From 8da0c9d916fd34d97bbdd3ada18b5acc8e75d13b Mon Sep 17 00:00:00 2001 From: alan-polk <56047663+alan-polk@users.noreply.github.com> Date: Thu, 29 Oct 2026 16:46:32 -0500 Subject: [PATCH] Ford: remove the interim BluePilot port; AOL on the stock profiles StarPilot's angle-only bluepilot_lateral adaptation and the BluePilot-derived curvature strategies (Mach-E, classic, Explorer, generic CAN FD, new-port curvature, manual-turn latch, curvature preview, pinion measurement) are removed, with their extended safety profiles 16/32/64 and the interim angle word 128. Ford lateral is upstream's stock curvature path until the BluePilot lateral library is mounted. StarPilot's own Ford features stay, re-keyed from the extended words to the stock ones: - AOL: classic 32 -> 0, Mach-E 18 and the CAN FD trucks 66 -> 2 (+1 with openpilot long); the CAN FD retained-display rules apply to word 2. Edge/Mondeo/Transit and the manual bit (256) are unchanged. - release CAN FD long: word 3 (was 19/67); 19 and 67 are now retired and denied. - stock cruise switch, CAN FD camera-lead radar handling, hands-free cluster: keyed on the Ford family. - classic stock ACC (0) keeps the no-ACCDATA TX list the extended classic profile had. Bits 9-14 of the Ford param are reserved for the BluePilot lateral library's startup bits (safety/modes/ford_param.h); AOL and pandad mask them out of the profile word. Co-Authored-By: Claude Opus 5.5 --- CREDITS.md | 14 +- THIRD_PARTY_NOTICES.md | 12 +- .../opendbc/bluepilot_lateral/CREDITS.md | 35 - .../opendbc/bluepilot_lateral/LICENSE | 7 - .../opendbc/bluepilot_lateral/LICENSE.md | 21 - .../bluepilot_lateral/ORIGIN_HISTORY.tsv | 38 - .../opendbc/bluepilot_lateral/README.md | 81 -- .../opendbc/bluepilot_lateral/__init__.py | 109 --- .../opendbc/bluepilot_lateral/can/__init__.py | 0 .../opendbc/bluepilot_lateral/can/ford.py | 37 - .../bluepilot_lateral/core/__init__.py | 0 .../opendbc/bluepilot_lateral/core/angle.py | 212 ----- .../opendbc/bluepilot_lateral/core/trim.py | 104 -- .../bluepilot_lateral/hosts/__init__.py | 0 .../bluepilot_lateral/hosts/starpilot.py | 138 --- .../bluepilot_lateral/params/__init__.py | 0 .../bluepilot_lateral/params/generate.py | 41 - .../opendbc/bluepilot_lateral/params/limits.h | 20 - .../bluepilot_lateral/params/limits.py | 19 - .../bluepilot_lateral/params/manifest.json | 109 --- .../bluepilot_lateral/params/protocol.h | 10 - .../bluepilot_lateral/params/protocol.json | 11 - .../bluepilot_lateral/params/protocol.py | 10 - .../opendbc/bluepilot_lateral/params/trim.py | 45 - .../bluepilot_lateral/safety/ford_bp.h | 249 ----- .../bluepilot_lateral/tests/__init__.py | 0 .../bluepilot_lateral/tests/reference.py | 101 -- .../tests/reference/angle.py.txt | 577 ----------- .../tests/reference/bpdev_trim.py.txt | 203 ---- .../tests/reference/builders.py.txt | 377 -------- .../tests/reference/fordcan.py.txt | 342 ------- .../tests/reference/human.py.txt | 71 -- .../tests/reference/manifest.json | 43 - .../starpilot_curvature_controller.py.txt | 337 ------- .../tests/reference/values.py.txt | 125 --- .../tests/test_angle_core.py | 250 ----- .../tests/test_angle_native.py | 307 ------ .../tests/test_angle_transport.py | 179 ---- .../bluepilot_lateral/upstream-root-LICENSE | 7 - .../upstream-root-LICENSE.md | 21 - opendbc_repo/opendbc/car/ford/aol.py | 50 +- .../opendbc/car/ford/carcontroller.py | 157 +-- opendbc_repo/opendbc/car/ford/carstate.py | 12 - .../opendbc/car/ford/classic_lateral.py | 51 - .../opendbc/car/ford/curvature_preview.py | 14 - .../opendbc/car/ford/explorer_lateral.py | 91 -- .../opendbc/car/ford/extended_classic_can.py | 25 - .../opendbc/car/ford/generic_canfd_can.py | 9 - .../opendbc/car/ford/generic_canfd_lateral.py | 46 - opendbc_repo/opendbc/car/ford/interface.py | 46 +- .../opendbc/car/ford/lateral_strategy.py | 758 --------------- opendbc_repo/opendbc/car/ford/mache_can.py | 50 - .../opendbc/car/ford/mache_lateral.py | 155 --- opendbc_repo/opendbc/car/ford/manual_turn.py | 101 -- .../opendbc/car/ford/new_port_curvature.py | 70 -- opendbc_repo/opendbc/car/ford/pinion.py | 84 -- .../opendbc/car/ford/radar_interface.py | 7 +- opendbc_repo/opendbc/car/ford/stock_cruise.py | 15 +- .../car/ford/tests/test_aol_startup.py | 19 +- .../car/ford/tests/test_blend_settings.py | 81 -- .../ford/tests/test_blend_settings_startup.py | 91 -- .../car/ford/tests/test_classic_generic.py | 166 ---- .../car/ford/tests/test_curvature_preview.py | 69 -- .../car/ford/tests/test_explorer_lateral.py | 185 ---- .../car/ford/tests/test_generic_canfd.py | 219 ----- .../car/ford/tests/test_mach_e_profile.py | 52 - .../ford/tests/test_mache_display_handoff.py | 184 ---- .../car/ford/tests/test_mache_lateral.py | 893 ------------------ .../car/ford/tests/test_mache_speed_window.py | 140 --- .../car/ford/tests/test_manual_turn.py | 144 --- .../car/ford/tests/test_new_port_curvature.py | 207 ---- .../car/ford/tests/test_pinion_measurement.py | 177 ---- .../ford/tests/test_production_extensions.py | 121 --- .../car/ford/tests/test_stock_cruise.py | 8 +- opendbc_repo/opendbc/car/ford/values.py | 12 +- opendbc_repo/opendbc/safety/modes/ford.h | 269 +----- opendbc_repo/opendbc/safety/modes/ford_aol.h | 22 +- .../opendbc/safety/modes/ford_param.h | 9 + .../opendbc/safety/modes/ford_pinion.h | 31 - .../safety/modes/ford_pinion_measurement.h | 23 - .../safety/tests/ford_release_contract.py | 5 +- .../opendbc/safety/tests/libsafety/safety.c | 18 - opendbc_repo/opendbc/safety/tests/mutation.py | 3 +- .../opendbc/safety/tests/test_ford.py | 17 +- .../safety/tests/test_ford_alpha_aol.py | 6 +- .../opendbc/safety/tests/test_ford_aol.py | 39 +- .../safety/tests/test_ford_bluepilot_aol.py | 44 - ..._display.py => test_ford_canfd_display.py} | 12 +- .../tests/test_ford_configuration_parity.py | 9 +- .../tests/test_ford_explorer_extended.py | 102 -- .../safety/tests/test_ford_full_engagement.py | 4 +- .../tests/test_ford_generic_canfd_extended.py | 89 -- .../safety/tests/test_ford_mach_e_extended.py | 179 ---- .../safety/tests/test_ford_neutral_display.py | 16 +- .../safety/tests/test_ford_stock_switch.py | 4 +- openpilot/common/params_keys.h | 6 - .../pandad/tests/test_aol_protocol.cc | 18 +- .../pandad/tests/test_panda_owner.cc | 2 +- openpilot/selfdrive/selfdrived/selfdrived.py | 14 +- .../test_ford_ordinary_long_withdrawal.py | 9 +- .../aol/tests/test_ford_source_deadline.py | 15 +- openpilot/starpilot/aol/transport_pause.py | 8 +- openpilot/starpilot/car/ford/aol.py | 14 +- openpilot/starpilot/car/ford/aol_policy.h | 7 +- .../starpilot/car/ford/cluster_preferences.py | 10 +- .../starpilot/car/ford/lateral_preferences.py | 19 - .../car/ford/longitudinal_preferences.py | 3 - .../tests/test_stop_commit_transport.py | 2 +- openpilot/starpilot/controller_extensions.py | 160 ---- .../starpilot/flm/runtime_adapter_registry.py | 16 +- .../starpilot/flm/tests/test_native_health.py | 4 +- .../starpilot/galaxy/setting_descriptions.py | 3 - .../tests/description-key-inventory.json | 2 - .../galaxy/tests/test_ford_angle_settings.py | 118 --- .../galaxy/tests/test_ford_pinion_settings.py | 63 -- .../tests/test_ford_selector_visibility.py | 74 -- .../starpilot/tests/ford_lifecycle_helpers.py | 67 +- .../tests/test_controller_extensions.py | 180 ---- openpilot/starpilot/tests/test_ford_angle.py | 538 ----------- .../starpilot/tests/test_ford_aol_intent.py | 6 +- .../tests/test_ford_bluepilot_aol.py | 436 --------- .../tests/test_ford_ci_registration.py | 11 +- .../test_ford_configuration_admission.py | 12 +- .../tests/test_ford_configuration_parity.py | 61 +- .../tests/test_ford_manual_ordinary.py | 46 - .../tests/test_ford_neutral_display.py | 4 +- .../tests/test_ford_recorded_departure.py | 4 +- .../tests/test_ford_recorded_lifecycle.py | 8 +- .../test_ford_release_long_preferences.py | 4 +- .../tests/test_ford_standstill_brake.py | 4 +- .../tests/test_vehicle_preferences_api.py | 3 +- .../starpilot/ui/feature_settings_owner.py | 9 +- .../starpilot/ui/ford_cluster_feature.py | 48 + .../starpilot/ui/ford_lateral_feature.py | 115 --- openpilot/starpilot/ui/ford_pinion_feature.py | 74 -- openpilot/starpilot/vehicle_preferences.py | 11 +- tools/ci/custom_pytest_workloads.json | 6 - tools/ci/lifecycle_workloads.json | 38 - tools/ci/run_safety_qualification.py | 1 - tools/ci/run_vehicle_tests.py | 24 +- tools/ci/safety_pytest_coverage.py | 3 +- tools/ci/tests/test_safety_qualification.py | 5 +- tools/ci/tests/test_vehicle_ci.py | 1 - 143 files changed, 314 insertions(+), 11644 deletions(-) delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/LICENSE delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/LICENSE.md delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/ORIGIN_HISTORY.tsv delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/README.md delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/can/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/can/ford.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/core/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/core/angle.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/core/trim.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/hosts/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/generate.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/limits.h delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/limits.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/manifest.json delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/protocol.h delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/protocol.json delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/protocol.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/params/trim.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/__init__.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/angle.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/bpdev_trim.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/builders.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/fordcan.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/human.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/manifest.json delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/starpilot_curvature_controller.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/reference/values.py.txt delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_native.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_transport.py delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE delete mode 100644 opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE.md delete mode 100644 opendbc_repo/opendbc/car/ford/classic_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/curvature_preview.py delete mode 100644 opendbc_repo/opendbc/car/ford/explorer_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/extended_classic_can.py delete mode 100644 opendbc_repo/opendbc/car/ford/generic_canfd_can.py delete mode 100644 opendbc_repo/opendbc/car/ford/generic_canfd_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/lateral_strategy.py delete mode 100644 opendbc_repo/opendbc/car/ford/mache_can.py delete mode 100644 opendbc_repo/opendbc/car/ford/mache_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/manual_turn.py delete mode 100644 opendbc_repo/opendbc/car/ford/new_port_curvature.py delete mode 100644 opendbc_repo/opendbc/car/ford/pinion.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_blend_settings.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_blend_settings_startup.