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Unsafe gas disengage mods, fix test compile warning (#481)

master
Jason Young 2020-04-01 14:03:13 -07:00 committed by GitHub
parent 08ef92d585
commit b9a9ea395f
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 22 additions and 4 deletions
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4
board/safety/safety_volkswagen.h
View File

@ -183,7 +183,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Signal: Motor_20.MO_Fahrpedalrohwert_01
if (addr == MSG_MOTOR_20) {
bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@ -250,7 +250,7 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Signal: Motor_3.Fahrpedal_Rohsignal
if ((bus == 0) && (addr == MSG_MOTOR_3)) {
int gas_pressed = (GET_BYTE(to_push, 2));
if (gas_pressed && !gas_pressed_prev) {
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;

2
tests/safety/test.c
View File

@ -72,7 +72,9 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;
#define UNUSED(x) (void)(x)
#ifndef PANDA
#define PANDA
#endif
#define NULL ((void*)0)
#define static
#include "safety.h"

10
tests/safety/test_volkswagen_mqb.py
View File

@ -4,7 +4,7 @@ import numpy as np
import crcmod
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
@ -198,6 +198,14 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_20_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.safety.set_controls_allowed(True)

10
tests/safety/test_volkswagen_pq.py
View File

@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
@ -176,6 +176,14 @@ class TestVolkswagenPqSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_3_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.safety.set_controls_allowed(True)