f
commit a00a50c622
4 changed files with 15 additions and 15 deletions
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18
board/safety/safety_honda.h
View File

@ -8,11 +8,11 @@
// brake > 0mph
// these are set in the Honda safety hooks...this is the wrong place
const int gas_interceptor_threshold = 328;
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;
int gas_interceptor_detected = 0;
int brake_prev = 0;
int gas_prev = 0;
int gas_interceptor_prev = 0;
int honda_gas_prev = 0;
int honda_gas_interceptor_prev = 0;
int ego_speed = 0;
// TODO: auto-detect bosch hardware based on CAN messages?
bool bosch_hardware = false;
@ -60,21 +60,21 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
gas_interceptor_detected = 1;
int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
if ((gas_interceptor > gas_interceptor_threshold) &&
(gas_interceptor_prev <= gas_interceptor_threshold)) {
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(honda_gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
honda_gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press if no interceptor
if (!gas_interceptor_detected) {
if ((to_push->RIR>>21) == 0x17C) {
int gas = to_push->RDLR & 0xFF;
if (gas && !(gas_prev)) {
if (gas && !(honda_gas_prev)) {
controls_allowed = 0;
}
gas_prev = gas;
honda_gas_prev = gas;
}
}
}
@ -89,7 +89,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *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 = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
int pedal_pressed = honda_gas_prev || (honda_gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
(brake_prev && ego_speed);
int current_controls_allowed = controls_allowed && !(pedal_pressed);

2
tests/safety/libpandasafety_py.py
View File

@ -51,7 +51,7 @@ void honda_init(int16_t param);
void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
int get_brake_prev(void);
int get_gas_prev(void);
int get_honda_gas_prev(void);
void set_honda_alt_brake_msg(bool);
void set_bosch_hardware(bool);

6
tests/safety/test.c
View File

@ -165,8 +165,8 @@ int get_brake_prev(void){
return brake_prev;
}
int get_gas_prev(void){
return gas_prev;
int get_honda_gas_prev(void){
return honda_gas_prev;
}
void set_honda_alt_brake_msg(bool c){
@ -235,7 +235,7 @@ void init_tests_honda(void){
ego_speed = 0;
gas_interceptor_detected = 0;
brake_prev = 0;
gas_prev = 0;
honda_gas_prev = 0;
}
void set_gmlan_digital_output(int to_set){

4
tests/safety/test_honda.py
View File

@ -133,9 +133,9 @@ class TestHondaSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_prev_gas(self):
self.assertFalse(self.safety.get_gas_prev())
self.assertFalse(self.safety.get_honda_gas_prev())
self.safety.honda_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_gas_prev())
self.assertTrue(self.safety.get_honda_gas_prev())
def test_disengage_on_gas(self):
self.safety.set_controls_allowed(1)