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_classic_generic.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_curvature_preview.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_explorer_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_generic_canfd.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_mach_e_profile.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_mache_lateral.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_mache_speed_window.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_manual_turn.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_new_port_curvature.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py delete mode 100644 opendbc_repo/opendbc/car/ford/tests/test_production_extensions.py create mode 100644 opendbc_repo/opendbc/safety/modes/ford_param.h delete mode 100644 opendbc_repo/opendbc/safety/modes/ford_pinion.h delete mode 100644 opendbc_repo/opendbc/safety/modes/ford_pinion_measurement.h delete mode 100644 opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py rename opendbc_repo/opendbc/safety/tests/{test_ford_mache_display.py => test_ford_canfd_display.py} (93%) delete mode 100644 opendbc_repo/opendbc/safety/tests/test_ford_explorer_extended.py delete mode 100644 opendbc_repo/opendbc/safety/tests/test_ford_generic_canfd_extended.py delete mode 100644 opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py delete mode 100644 openpilot/starpilot/car/ford/lateral_preferences.py delete mode 100644 openpilot/starpilot/galaxy/tests/test_ford_angle_settings.py delete mode 100644 openpilot/starpilot/galaxy/tests/test_ford_pinion_settings.py delete mode 100644 openpilot/starpilot/galaxy/tests/test_ford_selector_visibility.py delete mode 100644 openpilot/starpilot/tests/test_controller_extensions.py delete mode 100644 openpilot/starpilot/tests/test_ford_angle.py delete mode 100644 openpilot/starpilot/tests/test_ford_bluepilot_aol.py delete mode 100644 openpilot/starpilot/tests/test_ford_manual_ordinary.py create mode 100644 openpilot/starpilot/ui/ford_cluster_feature.py delete mode 100644 openpilot/starpilot/ui/ford_lateral_feature.py delete mode 100644 openpilot/starpilot/ui/ford_pinion_feature.py diff --git a/CREDITS.md b/CREDITS.md index 3ad41cef66..c7d9dc78b9 100644 --- a/CREDITS.md +++ b/CREDITS.md @@ -12,15 +12,9 @@ The copied MRR35 generator source and DBC definition are at `opendbc_repo/opendb ## Ford support adapted from BluePilot -The Ford lateral strategies, extended CAN constructors, camera-radar filtering and native checks are adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Their lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded. +The Ford CAN FD camera-lead radar filtering is adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Its lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded. -Relevant lineage includes the controller and integration work in [`db2bdff05`](https://github.com/BluePilotDev/bluepilot/commit/db2bdff05df103d71df62f45c2a3cb5211aba6e6) and [`d0aac605f`](https://github.com/BluePilotDev/bluepilot/commit/d0aac605f99d37e9da205e419f7989c1e9eaa386), extended CAN and safety work in [`8f8d6d15f`](https://github.com/BluePilotDev/bluepilot/commit/8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d), and manual-turn detection in [`97867c1eb`](https://github.com/BluePilotDev/bluepilot/commit/97867c1eb57b7472f6fc3de62f0fef576e5a5497). - -The vehicle strategy and CAN/native owners preserve that attribution while adapting to the current controller interfaces and shared safety limits. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md). - -## Optional Ford angle controller - -The vendored `opendbc_repo/opendbc/bluepilot_lateral` angle core, codecs and Ford-only safety hooks are adapted directly from [BluePilot bp-7.0 e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a), principally by Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham, Praeuner and other BluePilot, sunnypilot and comma contributors. Exact source paths and intentionally stricter safety checks are recorded in that folder. Both upstream `LICENSE` and `LICENSE.md` notices are retained. Its layout follows Alan Polk's September 2026 library proposal; this is a StarPilot adapter, not a published BluePilot library release. +The radar interface preserves that attribution while adapting to the current interfaces. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md). ## RAV4 Continental ARS510 receiver @@ -34,10 +28,6 @@ Spotify's Bluetooth output binds the comma's BlueALSA A2DP source to the selecte The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, grade compensation, torque-zero estimator and vehicle-specific gains preserve firestar5683's intentional Dom work, including `7837a3c1aab`, `aed0b7fdb9e9` and pinned `b220a37f4bd119e402225a7aa16a7cd84878d0af`. Original author attribution: firestar5683 <168790843+firestar5683@users.noreply.github.com>. Startup/calibration ownership, current upstream button/PID interfaces and native command bounds are adapted to the current StarPilot architecture; the old permissive native gateway is not transplanted. Existing source/license notices remain intact. -## Ford optional pinion measurement - -The default-off Use Pinion Yaw Sensor measurement option is adapted from jrneulight’s BluePilot PR #145 (https://github.com/BluePilotDev/bluepilot/pull/145), merged as `fe5b019568c8c13fb894dc6d8d779d60985051a8`. Its per-platform geometry, native pinion measurement, integrity requirements and host vehicle-model compensation are retained. StarPilot adapts the option to its existing exact safety-profile word, modern curvature checks, AOL authority and Galaxy/native settings; the upstream maintainers do not maintain this integration. Existing upstream copyright and license notices remain in THIRD_PARTY_NOTICES.md. - ## Subaru angle steering from Jacob Waller's fork Subaru angle support includes implementation maintained and integrated by **Jacob Waller (jacobw)** in [jacobwaller/openpilot, jul-angle-based](https://github.com/jacobwaller/openpilot/tree/542816196a18dba5f6f0af093c1ece4f415b5a22), with its [opendbc implementation at 8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0](https://github.com/jacobwaller/opendbc/tree/8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0). Jacob authored the VehicleModel angle-limit type correction and integrated the Crosstrek support. The branch also retains the original angle implementation and follow-up work by **lukasloetkolben and elkoled**, alongside comma contributors; their authorship remains theirs. diff --git a/THIRD_PARTY_NOTICES.md b/THIRD_PARTY_NOTICES.md index 36c6b73a13..5f140d6ae2 100644 --- a/THIRD_PARTY_NOTICES.md +++ b/THIRD_PARTY_NOTICES.md @@ -73,17 +73,7 @@ the exclusion of the other. ## BluePilot Ford support -The Ford lateral strategies, CAN constructors, camera-radar filtering and native checks include work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to the Ford extension sources; they are retained without resolving the difference between their published license descriptions. - -## Optional BluePilot angle library adapter - -The angle-only adapter in `opendbc_repo/opendbc/bluepilot_lateral` is sourced directly from BluePilot bp-7.0 commit e1d051d7ba270261b4455068bd68f1a58db15a4a. The complete upstream MIT notice is retained in that folder's `LICENSE`, and the simultaneously published Custom MIT notice is retained verbatim in `LICENSE.md`. The applicable SUNNYPILOT acknowledgments reproduced above are also retained in its `CREDITS.md`. This preserves the published terms without resolving their scope or representing the adapted extension as unambiguously plain MIT. - -The optional, default-disabled angle lane-centering trim additionally derives from -BluePilot bp-dev e22afa6be9b881fa784c92ebb316db47728a3d81. Its exact source and -contributors are recorded in the library CREDITS.md; the same root/opendbc MIT -and Custom MIT notices coexist unchanged at that revision. This adds attribution, -not a license-scope decision or permission grant. +The Ford CAN FD camera-radar filtering includes work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to that source; they are retained without resolving the difference between their published license descriptions. ## Continental ARS510 radar diff --git a/opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md b/opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md deleted file mode 100644 index 347892a413..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md +++ /dev/null @@ -1,35 +0,0 @@ -# BluePilot angle source - -Adapted from BluePilotDev/bluepilot bp-7.0 at -[e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a), -principally Alan Polk, with John Christman, Jacob Neulight, Nathan Ingraham, -Praeuner, tonesto7, Haibin Wen and other BluePilot, sunnypilot and comma contributors. -Source paths: opendbc/sunnypilot/car/ford/lateral_angle_ext.py, -fordcan_ext.py, human_turn.py and opendbc/safety/modes/ford.h. -The simultaneous upstream LICENSE and LICENSE.md notices are retained. -This software is licensed under a custom license requiring permission for use. -This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use. - -This is a StarPilot adapter to the September 2026 proposed library shape. -It is not a released BluePilot library, tag, or claim of BluePilot validation. -The existing curvature controller remains StarPilot-owned. Pinion curvature, -curvature-primary settings and the unsafe native reset bypass are not imported. - -The exact upstream root notices are additionally retained as upstream-root-LICENSE -and upstream-root-LICENSE.md; LICENSE/ LICENSE.md retain the opendbc notices. -ORIGIN_HISTORY.tsv records the inspected path history with commit IDs/authors/dates. -The private compact upstream root clone preserves its reachable root history. -Pre-conversion opendbc submodule objects are not included in that root history. - -Angle lane-centering trim is separately adapted from BluePilot bp-dev -[e22afa6be9b881fa784c92ebb316db47728a3d81](https://github.com/BluePilotDev/bluepilot/commit/e22afa6be9b881fa784c92ebb316db47728a3d81), -`opendbc/sunnypilot/car/ford/lane_center_trim.py` (blob -`5eedebd79e99493624f9d6af0750d1dd5713306c`). Alan Polk authored the initial -trim, model-position fallback, correction slew and default-strength changes; -ghbarker contributed reference/NaN guards and tests. The source explicitly credits -StarPilot/u/jc01rho for curvature-domain placement/geometry. The core adaptation -adds immutable host projection and conservative stale/driver-pressure suppression. -The pinned bp-7.0 controller baseline and default-disabled policy are unchanged. -Both simultaneous root/opendbc MIT and Custom MIT notices also exist unchanged at -this trim revision; all retained notices and permission acknowledgments apply -without assigning an exclusive license or claiming a new permission grant. diff --git a/opendbc_repo/opendbc/bluepilot_lateral/LICENSE b/opendbc_repo/opendbc/bluepilot_lateral/LICENSE deleted file mode 100644 index f1fd199c63..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/LICENSE +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2020, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/opendbc_repo/opendbc/bluepilot_lateral/LICENSE.md b/opendbc_repo/opendbc/bluepilot_lateral/LICENSE.md deleted file mode 100644 index 650b6f55b3..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/LICENSE.md +++ /dev/null @@ -1,21 +0,0 @@ -# Custom MIT License - -Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions: - -1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s). - -2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment: - "This software is licensed under a custom license requiring permission for use." - -3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment: - "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use." - -4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - -Contact sunnypilot Support for permission requests. - ---- - -Haibin Wen, SUNNYPILOT LLC diff --git a/opendbc_repo/opendbc/bluepilot_lateral/ORIGIN_HISTORY.tsv b/opendbc_repo/opendbc/bluepilot_lateral/ORIGIN_HISTORY.tsv deleted file mode 100644 index 55105a47d7..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/ORIGIN_HISTORY.tsv +++ /dev/null @@ -1,38 +0,0 @@ -9d190417bf74563abfa6f36996f1e673e9ee0a1b Praeuner 2026-08-13T22:26:15-05:00 Update dampening factor to .25 -a881646ea5edc21c0db4c4e74076e0dc14671a4e alan-polk 2026-08-10T09:04:52-05:00 Merge pull request #176 from BluePilotDev/bp-no-stall -9012f76666a5c90764fcaec40832b9a607488c27 John Christman 2026-08-05T17:49:59-04:00 anti-stall -3610e3f18a0ad37d793d7ada61dbc739ab1077a3 Nathan Ingraham 2026-07-23T22:26:29-05:00 self.path_angle_gain_lowC_highV remains the platform-specific base gain. The toggle now controls separate self.user_dampening_factor. l ow_gain_calc uses: self.path_angle_gain_lowC_highV * self.user_dampening_factor UI placement, description, default, and 0.75–1.25 range remain unchanged. -1db52bc79e607ddb00214254dd4d732615e27fe4 Nathan Ingraham 2026-07-23T00:00:51-05:00 -Added “High Speed Dampening” directly below “High Speed Adjustment Factor”, range 0.75–1.25, step 0.01, and default 1.0. -5d994c24edf63f3b9004b2963f18ef4199e5d368 Jacob Neulight 2026-07-18T20:17:04-06:00 Ford safety: optional pinion-sourced angle_meas behind STEER_ANGLE_CURVATURE SP flag -699c17d9fde62c690eed9d68eed7d731744d5137 Jacob Neulight 2026-07-18T19:53:46-06:00 Ford: publish angle-mode shadow curvature from measured curvature during overrides -b7428fee4b116d4832f91c850d54cac2730de2ef alan-polk 2026-07-18T08:52:24-05:00 restore curvature safety checks to bp-6.0 logic. -97867c1eb57b7472f6fc3de62f0fef576e5a5497 alan-polk 2026-07-16T19:18:05-05:00 Human Turn Reset for Angle (#118) -7efee67e3e643d52b973895d6c6765c5cc12e314 alan-polk 2026-07-16T08:19:43-05:00 angle mode: rescale exit-detection threshold for 20Hz cadence -1958a3501ead10ae1f496f0d11e1e8cda6e2dbcc alan-polk 2026-07-14T15:22:38-05:00 Bp 7.0 variable cleanup (#111) -8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d alan-polk 2026-07-14T08:53:28-05:00 Bp 7.0 panda2 (#109) -11ac3b760671b489ca449d522f1edf240a232884 alan-polk 2026-07-09T07:53:21-05:00 angle mode: fix ROC values tuned for 100Hz cadence running at actual 20Hz -dbdcea747e65f574d326a55c9bf1a9d6c9485e22 alan-polk 2026-07-08T09:21:32-05:00 Revert "ford: add current-curvature deviation check to angle mode (panda-side)" -69a9714563622729ba304ac75354ba3fd37b0b39 alan-polk 2026-07-08T09:17:09-05:00 ford: add current-curvature deviation check to angle mode (panda-side) -be7f86a5d0dc1ea3b3f0052d4b54ff0b8a70f843 John Christman 2026-07-06T21:53:55-04:00 cast on debug -5c1fbb07dd4d7d950a01cb2cd1faddd90d41e632 alan-polk 2026-07-06T14:20:49-05:00 controllerStateBP: add angleRateLimited + curvatureRateLimited diagnostics -06d654e5f48ea8fcffce6e98e48e3a30450b5097 alan-polk 2026-06-25T23:28:51-05:00 Revert "temp blend ratio change" — restore predicted-curvature blend to 0.50 -540e69fcf4861a2ce5d7ca41467effc231638e27 alan-polk 2026-06-22T08:35:44-05:00 temp blend ratio change -e3819c7e630d85cfb44858840124fe7f72f1762d alan-polk 2026-06-13T20:47:09-05:00 ford.h: don't block angle mode on the inactive curvature signal -5d343738e30267688d0ffa6eebe2ec3ca57b10ee alan-polk 2026-06-13T18:28:30-05:00 ford.h: widen path_angle ROC to 2% looser than lateral_angle_ext _soft_roc -d0aac605f99d37e9da205e419f7989c1e9eaa386 alan-polk 2026-06-13T11:15:50-05:00 BluePilot: add angle-primary lateral control mode -51d5de8991508c862e7c51333e5055425b2b8d23 alan-polk 2026-04-11T12:00:10-05:00 fixing missing punctation in ford.h -8194ceb7e0bbc112c73d393a8f0add3261f6592d alan-polk 2026-04-11T11:51:49-05:00 make safety limits symetrical but control limits asymetrical. Add 1.5s duration to detect human turn -db2bdff05df103d71df62f45c2a3cb5211aba6e6 alan-polk 2026-04-09T23:47:30-05:00 move all external logic to lateral_curv_ext.py. Apply some order of operations fixes to try and eleminate panda blocking messages. -1a8ac23b5bd5d7952c15eb913c2b1e39f14ad92e Blue Genie 2026-04-08T15:10:24-05:00 Adjust panda limits -892be076daf898d806983f847c72357accff7312 Blue Genie 2026-04-08T11:45:28-05:00 Add logging functionality -ce7d27230657159332f64a253a0faea6cf8dcc95 alan-polk 2026-04-08T11:40:02-05:00 fix rate of change limits -021b5146e80ac58fe2e81dbd848bc7cd409ef08e alan-polk 2026-04-07T16:24:38-05:00 align ford.h limits with dbc and carcontroller -7f9212f7f8dc22c4a0a22443158554f4d3652a3c tonesto7 2026-04-05T21:28:37-04:00 Merge bp-6.1 upstream changes into bp-6.0-dev (#124) -dd1a9d3fd8f60462d3d8ac6de3e7860e70e1f667 alan-polk 2025-12-12T12:22:31-06:00 convert opendbc from a submodule to a subfolder -10101012d8a4cc37951a557023824cdd995443a6 alan-polk 2026-08-10T17:23:04Z BluePilot: angle-mode lane centering trim (advanced lane positioning) -560e80e9d593badca08aa60e8ddb692e58033425 alan-polk 2026-08-11T12:50:00Z BluePilot: angle-mode lane centering falls back to model position, not zero -94bf8144d4a683e9f3408f3babf892878f3b81f4 ghbarker 2026-08-12T01:31:33Z ford ALP: restore StarPilot guards (narrow lane, laneline std, NaN params) and cap applied correction at 0.0015 -80825b81568ad684fe4ec37a797d3cbaa004fdcf ghbarker 2026-08-13T01:04:02Z split applied-correction ceiling into its own PR per review -e5b92cc48b34ea43ac756a96a96687c9851a188d ghbarker 2026-08-13T01:05:07Z add tests for the restored guards -af4bc410c9ef417ba723212ceaa2a77758dd8ecb alan-polk 2026-08-14T03:24:28Z BluePilot: rate-limit the lane centering correction, not just filter it -8eea9eb68e0c4126ee1c52f251e274d5865b6743 alan-polk 2026-08-19T13:33:00Z BluePilot: lower angle-mode lane centering default strength to 0.25 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/README.md b/opendbc_repo/opendbc/bluepilot_lateral/README.md deleted file mode 100644 index 69a561b84a..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/README.md +++ /dev/null @@ -1,81 +0,0 @@ -# BluePilot Ford angle control - -StarPilot adaptation of BluePilotDev/bluepilot `bp-7.0`, pinned to -[e1d051d7ba270261b4455068bd68f1a58db15a4a](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a). -The layout follows Alan Polk's September 2026 library proposal. This is an -adaptation, not an upstream library release. - -Existing curvature control remains the default. Explicit `FordLateralMode=1` -selects angle control next drive; the saved choice persists when unavailable. -Only this selector is exposed. Fixed defaults and bounds live in -`params/manifest.json`; pinion-yaw correction and curvature-primary tuning are -outside this library. Angle lane-centering trim is available as a default-disabled -core capability, separately sourced from BluePilot bp-dev -`e22afa6be9b881fa784c92ebb316db47728a3d81`; it adds no public settings. - -`core/` accepts scalar/model inputs without openpilot, Params or messaging -imports. `can/` owns encoding, `safety/ford_bp.h` owns native enforcement, and -`hosts/starpilot.py` connects the host. `params/protocol.json` generates the wire -constants. The folder is vendored without submodules, LFS or an external runtime. - -## Admission - -Classic: Bronco Sport Mk1, Escape Mk4, Focus Mk4, Maverick Mk1, Explorer Mk6. -CAN FD: Escape Mk4.5, Expedition Mk4, F150 Mk14, F150 Lightning Mk1, Ranger Mk2, -Mustang Mach-E Mk1. - -Exact classic safety parameters 32/33 map to angle 128/129; CAN FD 18/19 and -66/67 map to 130/131. Parameter 131 requires DEBUG; RELEASE retains stock 130. -Longitudinal, radar, fingerprint and parser policy remain host-owned. Admission -uses the final CarParams contract, not brand or steering-control enum alone. - -AOL, alternative experiences, Transit, Edge, Mondeo, SecOC, passive, dashcam, -notCar and unsupported static flags are excluded. Auxiliary noOutput requires -parameter zero; production deployments with two Pandas remain unqualified until -actual startup, bus routing and public acknowledgments are verified. - -## Safety design - -The extension uses small Ford hooks without changing shared safety headers or -existing curvature namespaces. Active steering requires ordinary controls -permission, healthy physical RX and a fresh matching public Panda acknowledgment -of safety parameter, alternative experience, controls, RX validity, heartbeat and -faults. Cruise, gas/brake, checksum, counter, quality and freshness checks apply. -Neutral mode cannot grant permission. - -The BluePilot reset-bypass latch is omitted. Rejected frames preserve accepted -actuator history and withdraw the shadow lease; accepted neutral commands or -permission withdrawal reset history. Lost counters recover through neutral -resynchronization. Version or checksum failure cannot fall through to curvature -control. - -Active frames carry neutral curvature, offset and curvature rate, with checked -mode, ramp, precision, path angle, counter, checksum and cadence. Native enforcement -checks the shadow against the actual path across gains 0.95–1.3, bounds both by -`min(0.02, 2.4114/v²)`, and bounds the full actual-curvature interval against -measured curvature above 10 m/s. Actual path also obeys the 3.5886 m/s³ equivalent -jerk limit and rolling message-rate limit. Core quantization and timing margins -keep packed commands inside these bounds; an impossible intersection is neutral. - -The versioned 0x3CA announcement preserves StarPilot's existing byte 4 bit 1 -curvature flag and requires it clear in angle mode. It carries a counter, signed -shadow curvature, protocol version and checksum; its lease expires after 60 ms. -The shadow derives from the final path after rate limiting and saturation. - -Control computes at 20 Hz, announces through 33 Hz LKA, then sends the latest -announced result at 20 Hz, adding at most one steering tick. Permission withdrawal -sends neutral immediately. Human-turn recovery uses bounded neutral blips without -a native bypass. The retained Dom factory steering delay is 0.22 s; pinned -BluePilot uses 0.20 s. - -These stricter native limits and versioned metadata intentionally differ from -BluePilot 7.0. Identical bytes or safety decisions are not claimed for affected -commands. Runtime and physical ECU qualification remain pending. - -## Attribution and notices - -See `CREDITS.md`, `ORIGIN_HISTORY.tsv` and the project `THIRD_PARTY_NOTICES.md`. -Both upstream MIT and Custom MIT notices are retained verbatim in `LICENSE`, -`LICENSE.md`, `upstream-root-LICENSE` and `upstream-root-LICENSE.md`. The maintainer -reports author permission to use this adaptation under MIT. Both published notices -remain intact. diff --git a/opendbc_repo/opendbc/bluepilot_lateral/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/__init__.py deleted file mode 100644 index 46aa9bbd1c..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/__init__.py +++ /dev/null @@ -1,109 +0,0 @@ -"""Adapter to the proposed BluePilot library; angle only, exact source pinned.""" -from opendbc.bluepilot_lateral.can.ford import lateral, lka -from opendbc.bluepilot_lateral.core.angle import Command -from opendbc.bluepilot_lateral.hosts.starpilot import Host, qualified - - -class BluePilotLateral: - def __init__(self, CP, *, host=None): - if not qualified(CP): - raise ValueError("Angle mode is not configured") - self.host = host or Host(CP) - self.canfd = bool(CP.flags & 1) - self.pending = Command() - self.announced = Command() - self.announced_ns = 0 - self.lka_counter = 0 - self.control_counter = 0 - self.control_sent_ns = 0 - self.shadow_sent_ns = 0 - self.control_echo_ns = 0 - self.shadow_echo_ns = 0 - self.control_returned_ns = 0 - self.shadow_returned_ns = 0 - self.control_echo_pending = False - self.shadow_echo_pending = False - self.control_return_payload = None - self.shadow_return_payload = None - self.pending_generation = 0 - self.announced_generation = -1 - self.sent_generation = -2 - self.steering_rejection_ns = 0 - self.apply_curvature_last = 0.0 - - def observe_can(self, can_packets, main_bus): - # Forwarded stock traffic also returns with src|0x80. Consume one matching - # return for our actual emitted payload; unrelated stock echoes cannot pace us. - # Preserve return ordering here; - # start the delay when consumed, in the controller's own clock domain. - control_address = 0x3D6 if self.canfd else 0x3D3 - for timestamp, frames in can_packets: - if timestamp <= 0: - continue - for address, data, source in frames: - if len(data) != 8: - continue - if source == (main_bus | 0xC0) and address in (control_address, 0x3CA): - if timestamp > self.steering_rejection_ns: - self.steering_rejection_ns = timestamp - self.host.steering_rejected = True - continue - if source != (main_bus | 0x80): - continue - if address == control_address and data == self.control_return_payload and timestamp > self.control_returned_ns: - self.control_return_payload = None - self.control_returned_ns = timestamp - self.control_echo_pending = True - elif address == 0x3CA and data == self.shadow_return_payload and timestamp > self.shadow_returned_ns: - self.shadow_return_payload = None - self.shadow_returned_ns = timestamp - self.shadow_echo_pending = True - - def step_lateral(self, CC, CS, packer, CAN, frame, now_ns): - if now_ns <= 0: - return [] - if self.control_echo_pending: - self.control_echo_ns = now_ns - self.control_echo_pending = False - if ((self.control_sent_ns and now_ns - self.control_sent_ns < 50_000_000) or - (self.control_echo_ns and now_ns - self.control_echo_ns < 45_000_000) or - self.announced_generation <= self.sent_generation): - return [] - self.pending = self.host.update(CC, CS) - self.pending_generation += 1 - command = self.announced - # A pending permission withdrawal is immediate; an increase waits until - # the 33Hz side channel has announced the matching final actuator. - fresh = 0 < self.announced_ns <= now_ns <= self.announced_ns + 60_000_000 - if not self.pending.active or not fresh: - command = Command() - self.announced = command - if not fresh: - # Native records the neutral actuator as zero. Do not resume an old - # nonzero path after a new announcement; restart through the normal limits. - self.host.controller.reset_actuator() - self.pending = Command() - self.control_sent_ns = now_ns - self.sent_generation = self.announced_generation - message = lateral(packer, CAN.main, command, canfd=self.canfd, counter=self.control_counter) - self.control_return_payload = message[1] - self.control_counter = (self.control_counter + 1) % 16 - return [message] - - def step_lka(self, packer, CAN, now_ns): - if now_ns <= 0: - return [] - if self.shadow_echo_pending: - self.shadow_echo_ns = now_ns - self.shadow_echo_pending = False - if ((self.shadow_sent_ns and now_ns - self.shadow_sent_ns < 30_000_000) or - (self.shadow_echo_ns and now_ns - self.shadow_echo_ns < 25_000_000)): - return [] - self.announced = self.pending - self.announced_generation = self.pending_generation - self.announced_ns = now_ns - self.shadow_sent_ns = now_ns - message = lka(packer, CAN.main, self.announced.shadow_curvature, self.lka_counter) - self.shadow_return_payload = message[1] - self.lka_counter = (self.lka_counter + 1) % 8 - return [message] diff --git a/opendbc_repo/opendbc/bluepilot_lateral/can/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/can/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/can/ford.py b/opendbc_repo/opendbc/bluepilot_lateral/can/ford.py deleted file mode 100644 index e12aa99c9d..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/can/ford.py +++ /dev/null @@ -1,37 +0,0 @@ -"""Ford angle codecs, adapted from BluePilot fordcan_ext.py at e1d051d7. - -Core commands use planner signs; path and shadow are negated on the wire. -The v1 side channel retains byte4 bit1 for StarPilot's curvature announcement. -""" -from opendbc.bluepilot_lateral.params import protocol as p - - -def checksum4(dat): - return (15 - (sum(dat[:7]) & 15)) & 15 - - -def lka(packer, bus, shadow, counter): - addr, original, _ = packer.make_can_msg("Lane_Assist_Data1", bus, {"LaRefAng_No_Req": 0., "LaCurvature_No_Calc": 0.}) - dat = bytearray(original) - raw = max(-20000, min(20000, round(-shadow / p.SHADOW_SCALE))) & 0xFFFF - dat[4] |= p.ANGLE_MASK | ((counter % p.COUNTER_MODULUS) << p.COUNTER_SHIFT) - dat[5], dat[6] = raw >> 8, raw & 255 - dat[7] = p.VERSION | (checksum4(dat) << p.CHECKSUM_SHIFT) - return addr, bytes(dat), bus - - -def lateral(packer, bus, command, *, canfd, counter): - values = {"HandsOffCnfm_B_Rq": 0, "LatCtlRampType_D_Rq": 2 if command.active else 0, - "LatCtlPrecision_D_Rq": command.precision, "LatCtlPathOffst_L_Actl": 0.0, - "LatCtlPath_An_Actl": -command.path_angle, "LatCtlCurv_No_Actl": 0.0} - if canfd: - values.update({"LatCtl_D2_Rq": int(command.active), "LatCtlCrv_NoRate2_Actl": 0.0, - "LatCtlPath_No_Cnt": counter % 16, "LatCtlPath_No_Cs": 0}) - dat = packer.make_can_msg("LateralMotionControl2", bus, values)[1] - fields = ((dat[2] << 3) | (dat[3] >> 5), (dat[6] << 3) | (dat[7] >> 5), - ((dat[3] & 31) << 6) | (dat[4] >> 2), ((dat[4] & 3) << 8) | dat[5]) - total = int(command.active) + counter % 16 + sum(v + (v >> 8) for v in fields) - values["LatCtlPath_No_Cs"] = 255 - (total & 255) - return packer.make_can_msg("LateralMotionControl2", bus, values) - values.update({"LatCtl_D_Rq": int(command.active), "LatCtlRng_L_Max": 0, "LatCtlCurv_NoRate_Actl": 0.0}) - return packer.make_can_msg("LateralMotionControl", bus, values) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/core/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/core/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/core/angle.py b/opendbc_repo/opendbc/bluepilot_lateral/core/angle.py deleted file mode 100644 index 700a859b56..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/core/angle.py +++ /dev/null @@ -1,212 +0,0 @@ -"""Angle-primary Ford steering adapted from Alan Polk's BluePilot bp-7.0. - -Source e1d051d7ba270261b4455068bd68f1a58db15a4a lateral_angle_ext.py. -See ../LICENSE, ../LICENSE.md and ../CREDITS.md. This core has no vehicle, -openpilot, Params, messaging or model-constant imports. -""" -from dataclasses import dataclass -import math -from ..params import limits as bounds -from .trim import LaneCenterTrim, LaneGeometry, TrimConfig - - -def clip(value, low, high): - return max(low, min(high, value)) - - -def interp(value, xs, ys): - if value <= xs[0]: - return ys[0] - for i in range(1, len(xs)): - if value < xs[i]: - return ys[i - 1] + (ys[i] - ys[i - 1]) * (value - xs[i - 1]) / (xs[i] - xs[i - 1]) - return ys[-1] - - -@dataclass(frozen=True) -class Inputs: - active: bool - speed: float - measured_curvature: float - desired_curvature: float - steering_pressed: bool = False - steering_angle: float = 0.0 - yaw_predictions: tuple = () - time_indices: tuple = () - lateral_delay: float = 0.15 - lane_change: bool = False - lane_direction: int = 0 - limit_status: int = 0 - geometry: LaneGeometry | None = None - speed_min: float | None = None - speed_max: float | None = None - - -@dataclass(frozen=True) -class Command: - active: bool = False - path_angle: float = 0.0 - shadow_curvature: float = 0.0 - precision: int = 1 - - -class AngleController: - def __init__(self, *, low_gain=1.0, high_gain=1.15, trim_config=None, recovery_blips=True): - self.trim_config = TrimConfig() if trim_config is None else trim_config - self.recovery_blips = recovery_blips - self.trim = LaneCenterTrim() - self.low_gain = low_gain - self.high_gain = high_gain - self.path_last = 0.0 - self.speed_last = 0.1 - self.desired_last = 0.0 - self.human_timer = 0.0 - self.press_last = False - self.preturned = False - self.press_timer = 0.0 - self.blip_frames = 0 - self.blip_cooldown = 0.0 - self.blip_hold = 0.0 - self.blip_count = 0 - - def reset_actuator(self): - self.trim.reset() - self.path_last = 0.0 - self.speed_last = 0.1 - - def reset(self): - self.reset_actuator() - self.desired_last = 0.0 - self.human_timer = 0.0 - self.press_last = False - self.preturned = False - self.press_timer = 0.0 - self.blip_frames = 0 - self.blip_cooldown = 0.0 - self.blip_hold = 0.0 - self.blip_count = 0 - - def step(self, i: Inputs) -> Command: - values = (i.speed, i.measured_curvature, i.desired_curvature, i.steering_angle, i.lateral_delay) - if not i.active or not all(math.isfinite(v) for v in values) or i.speed < 0.0: - self.reset() - return Command() - speed_min = max(i.speed, 0.1) if i.speed_min is None else i.speed_min - speed_max = max(i.speed, 0.1) if i.speed_max is None else i.speed_max - if (not all(math.isfinite(v) for v in (speed_min, speed_max)) or - not 0 < speed_min <= max(i.speed, 0.1) <= speed_max): - self.reset() - return Command() - if i.steering_pressed and not self.press_last: - self.preturned = abs(i.steering_angle) > 45.0 - self.press_last = i.steering_pressed - self.human_timer = self.human_timer + 0.05 if i.steering_pressed and abs(i.steering_angle) > 45.0 else 0.0 - if self.human_timer + 1e-9 >= (3.0 if self.preturned else 1.5): - self.trim.reset() - self.path_last = 0.0 - self.desired_last = i.desired_curvature - self.blip_frames = self.blip_count = 0 - self.blip_hold = self.blip_cooldown = self.press_timer = 0.0 - return Command() - if i.steering_pressed: - self.press_timer += 0.05 - else: - if self.recovery_blips and self.press_timer >= 0.5 and self.blip_cooldown <= 0.0 and self.blip_frames <= 0 and abs(self.path_last) < 0.1: - self.blip_frames = 6 - self.press_timer = 0.0 - if self.blip_frames > 0: - self.blip_frames -= 1 - self.trim.reset() - self.path_last = 0.0 - self.desired_last = i.desired_curvature - if self.blip_frames == 0: - self.blip_cooldown = 2.0 - return Command() - - base = clip(i.lateral_delay, 0.1, 0.15) + 0.05 - predictions_valid = (len(i.yaw_predictions) == len(i.time_indices) and len(i.time_indices) >= 17 and - all(math.isfinite(v) for v in (*i.yaw_predictions, *i.time_indices)) and - all(b > a for a, b in zip(i.time_indices, i.time_indices[1:], strict=False))) - curves = tuple(y / max(0.01, i.speed) for y in i.yaw_predictions) if predictions_valid else () - entering = bool(curves) and abs(interp(base, i.time_indices, curves)) > abs(i.desired_curvature) - factor = 1.0 if entering else interp(abs(i.desired_curvature), (0.005, 0.020), (1.0, 0.0)) - lookup = base + bounds.VLT_EXTRA * interp(i.speed, (11.176, 24.5872), (1.0, 0.0)) * factor - predicted = interp(lookup, i.time_indices, curves) if curves else 0.0 - saturated = i.limit_status >= 2 or self.path_last >= 0.5235 * 0.9 or self.path_last <= -0.5 * 0.9 - falling = abs(i.desired_curvature) < abs(self.desired_last) - 0.010 - blend = bounds.BLEND * 0.25 if not entering and (i.limit_status >= 1 or saturated or falling) else bounds.BLEND - requested = predicted * blend + i.desired_curvature * (1.0 - blend) - self.desired_last = i.desired_curvature - precision = 0 if i.lane_change and ((i.lane_direction == 1 and requested < 0) or - (i.lane_direction == 2 and requested > 0)) else 1 - # BluePilot's default lane-change factors are both 1.0. - # Trim requested curvature before every existing actuator/safety limiter. - requested = self.trim.update(requested, i.speed, i.geometry, self.trim_config, - active=i.active, lane_change=i.lane_change, steering_pressed=i.steering_pressed) - kappa = clip(requested, i.measured_curvature - 0.002, i.measured_curvature + 0.002) if i.speed > 9.0 else requested - low = interp(i.speed, (13.5, 26.82), (1.0, self.low_gain)) - high = interp(i.speed, (13.5, 26.82), (1.3, self.high_gain)) - gain = interp(abs(kappa), (0.0007, 0.001), (low, high)) - path = kappa * i.speed * gain - if saturated: - last_mag, magnitude = abs(self.path_last), abs(path) - if magnitude > last_mag: - path = self.path_last - elif last_mag - magnitude > 0.02: - path = math.copysign(last_mag - 0.02, self.path_last) - elif i.limit_status >= 1: - path = clip(path, -abs(self.path_last), abs(self.path_last)) - roc = interp(i.speed, (10.0, 15.0, 25.0), (0.055, 0.0425, 0.009)) - path = clip(clip(path, -0.5235, 0.5), self.path_last - roc, self.path_last + roc) - - # Tightening relative to bp-7.0: the shadow describes the final actuator, - # including ROC/saturation. A truthful derived curvature must fit both the - # measured-curvature interval and the modern ISO envelope. If those bands - # cannot meet the previous actuator ROC, send a neutral mode-0 frame. - effective_speed = max(i.speed, 0.1) - cap = min(bounds.CURVATURE_MAX, bounds.LATERAL_ACCEL / max(speed_max, 1.0) ** 2) - low_kappa, high_kappa = -cap, cap - if i.speed > 9.0: - low_kappa = max(low_kappa, i.measured_curvature - 0.0018) - high_kappa = min(high_kappa, i.measured_curvature + 0.0018) - # Native cannot trust a host-selected feel gain. Intersect every admitted - # gain (0.95..1.3), so the worst equivalent curvature remains bounded. - lower_gain = bounds.GAIN_MAX if low_kappa >= 0.0 else bounds.GAIN_MIN - upper_gain = bounds.GAIN_MIN if high_kappa >= 0.0 else bounds.GAIN_MAX - lower_speed = speed_max if low_kappa >= 0.0 else speed_min - upper_speed = speed_min if high_kappa >= 0.0 else speed_max - lower = max(-bounds.PATH_MAX, low_kappa * lower_speed * lower_gain, self.path_last - roc) - upper = min(-bounds.PATH_MIN, high_kappa * upper_speed * upper_gain, self.path_last + roc) - # Bound the actual-angle equivalent derivative at the worst admitted gain. - # 45ms core margin remains inside the native elapsed-time/50ms cap. - jerk_delta = bounds.LATERAL_JERK / max(i.speed - 1.0, 1.0) ** 2 * bounds.CORE_STEER_PERIOD_S * bounds.GAIN_MIN * effective_speed - jerk_center = self.path_last / self.speed_last * effective_speed - lower = max(lower, jerk_center - jerk_delta) - upper = min(upper, jerk_center + jerk_delta) - lower += bounds.PATH_ROUNDING_MARGIN - upper -= bounds.PATH_ROUNDING_MARGIN - if lower > upper: - self.trim.reset() - self.path_last = 0.0 - return Command() - path = clip(path, lower, upper) - self.path_last = path - self.speed_last = effective_speed - shadow = path / (effective_speed * gain) - - self.blip_cooldown = max(0.0, self.blip_cooldown - 0.05) - gap = i.desired_curvature - i.measured_curvature - stalled = (not i.steering_pressed and not i.lane_change and i.speed > 9.0 and abs(gap) > 0.004 and - abs(i.desired_curvature) > abs(i.measured_curvature)) - if self.recovery_blips and stalled: - if abs(kappa - requested) > 1e-9 and self.blip_cooldown <= 0.0: - self.blip_hold += 0.05 - if self.blip_hold >= 0.5 and self.blip_count < 3 and abs(path) < 0.1: - self.blip_frames = 6 - self.blip_hold = 0.0 - self.blip_count += 1 - else: - self.blip_hold = 0.0 - if i.steering_pressed or abs(gap) < 0.002: - self.blip_count = 0 - return Command(True, path, shadow, precision) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/core/trim.py b/opendbc_repo/opendbc/bluepilot_lateral/core/trim.py deleted file mode 100644 index 3d971982e6..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/core/trim.py +++ /dev/null @@ -1,104 +0,0 @@ -"""Pure angle lane-centering trim adapted from BluePilot bp-dev e22afa6b. - -Alan Polk and ghbarker; the source also credits StarPilot/u/jc01rho. -See ../CREDITS.md, ../LICENSE and ../LICENSE.md. Geometry/confidence/fallback, -filter and slew follow lane_center_trim.py; this module receives immutable arrays -instead of a host model. Stale geometry and driver pressure additionally suppress -trim, and nonfinite confidence cannot create correction. -""" -from dataclasses import dataclass -import math -from ..params.trim import DEFAULTS, BOUNDS - - -def clip(value, low, high): - return max(low, min(high, value)) - - -def interp(value, xs, ys): - if value <= xs[0]: - return ys[0] - for index in range(1, len(xs)): - if value < xs[index]: - return ys[index - 1] + (ys[index] - ys[index - 1]) * (value - xs[index - 1]) / (xs[index] - xs[index - 1]) - return ys[-1] - - -@dataclass(frozen=True) -class TrimConfig: - enabled: bool = DEFAULTS["enabled"] - offset_m: float = DEFAULTS["offset_m"] - gain: float = DEFAULTS["gain"] - - -@dataclass(frozen=True) -class LaneGeometry: - position_x: tuple = () - position_y: tuple = () - left_x: tuple = () - left_y: tuple = () - right_x: tuple = () - right_y: tuple = () - probabilities: tuple = () - standard_deviations: tuple = () - fresh: bool = False - - -def sample(xs, ys, distance): - if (not isinstance(xs, tuple) or not isinstance(ys, tuple) or len(xs) < 2 or len(xs) != len(ys) or - not all(math.isfinite(v) for v in (*xs, *ys)) or not all(b > a for a, b in zip(xs, xs[1:], strict=False))): - return None - return interp(distance, xs, ys) - - -class LaneCenterTrim: - def __init__(self): - self.correction = 0.0 - - def reset(self): - self.correction = 0.0 - - def update(self, requested, speed, geometry, config, *, active, lane_change, steering_pressed=False): - try: - valid = (isinstance(config, TrimConfig) and config.enabled is True and active and not lane_change and - not steering_pressed and isinstance(geometry, LaneGeometry) and geometry.fresh is True and - math.isfinite(requested) and math.isfinite(speed) and speed >= 0.0 and - math.isfinite(config.offset_m) and BOUNDS["offset_m"][0] <= config.offset_m <= BOUNDS["offset_m"][1] and - math.isfinite(config.gain) and BOUNDS["gain"][0] <= config.gain <= BOUNDS["gain"][1]) - authority = interp(speed, BOUNDS["speed_mps"], BOUNDS["speed_authority"]) if valid else 0.0 - if not valid or authority <= 0.0: - self.reset() - return requested - distance = clip(speed, *BOUNDS["lookahead_m"]) - model_y = sample(geometry.position_x, geometry.position_y, distance) - if model_y is None: - self.reset() - return requested - # Bad lane-only geometry retains the source's model-position/offset fallback. - scale, center = self.lane_blend(geometry, distance) - error = scale * (center - model_y) + config.offset_m - raw = 2.0 * error / distance ** 2 - target = clip(raw, -BOUNDS["raw_correction"], BOUNDS["raw_correction"]) * config.gain * authority - alpha = 1.0 - math.exp(-BOUNDS["period_s"] / BOUNDS["tau_s"]) - filtered = alpha * target + (1.0 - alpha) * self.correction - self.correction = clip(filtered, self.correction - BOUNDS["correction_delta"], self.correction + BOUNDS["correction_delta"]) - return requested + self.correction - except (AttributeError, IndexError, TypeError, ValueError, OverflowError): - self.reset() - return requested - - def lane_blend(self, geometry, distance): - try: - left = sample(geometry.left_x, geometry.left_y, distance) - right = sample(geometry.right_x, geometry.right_y, distance) - probs, stds = geometry.probabilities, geometry.standard_deviations - if (left is None or right is None or not isinstance(probs, tuple) or not isinstance(stds, tuple) or - len(probs) != 2 or len(stds) != 2 or not all(math.isfinite(p) and 0.0 <= p <= 1.0 for p in probs) or - not all(math.isfinite(s) and s >= 0.0 for s in stds)): - return 0.0, 0.0 - confidence = min(*probs, interp(right - left, BOUNDS["width_m"], BOUNDS["width_tolerance"]), - interp(max(stds), BOUNDS["std"], BOUNDS["std_tolerance"])) - scale = clip(interp(confidence, BOUNDS["confidence"], (0.0, 1.0)), 0.0, 1.0) - return scale, 0.5 * (left + right) - except (AttributeError, IndexError, TypeError, ValueError, OverflowError): - return 0.0, 0.0 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/hosts/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/hosts/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot.py b/opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot.py deleted file mode 100644 index dd9419eaf0..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/hosts/starpilot.py +++ /dev/null @@ -1,138 +0,0 @@ -"""StarPilot's CP adapter; model transport and saved Params stay in the host. - -Only exact final CP words derived from the existing five classic/six CANFD -extended profiles can select angle. Combined AOL retains its original Ford profile identity. -""" -from opendbc.car import structs -from opendbc.car.ford.pinion import base_word, configured, MASK as PINION_MASK -from opendbc.car.ford.values import CAR, FordFlags -from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs -from opendbc.bluepilot_lateral.core.trim import LaneGeometry -from opendbc.bluepilot_lateral.params import limits as bounds - -ANGLE_FLAG = 128 -CLASSIC = frozenset({CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_ESCAPE_MK4, CAR.FORD_FOCUS_MK4, - CAR.FORD_MAVERICK_MK1, CAR.FORD_EXPLORER_MK6}) -CANFD = frozenset({CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, CAR.FORD_F_150_MK14, - CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2, CAR.FORD_MUSTANG_MACH_E_MK1}) -TRUCKS = CANFD - {CAR.FORD_ESCAPE_MK4_5, CAR.FORD_MUSTANG_MACH_E_MK1} - - -def mode_word(cp, *, selected): - if (cp.brand != "ford" or cp.passive or cp.dashcamOnly or cp.notCar or cp.alternativeExperience not in (0, 32) or - cp.steerControlType != structs.CarParams.SteerControlType.angle or - not cp.pcmCruise or len(cp.safetyConfigs) not in (1, 2)): - return None - if len(cp.safetyConfigs) == 2 and (cp.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - cp.safetyConfigs[0].safetyParam != 0): - return None - fd = cp.carFingerprint in CANFD - if ((fd and (not cp.flags & FordFlags.CANFD or cp.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM))) or - (not fd and (cp.carFingerprint not in CLASSIC or cp.flags & ~int(FordFlags.HAS_BSM)))): - return None - safety = cp.safetyConfigs[-1] - long = int(cp.openpilotLongitudinalControl) - original = (18 if cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 else 66) + long if fd else 32 + long - manual = cp.transmissionType == structs.CarParams.TransmissionType.manual - if cp.transmissionType not in (structs.CarParams.TransmissionType.automatic, structs.CarParams.TransmissionType.manual): - return None - if cp.alternativeExperience == 32: - expected = original | (256 if manual else 0) | (ANGLE_FLAG if selected else 0) - else: - expected = ANGLE_FLAG + (2 if fd else 0) + long if selected else original - valid = (safety.safetyModel == structs.CarParams.SafetyModel.ford and base_word(safety.safetyParam) == expected and - (safety.safetyParam == expected or configured(cp))) - return expected if valid else None - - -def supported(cp): - return mode_word(cp, selected=False) is not None or mode_word(cp, selected=True) is not None - - -def qualified(cp): - return mode_word(cp, selected=True) is not None - - -def select(cp, raw): - # Absence/invalid bytes stay at current curvature. Never rewrite saved bytes. - chosen = (type(raw) is int and raw == 1) or (type(raw) in (bytes, str) and raw in (b"1", "1")) - if not chosen or mode_word(cp, selected=False) is None: - return False - if cp.alternativeExperience == 32: - cp.safetyConfigs[-1].safetyParam |= ANGLE_FLAG - else: - metadata = cp.safetyConfigs[-1].safetyParam & PINION_MASK - cp.safetyConfigs[-1].safetyParam = (ANGLE_FLAG + (2 if cp.flags & FordFlags.CANFD else 0) + int(cp.openpilotLongitudinalControl)) | metadata - cp.steerActuatorDelay = 0.22 - return True - - -def model_geometry(model, *, fresh=False): - """Project a caller-qualified snapshot to immutable core arrays; no model imports.""" - if model is None or fresh is not True: - return None - try: - position_x, position_y = tuple(model.position.x), tuple(model.position.y) - except (AttributeError, TypeError, ValueError): - return None - try: - return LaneGeometry(position_x=position_x, position_y=position_y, fresh=True, left_x=tuple(model.laneLines[1].x), left_y=tuple(model.laneLines[1].y), - right_x=tuple(model.laneLines[2].x), right_y=tuple(model.laneLines[2].y), - probabilities=(model.laneLineProbs[1], model.laneLineProbs[2]), - standard_deviations=(model.laneLineStds[1], model.laneLineStds[2])) - except (AttributeError, IndexError, TypeError, ValueError): - return LaneGeometry(position_x=position_x, position_y=position_y, fresh=True) - - -class Host: - def __init__(self, cp): - if not qualified(cp): - raise ValueError("BluePilot angle requires an exact admitted Ford safety word") - low, high = (0.95, 0.95) if cp.carFingerprint in TRUCKS else ((1.0, 1.05) if cp.carFingerprint in CANFD else (1.0, 1.15)) - self.cp = cp - from opendbc.car.ford.pinion import Measurement - self.measurement = Measurement(cp) - self.controller = AngleController(low_gain=low, high_gain=high) - self.inputs = None - self.steering_rejected = False - - def update(self, CC, CS): - if self.inputs is not None: - self.inputs.update() - self.measurement.update_parameters(getattr(self.inputs, "vehicle_parameters", None)) - snapshot = self.inputs.lateral_snapshot(CS.out.vEgoRaw, angle=True) if self.inputs is not None else None - model, times, delay, _ = snapshot if snapshot is not None else (None, (), 0.15, True) - aol = self.cp.alternativeExperience == 32 - # The host is constructed before AOL marks the final CarParams. - # Retained AOL keeps EPS engaged through release and tracking error; - # physical human-turn pauses and fault recovery remain independent. - self.controller.recovery_blips = not aol - ordinary = CC.enabled and CS.out.cruiseState.enabled and not CS.out.gasPressed and not CS.out.brakePressed - ready = (self.inputs is not None and self.inputs.native_permission(self.cp, max_age_ns=bounds.PANDA_AGE_NS) and - (aol and CS.out.cruiseState.available or ordinary) and CC.latActive and CS.out.canValid and - not CS.out.canTimeout and - (not aol or CS.out.gearShifter in (structs.CarState.GearShifter.drive, - structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low)) and - not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and not CS.out.vehicleSensorsInvalid) - # Only an actual steering/shadow rejection invalidates its accepted path - # and counter history. Unrelated ACC/UI rejections do not reset steering. - rejected, self.steering_rejected = self.steering_rejected, False - ready = ready and not rejected - speed_min = speed_max = None - speed_window = getattr(CS, "bluepilot_speed_window", None) - if speed_window is not None: - low, high, step = speed_window - # Allow source progress across the existing 100 ms CAN freshness window. - margin = max(0.05, 5 * step) - speed_min = max(0.1, min(low, CS.out.vEgoRaw) - margin) - speed_max = max(high, CS.out.vEgoRaw, 0.1) + margin - meta = model.meta if model is not None else None - return self.controller.step(Inputs( - active=ready, speed=CS.out.vEgoRaw, measured_curvature=self.measurement.curvature(CS.out), - desired_curvature=CC.actuators.curvature, steering_pressed=CS.out.steeringPressed, - steering_angle=CS.out.steeringAngleDeg, yaw_predictions=tuple(model.orientationRate.z) if model is not None else (), - time_indices=tuple(times), lateral_delay=delay, - lane_change=int(getattr(meta.laneChangeState, "raw", meta.laneChangeState)) in (1, 2, 3) if meta else False, - lane_direction=int(getattr(meta.laneChangeDirection, "raw", meta.laneChangeDirection)) if meta else 0, - limit_status=getattr(CS, "lat_ctl_lim_stat", 0), - geometry=model_geometry(model, fresh=snapshot is not None), speed_min=speed_min, speed_max=speed_max)) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/params/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/generate.py b/opendbc_repo/opendbc/bluepilot_lateral/params/generate.py deleted file mode 100644 index 50c6ed881e..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/generate.py +++ /dev/null @@ -1,41 +0,0 @@ -"""Generate protocol constants without loading a host or vehicle module.""" -import json -from pathlib import Path - -root = Path(__file__).parent -spec = json.loads((root / "protocol.json").read_text()) -(root / "protocol.py").write_text('"""Generated from protocol.json; layout preserves the existing curvature flag."""\n' + - "".join(f"{key.upper()} = {value!r}\n" for key, value in spec.items())) -(root / "protocol.h").write_text("#pragma once\n// Generated from protocol.json; do not allocate bit 1 to angle metadata.\n" + - "".join(f"#define FORD_BP_{key.upper()} {int(value)}U\n" for key, value in spec.items() if key != "shadow_scale")) - -manifest = json.loads((root / "manifest.json").read_text()) -defaults, bounds = manifest["defaults"], manifest["bounds"] -limits = {"BLEND": defaults["blend"], "VLT_EXTRA": defaults["vlt_extra_max"], - "PATH_MIN": bounds["path_angle_wire"][0], "PATH_MAX": bounds["path_angle_wire"][1], - "GAIN_MIN": bounds["gain"][0], "GAIN_MAX": bounds["gain"][1], - "CURVATURE_MAX": bounds["curvature"], "CURVATURE_ERROR": bounds["curvature_error"], - "LATERAL_ACCEL": bounds["lateral_accel"], "RX_AGE_US": bounds["rx_age_us"], - "SHADOW_AGE_US": bounds["shadow_age_us"], "PATH_ROUNDING_MARGIN": bounds["path_rounding_margin"], - "SHADOW_ROUNDING_MARGIN": bounds["shadow_rounding_margin"], "LATERAL_JERK": bounds["lateral_jerk"], - "RT_INTERVAL_US": bounds["rt_interval_us"], "STEER_PERIOD_US": bounds["steer_period_us"], - "CORE_STEER_PERIOD_S": bounds["core_steer_period_s"], "PANDA_AGE_NS": bounds["panda_age_ns"]} -(root / "limits.py").write_text('"""Generated from manifest.json; host and core use this manifest contract."""\n' + - "".join(f"{key} = {value!r}\n" for key, value in limits.items())) -(root / "limits.h").write_text("#pragma once\n// Generated from manifest.json; native and Python bounds share a source.\n" + - "".join(f"#define FORD_BP_{key} {str(value) + 'F' if isinstance(value, float) else str(value) + 'U'}\n" - for key, value in limits.items())) - -# Optional angle trim settings are Python-only; native safety limits stay unchanged. -trim = manifest["angle_lane_trim"] -types = {"enabled": "bool", "offset_m": "float", "gain": "float"} -defaults_fields = "".join(f" {key}: {types[key]}\n" for key in trim["defaults"]) -bounds_fields = "".join(f" {key}: {'list[float]' if isinstance(value, list) else 'float'}\n" for key, value in trim["bounds"].items()) -(root / "trim.py").write_text('"""Generated Python-only angle trim defaults; no native bound or registry changes."""\n' + - "from typing import TypedDict\n\n\n" + - "class TrimDefaults(TypedDict):\n" + defaults_fields + "\n\n" + - "class TrimBounds(TypedDict):\n" + bounds_fields + "\n\n" + - f"SOURCE_REVISION = {trim['source_revision']!r}\n" + - f"DEFAULTS: TrimDefaults = {trim['defaults']!r}\n" + - "BOUNDS: TrimBounds = {\n" + - "".join(f" {key!r}: {value!r},\n" for key, value in trim["bounds"].items()) + "}\n") diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/limits.h b/opendbc_repo/opendbc/bluepilot_lateral/params/limits.h deleted file mode 100644 index 5442ec8264..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/limits.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once -// Generated from manifest.json; native and Python bounds share a source. -#define FORD_BP_BLEND 0.5F -#define FORD_BP_VLT_EXTRA 0.1F -#define FORD_BP_PATH_MIN -0.5F -#define FORD_BP_PATH_MAX 0.5235F -#define FORD_BP_GAIN_MIN 0.95F -#define FORD_BP_GAIN_MAX 1.3F -#define FORD_BP_CURVATURE_MAX 0.02F -#define FORD_BP_CURVATURE_ERROR 0.002F -#define FORD_BP_LATERAL_ACCEL 2.4114F -#define FORD_BP_RX_AGE_US 100000U -#define FORD_BP_SHADOW_AGE_US 60000U -#define FORD_BP_PATH_ROUNDING_MARGIN 0.0005F -#define FORD_BP_SHADOW_ROUNDING_MARGIN 1e-06F -#define FORD_BP_LATERAL_JERK 3.5886F -#define FORD_BP_RT_INTERVAL_US 250000U -#define FORD_BP_STEER_PERIOD_US 50000U -#define FORD_BP_CORE_STEER_PERIOD_S 0.045F -#define FORD_BP_PANDA_AGE_NS 300000000U diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/limits.py b/opendbc_repo/opendbc/bluepilot_lateral/params/limits.py deleted file mode 100644 index a17e792ead..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/limits.py +++ /dev/null @@ -1,19 +0,0 @@ -"""Generated from manifest.json; host and core use this manifest contract.""" -BLEND = 0.5 -VLT_EXTRA = 0.1 -PATH_MIN = -0.5 -PATH_MAX = 0.5235 -GAIN_MIN = 0.95 -GAIN_MAX = 1.3 -CURVATURE_MAX = 0.02 -CURVATURE_ERROR = 0.002 -LATERAL_ACCEL = 2.4114 -RX_AGE_US = 100000 -SHADOW_AGE_US = 60000 -PATH_ROUNDING_MARGIN = 0.0005 -SHADOW_ROUNDING_MARGIN = 1e-06 -LATERAL_JERK = 3.5886 -RT_INTERVAL_US = 250000 -STEER_PERIOD_US = 50000 -CORE_STEER_PERIOD_S = 0.045 -PANDA_AGE_NS = 300000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/manifest.json b/opendbc_repo/opendbc/bluepilot_lateral/params/manifest.json deleted file mode 100644 index 60b482f432..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/manifest.json +++ /dev/null @@ -1,109 +0,0 @@ -{ - "source_revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a", - "settings": [ - { - "key": "FordLateralMode", - "type": "enum", - "default": 0, - "values": { - "0": "Current curvature", - "1": "BluePilot angle" - }, - "label": "Ford steering controller", - "description": "Select the steering controller for supported Ford profiles. Takes effect on the next drive.", - "modes": [ - "angle" - ] - } - ], - "defaults": { - "blend": 0.5, - "vlt_extra_max": 0.1, - "low_speed_factor": 1.0, - "high_speed_factor": 1.0, - "dampening": 1.0, - "lane_change_factor": 1.0 - }, - "bounds": { - "path_angle_wire": [ - -0.5, - 0.5235 - ], - "gain": [ - 0.95, - 1.3 - ], - "curvature_error": 0.002, - "lateral_accel": 2.4114, - "rx_age_us": 100000, - "shadow_age_us": 60000, - "steer_period_us": 50000, - "curvature": 0.02, - "path_rounding_margin": 0.0005, - "shadow_rounding_margin": 1e-06, - "lateral_jerk": 3.5886, - "rt_interval_us": 250000, - "core_steer_period_s": 0.045, - "panda_age_ns": 300000000 - }, - "angle_lane_trim": { - "source_revision": "e22afa6be9b881fa784c92ebb316db47728a3d81", - "defaults": { - "enabled": false, - "offset_m": 0.0, - "gain": 0.25 - }, - "bounds": { - "offset_m": [ - -0.5, - 0.5 - ], - "gain": [ - 0.0, - 1.0 - ], - "width_m": [ - 2.4, - 2.8, - 3.75, - 4.25 - ], - "width_tolerance": [ - 0.0, - 0.81, - 0.81, - 0.59 - ], - "std": [ - 0.3, - 0.5 - ], - "std_tolerance": [ - 0.81, - 0.0 - ], - "confidence": [ - 0.6, - 0.8 - ], - "speed_mps": [ - 0.0, - 9.0, - 15.0 - ], - "speed_authority": [ - 0.0, - 0.0, - 1.0 - ], - "lookahead_m": [ - 8.0, - 35.0 - ], - "raw_correction": 0.004, - "tau_s": 0.4, - "period_s": 0.05, - "correction_delta": 0.00015 - } - } -} diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.h b/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.h deleted file mode 100644 index a7179eb9cf..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.h +++ /dev/null @@ -1,10 +0,0 @@ -#pragma once -// Generated from protocol.json; do not allocate bit 1 to angle metadata. -#define FORD_BP_VERSION 1U -#define FORD_BP_ANGLE_MASK 1U -#define FORD_BP_EXTENDED_CURVATURE_MASK 2U -#define FORD_BP_COUNTER_SHIFT 2U -#define FORD_BP_COUNTER_MASK 28U -#define FORD_BP_COUNTER_MODULUS 8U -#define FORD_BP_VERSION_MASK 15U -#define FORD_BP_CHECKSUM_SHIFT 4U diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.json b/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.json deleted file mode 100644 index dc846eb0d6..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "version": 1, - "angle_mask": 1, - "extended_curvature_mask": 2, - "counter_shift": 2, - "counter_mask": 28, - "counter_modulus": 8, - "shadow_scale": 1e-06, - "version_mask": 15, - "checksum_shift": 4 -} diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.py b/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.py deleted file mode 100644 index c13f2344c7..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/protocol.py +++ /dev/null @@ -1,10 +0,0 @@ -"""Generated from protocol.json; layout preserves the existing curvature flag.""" -VERSION = 1 -ANGLE_MASK = 1 -EXTENDED_CURVATURE_MASK = 2 -COUNTER_SHIFT = 2 -COUNTER_MASK = 28 -COUNTER_MODULUS = 8 -SHADOW_SCALE = 1e-06 -VERSION_MASK = 15 -CHECKSUM_SHIFT = 4 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/params/trim.py b/opendbc_repo/opendbc/bluepilot_lateral/params/trim.py deleted file mode 100644 index 51a13ca6fa..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/params/trim.py +++ /dev/null @@ -1,45 +0,0 @@ -"""Generated Python-only angle trim defaults; no native bound or registry changes.""" -from typing import TypedDict - - -class TrimDefaults(TypedDict): - enabled: bool - offset_m: float - gain: float - - -class TrimBounds(TypedDict): - offset_m: list[float] - gain: list[float] - width_m: list[float] - width_tolerance: list[float] - std: list[float] - std_tolerance: list[float] - confidence: list[float] - speed_mps: list[float] - speed_authority: list[float] - lookahead_m: list[float] - raw_correction: float - tau_s: float - period_s: float - correction_delta: float - - -SOURCE_REVISION = 'e22afa6be9b881fa784c92ebb316db47728a3d81' -DEFAULTS: TrimDefaults = {'enabled': False, 'offset_m': 0.0, 'gain': 0.25} -BOUNDS: TrimBounds = { - 'offset_m': [-0.5, 0.5], - 'gain': [0.0, 1.0], - 'width_m': [2.4, 2.8, 3.75, 4.25], - 'width_tolerance': [0.0, 0.81, 0.81, 0.59], - 'std': [0.3, 0.5], - 'std_tolerance': [0.81, 0.0], - 'confidence': [0.6, 0.8], - 'speed_mps': [0.0, 9.0, 15.0], - 'speed_authority': [0.0, 0.0, 1.0], - 'lookahead_m': [8.0, 35.0], - 'raw_correction': 0.004, - 'tau_s': 0.4, - 'period_s': 0.05, - 'correction_delta': 0.00015, -} diff --git a/opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h b/opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h deleted file mode 100644 index 7c46d54890..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/safety/ford_bp.h +++ /dev/null @@ -1,249 +0,0 @@ -#pragma once -// Angle-primary Ford extension adapted from Alan Polk's bp-7.0 e1d051d7. -// See ../CREDITS.md, ../LICENSE and ../LICENSE.md. No reset bypass. -#include "opendbc/bluepilot_lateral/params/protocol.h" -#include "opendbc/bluepilot_lateral/params/limits.h" - -// Shared Ford stock-switch state is declared before the angle hooks below. -static bool ford_stock_switch = false; -static bool ford_bp_enabled = false; -static bool ford_bp_canfd = false; -static bool ford_bp_shadow_seen = false; -static bool ford_bp_lka_counter_seen = false; -static uint8_t ford_bp_lka_counter = 0U; -static int ford_bp_shadow_raw = 0; -static uint32_t ford_bp_shadow_us = 0U; -static int ford_bp_path_last = 0; -static bool ford_bp_control_counter_seen = false; -static uint8_t ford_bp_control_counter = 0U; -static bool ford_bp_control_seen = false; -static uint32_t ford_bp_control_us = 0U; -static float ford_bp_equivalent_last = 0.0F; -static unsigned int ford_bp_rt_msgs = 0U; -static unsigned int ford_bp_rt_msgs_prev = 0U; -static uint32_t ford_bp_rt_us = 0U; -static bool ford_bp_rx_seen[7]; -static uint32_t ford_bp_rx_us[7]; - -static void ford_bp_invalidate_shadow(void) { - ford_bp_shadow_seen = false; - ford_bp_shadow_raw = 0; -} - -static void ford_bp_withdraw(void) { - ford_bp_invalidate_shadow(); - ford_bp_path_last = 0; - ford_bp_equivalent_last = 0.0F; -} - -static bool ford_bp_configure(uint16_t param) { - ford_bp_enabled = ((param == 128U) || (param == 129U) || (param == 130U)) && (alternative_experience == 0); -#ifdef ALLOW_DEBUG - ford_bp_enabled |= (param == 131U) && (alternative_experience == 0); -#endif - const bool joint = ((unsigned int)alternative_experience == 32U) && - ((param == 146U) || (param == 147U) || (param == 160U) || (param == 161U) || (param == 194U) || (param == 195U)); - ford_bp_enabled |= joint; - ford_bp_canfd = (param & 2U) != 0U; - ford_bp_lka_counter_seen = false; - ford_bp_control_counter_seen = false; - ford_bp_control_seen = false; - ford_bp_lka_counter = 0U; - ford_bp_control_counter = 0U; - ford_bp_shadow_us = 0U; - ford_bp_control_us = 0U; - ford_bp_rt_msgs = 0U; - ford_bp_rt_msgs_prev = 0U; - ford_bp_rt_us = microsecond_timer_get(); - ford_bp_withdraw(); - for (unsigned int i = 0U; i < 7U; i++) { - ford_bp_rx_seen[i] = false; - ford_bp_rx_us[i] = 0U; - } - return ((param & 128U) == 0U) || ford_bp_enabled; -} - -static bool ford_bp_health(uint32_t now); - -static bool ford_bp_permission(void) { - bool permitted = false; - if (ford_aol_enabled) { - permitted = (ford_aol_permission_mask() & 1U) != 0U; - } else { - permitted = lateral_controls_allowed() && controls_allowed && !brake_pressed && !gas_pressed; - } - return permitted; -} - -static void ford_bp_rx(const CANPacket_t *msg) { - if (ford_bp_enabled && (msg->bus == 0U) && (GET_LEN(msg) == 8U)) { - const unsigned int ids[7] = {0x415U, 0x202U, 0x91U, 0x165U, 0x204U, 0x213U, 0x83U}; - for (unsigned int i = 0U; i < 7U; i++) { - if (msg->addr == ids[i]) { - ford_bp_rx_seen[i] = true; - ford_bp_rx_us[i] = microsecond_timer_get(); - } - } - // Angle-specific source freshness is stricter than the generic1s RX tick. - // Expose that withdrawal through the ordinary public controls acknowledgment. - if (controls_allowed && !ford_bp_health(microsecond_timer_get())) { - controls_allowed = false; - } - // Permission losses remove the old actuator history before any later arm. - if (!ford_bp_permission() || !ford_bp_health(microsecond_timer_get())) { - ford_bp_withdraw(); - } - } -} - -static bool ford_bp_health(uint32_t now) { - bool valid = !safety_rx_checks_invalid && !relay_malfunction; - for (int i = 0; i < current_safety_config.rx_checks_len; i++) { - const RxStatus *status = ¤t_safety_config.rx_checks[i].status; - valid &= status->msg_seen && !status->lagging && status->valid_checksum && - status->valid_quality_flag && (status->wrong_counters < MAX_WRONG_COUNTERS); - } - const unsigned int count = ford_stock_switch ? 7U : 6U; - for (unsigned int i = 0U; i < count; i++) { - const uint32_t age = ((i == 3U) || (i == 6U)) ? (2U * FORD_BP_RX_AGE_US) : FORD_BP_RX_AGE_US; - valid &= ford_bp_rx_seen[i] && (safety_get_ts_elapsed(now, ford_bp_rx_us[i]) <= age); - } - return valid; -} - -static bool ford_bp_lka(const CANPacket_t *msg) { - const uint32_t now = microsecond_timer_get(); - const unsigned int counter = (msg->data[4] & FORD_BP_COUNTER_MASK) >> FORD_BP_COUNTER_SHIFT; - unsigned int sum = 0U; - for (unsigned int i = 0U; i < 7U; i++) { sum += msg->data[i]; } - const unsigned int checksum = (15U - (sum & 15U)) & 15U; - // Preserve every DBC-owned bit of the packer's neutral LKA body. - const unsigned int angle = ((msg->data[2] & 0xFU) << 8) | msg->data[3]; - const unsigned int curvature = (msg->data[1] << 4) | (msg->data[2] >> 4); - bool valid = !relay_malfunction && (msg->bus == 0U) && (GET_LEN(msg) == 8U) && (msg->data[0] == 0U) && - (angle == 2048U) && (curvature == 2048U) && - ((msg->data[4] & 0xE3U) == FORD_BP_ANGLE_MASK) && - ((msg->data[7] & FORD_BP_VERSION_MASK) == FORD_BP_VERSION) && - ((msg->data[7] >> FORD_BP_CHECKSUM_SHIFT) == checksum); - const int shadow = to_signed((msg->data[5] << 8) | msg->data[6], 16); - const bool resync = (shadow == 0) && !ford_bp_permission(); - if (ford_bp_lka_counter_seen && !resync) { - valid &= counter == ((ford_bp_lka_counter + 1U) % FORD_BP_COUNTER_MODULUS); - valid &= safety_get_ts_elapsed(now, ford_bp_shadow_us) >= 20000U; - } - valid &= SAFETY_ABS(shadow) <= 20000; - if (valid) { - ford_bp_lka_counter = (uint8_t)counter; - ford_bp_lka_counter_seen = true; - ford_bp_shadow_raw = shadow; - ford_bp_shadow_seen = !resync; - ford_bp_shadow_us = now; - } else { - ford_bp_invalidate_shadow(); - } - return valid; -} - -static bool ford_bp_lateral(const CANPacket_t *msg) { - const bool fd = msg->addr == 0x3D6U; - const unsigned int mode = fd ? ((msg->data[0] >> 4) & 7U) : ((msg->data[4] >> 2) & 7U); - const unsigned int curvature = fd ? ((msg->data[2] << 3) | (msg->data[3] >> 5)) : - ((msg->data[0] << 3) | (msg->data[1] >> 5)); - const unsigned int rate = fd ? (((unsigned int)msg->data[6] << 3) | (msg->data[7] >> 5)) : - (((msg->data[1] & 31U) << 8) | msg->data[2]); - const unsigned int path_raw = fd ? (((msg->data[3] & 31U) << 6) | (msg->data[4] >> 2)) : - (((unsigned int)msg->data[3] << 3) | (msg->data[4] >> 5)); - const unsigned int offset = fd ? (((msg->data[4] & 3U) << 8) | msg->data[5]) : - (((unsigned int)msg->data[5] << 2) | (msg->data[6] >> 6)); - const unsigned int precision = fd ? ((msg->data[0] >> 2) & 3U) : (msg->data[4] & 3U); - const unsigned int ramp = fd ? (msg->data[0] & 3U) : ((msg->data[6] >> 4) & 3U); - const bool active = mode == 1U; - const int path = (int)path_raw - 1000; - const uint32_t now = microsecond_timer_get(); - bool valid = !relay_malfunction && (msg->bus == 0U) && (GET_LEN(msg) == 8U) && (fd == ford_bp_canfd) && (mode <= 1U) && - (curvature == 1000U) && (rate == (fd ? 1024U : 4096U)) && (offset == 512U) && - (precision <= 1U) && (ramp == (active ? 2U : 0U)); - const unsigned int counter = (msg->data[7] >> 1) & 15U; - if (fd) { - unsigned int checksum = mode + counter; - const unsigned int fields[4] = {curvature, rate, path_raw, offset}; - for (unsigned int i = 0U; i < 4U; i++) { checksum += fields[i] + (fields[i] >> 8); } - valid &= msg->data[1] == (0xFFU - (checksum & 0xFFU)); - valid &= ((msg->data[0] & 0x80U) == 0U) && ((msg->data[7] & 1U) == 0U); - if (ford_bp_control_counter_seen && active) { valid &= counter == ((ford_bp_control_counter + 1U) % 16U); } - } else { - valid &= ((msg->data[6] & 0xFU) == 0U) && (msg->data[7] == 0U); - } - const float speed_for_equivalent = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 0.1F); - const float equivalent = (float)path / (2000.0F * speed_for_equivalent); - // Time-window expiration is independent of packet acceptance: denied floods - // cannot latch the old count forever or erase accepted actuator history. - const uint32_t rt_elapsed = safety_get_ts_elapsed(now, ford_bp_rt_us); - if (rt_elapsed >= FORD_BP_RT_INTERVAL_US) { - ford_bp_rt_msgs = 0U; - ford_bp_rt_msgs_prev = 0U; - ford_bp_rt_us = now; - } else if (rt_elapsed >= (FORD_BP_RT_INTERVAL_US / 2U)) { - ford_bp_rt_msgs_prev = ford_bp_rt_msgs; - ford_bp_rt_msgs = 0U; - ford_bp_rt_us = now; - } else { - // Keep the current history while neither expiration boundary has elapsed. - } - const unsigned int rt_count = ford_bp_rt_msgs + ford_bp_rt_msgs_prev; - valid &= rt_count <= 7U; // Current20Hz curvature RT allowance; accepted frames own this count. - if (active) { - static const struct lookup_t roc = {{10.0F, 15.0F, 25.0F}, {0.0561F, 0.04335F, 0.00918F}}; - const float speed_min = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 0.1F); - const float speed_max = SAFETY_MAX(vehicle_speed.max / VEHICLE_SPEED_FACTOR, 0.1F); - const float delta_float = safety_interpolate(roc, speed_min - 1.0F) * 2000.0F; - const int delta = (int)delta_float + 1; - const float shadow = (float)ford_bp_shadow_raw * 0.000001F; - const float shadow_can = shadow * 50000.0F; - const float path_abs = SAFETY_ABS(path) / 2000.0F; - const float path_curvature_low = path_abs / (speed_max * FORD_BP_GAIN_MAX); - const float path_curvature_high = path_abs / (speed_min * FORD_BP_GAIN_MIN); - const float physical_cap = SAFETY_MIN(FORD_BP_CURVATURE_MAX, FORD_BP_LATERAL_ACCEL / (SAFETY_MAX(speed_max, 1.0F) * SAFETY_MAX(speed_max, 1.0F))); - const float relation_low = SAFETY_ABS(shadow) * speed_min * FORD_BP_GAIN_MIN * 2000.0F; - const float relation_high = SAFETY_ABS(shadow) * speed_max * FORD_BP_GAIN_MAX * 2000.0F; - valid &= ford_bp_permission() && ford_bp_health(now) && ford_bp_shadow_seen && - (safety_get_ts_elapsed(now, ford_bp_shadow_us) <= FORD_BP_SHADOW_AGE_US) && - (path >= -1000) && (path <= 1047) && (SAFETY_ABS(path - ford_bp_path_last) <= delta) && - ((path == 0) || ((ford_bp_shadow_raw != 0) && ((path > 0) == (ford_bp_shadow_raw > 0)))) && - (SAFETY_ABS(path) >= (relation_low - 2.0F)) && (SAFETY_ABS(path) <= (relation_high + 2.0F)) && - (SAFETY_ABS(shadow) <= (physical_cap + FORD_BP_SHADOW_ROUNDING_MARGIN)) && (path_curvature_high <= (physical_cap + FORD_BP_SHADOW_ROUNDING_MARGIN)); - if (speed_max > 10.0F) { - const int measured_min = curvature_state.meas.min - (ford_pinion_enabled ? 150 : 100); - const int measured_max = curvature_state.meas.max + (ford_pinion_enabled ? 150 : 100); - const float measured_min_float = (float)measured_min; - const float measured_max_float = (float)measured_max; - valid &= (shadow_can >= measured_min_float) && (shadow_can <= measured_max_float); - // Independent actual-actuator check; an invented shadow cannot launder path angle. - const float signed_low = (path < 0) ? (-path_curvature_high) : path_curvature_low; - const float signed_high = (path < 0) ? (-path_curvature_low) : path_curvature_high; - valid &= ((signed_low * 50000.0F) >= measured_min_float) && - ((signed_high * 50000.0F) <= measured_max_float); - } - const uint32_t elapsed = ford_bp_control_seen ? safety_get_ts_elapsed(now, ford_bp_control_us) : FORD_BP_STEER_PERIOD_US; - const float jerk_speed = SAFETY_MAX(speed_min - 1.0F, 1.0F); - const float jerk_delta = FORD_BP_LATERAL_JERK / (jerk_speed * jerk_speed) * - (SAFETY_MIN(elapsed, FORD_BP_STEER_PERIOD_US) * 0.000001F) * FORD_BP_GAIN_MIN; - valid &= SAFETY_ABS(equivalent - ford_bp_equivalent_last) <= (jerk_delta + FORD_BP_SHADOW_ROUNDING_MARGIN); - if (ford_bp_control_seen) { valid &= elapsed >= 40000U; } - } else { - valid &= path == 0; - } - if (valid) { - ford_bp_rt_msgs += 1U; - ford_bp_equivalent_last = active ? equivalent : 0.0F; - ford_bp_path_last = active ? path : 0; - ford_bp_control_counter = (uint8_t)counter; - ford_bp_control_counter_seen = true; - ford_bp_control_seen = true; - ford_bp_control_us = now; - if (!active) { ford_bp_shadow_seen = false; } - } else { - ford_bp_invalidate_shadow(); - } - return valid; -} diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/__init__.py b/opendbc_repo/opendbc/bluepilot_lateral/tests/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference.py b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference.py deleted file mode 100644 index 1637576c87..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference.py +++ /dev/null @@ -1,101 +0,0 @@ -"""Hash-bound upstream angle execution and current-curvature controller oracle. - -Only imports are removed from the upstream angle/human module AST; every other -statement and function remains exact. Glue supplies current ABI types, source -fixed defaults and the source's no-op lazy-init/yaw-default adapter. No BluePilot -curvature strategy is loaded. Its diagnostic limiter cannot affect angle output. -""" -import ast -from collections import namedtuple -import hashlib -import json -from pathlib import Path -from types import SimpleNamespace - -import numpy as np -from opendbc.car import structs, DT_CTRL -from opendbc.car.ford.values import CAR, CarControllerParams -from opendbc.car.ford.fordcan import CanBus -from opendbc.car.lateral import AngleSteeringLimits, apply_std_steer_angle_limits -from openpilot.selfdrive.modeld.constants import ModelConstants - -ROOT = Path(__file__).with_name("reference") -MANIFEST = json.loads((ROOT / "manifest.json").read_text()) - - -def source(name): - raw = (ROOT / (name + ".py.txt")).read_bytes() - if hashlib.sha256(raw).hexdigest() != MANIFEST[name]["sha256"]: - raise AssertionError("Reference source differs from its pinned manifest: " + name) - return ast.parse(raw.decode(), filename=MANIFEST[name]["origin"]) - - -def execute(tree, namespace, *, names=None): - body = [] - for node in tree.body: - if isinstance(node, (ast.Import, ast.ImportFrom)): - continue - if names is not None: - assigned = [target.id for target in node.targets if isinstance(target, ast.Name)] if isinstance(node, ast.Assign) else [] - if getattr(node, "name", None) not in names and not any(name in names for name in assigned): - continue - body.append(node) - exec(compile(ast.Module(body=body, type_ignores=[]), "", "exec"), namespace) - - -def angle(): - LateralResult = namedtuple("LateralResult", "apply_curvature curvature_rate path_offset path_angle ramp_type precision_type lateralUncertainty") - namespace = {"np": np, "clip": np.clip, "interp": np.interp, "DT_CTRL": DT_CTRL, - "CAR": CAR, "CarControllerParams": CarControllerParams, "ModelConstants": ModelConstants, - "LateralResult": LateralResult, "AngleSteeringLimits": AngleSteeringLimits, - "apply_std_steer_angle_limits": apply_std_steer_angle_limits} - execute(source("human"), namespace) - execute(source("values"), namespace, names={"_BP_ANGLE_RATE_UP", "_BP_ANGLE_RATE_DOWN", "BP_ANGLE_LIMITS"}) - execute(source("angle"), namespace) - return namespace["LateralAngleExt"] - - -def builders(): - namespace = {"CanBus": CanBus, "structs": structs} - execute(source("fordcan"), namespace, names={"calculate_lat_ctl2_checksum"}) - execute(source("builders"), namespace, names={"create_lka_msg", "create_lat_ctl_msg", "create_lat_ctl2_msg", "_BP_LKA_SHADOW_CURVATURE_SCALE"}) - return namespace - - -def curvature_controller(): - # Full exact pre-angle production controller, with unchanged current imports. - namespace = {"__name__": "ford_curvature_pre_angle_reference"} - exec(compile(source("starpilot_curvature_controller"), "", "exec"), namespace) - return namespace["CarController"] - - -class Angle: - def __init__(self, identity): - self.controller = angle()() - self.controller.CP = SimpleNamespace(carFingerprint=identity) - self.controller._ensure_lateral_curv_initialized = lambda _cp: None # Exact source guard is a no-op. - self.controller.get_current_curvature = lambda cs: -cs.out.yawRate / max(cs.out.vEgoRaw, .1) - self.controller.path_angle_last = 0. - self.controller.lp = None # Read but unused by the source angle strategy. - self.controller.lane_change_factor_bp = [0., 50.] - self.controller.lane_change_factor_low = 1. - self.controller.model = None - self.controller.update_angle_params(None) - - def step(self, inputs): - c = self.controller - c.sm = {"liveDelay": SimpleNamespace(lateralDelay=inputs.lateral_delay)} - c.model = SimpleNamespace(orientationRate=SimpleNamespace(z=list(inputs.yaw_predictions)), - meta=SimpleNamespace(laneChangeState=1 if inputs.lane_change else 0, - laneChangeDirection=inputs.lane_direction)) if inputs.yaw_predictions else None - cc = SimpleNamespace(latActive=inputs.active) - cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=inputs.speed, yawRate=-inputs.measured_curvature * inputs.speed, - steeringPressed=inputs.steering_pressed, steeringAngleDeg=inputs.steering_angle), - lat_ctl_lim_stat=inputs.limit_status) - return c.update_angle_strategy(cc, cs, SimpleNamespace(curvature=inputs.desired_curvature), c.CP) - - -def trim(): - namespace = {"np": np, "interp": np.interp} - execute(source("bpdev_trim"), namespace) - return namespace["LaneCenterTrim"] diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/angle.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/angle.py.txt deleted file mode 100644 index 886ffca8a2..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/angle.py.txt +++ /dev/null @@ -1,577 +0,0 @@ -""" -BluePilot: Ford CAN-FD path-angle–primary lateral control (developer). - -Steering intent is c1 from κ → θ. Converts planner/model curvature into ``path_angle`` using -PSCM short lookahead d_ref and y ≈ ½κ x² ⇒ path_angle = ½ κ d_ref (see -``bluepilot/agent_info/20_FORD_PSCM_KNOWLEDGE_PACK.md``). Predicted curvature (modelV2) is -blended with ``actuators.curvature`` per ``FordPathAngleBlendRatio`` (0 = planner only, -1 = model only). - -**c0 (path_offset) is always zero on the wire, unconditionally.** Angle mode has no centering -trim -- an earlier port attempt piped a small additive trim onto path_angle through the -curv-mode ``LC_PID_controller``, but it never actually tracked lane center correctly in this -mode and was removed; only the DBC-required zero c0 remains. - -**Human-turn override**: while the driver manually turns (same sustained-press + angle criteria -as ``lateral_curv_ext``, via the shared ``HumanTurnDetector``), lateral is forced inactive (mode -0, all-zero signals) instead of winding path_angle into a stale command the PSCM has to reconcile -on release -- on the Mach-E's PSCM that reconciliation cost 2-3 s of dead time before control -resumed. Mode 0 is panda-clean by construction: every ford.h check has a legitimate -!steer_control_enabled branch, so no reset-bypass latch involvement. On release, path_angle ramps -back in from zero through the soft ROC below (no jump seed) -- generous at human-turn speeds, and -admitted by ford.h's path_angle ROC check (2% looser) without any bypass. -""" -import numpy as np -from numpy import clip, interp - -from opendbc.car import DT_CTRL -from opendbc.car.lateral import apply_std_steer_angle_limits -from opendbc.car.ford.values import CAR, CarControllerParams -from opendbc.sunnypilot.car.ford.lateral_curv_ext import LateralResult -from opendbc.sunnypilot.car.ford.human_turn import HumanTurnDetector -from opendbc.sunnypilot.car.ford.values_ext import BP_ANGLE_LIMITS -from selfdrive.modeld.constants import ModelConstants - -# Hard-coded per-platform gain defaults. -# CAN vehicles (Escape MK4, Bronco Sport, Explorer, Maverick, Edge) -_GAIN_CAN = (1.00, 1.15) -# CAN-FD body-on-frame trucks (F-150, Lightning, Expedition, Ranger) -_GAIN_CANFD_BOF = (0.95, 0.95) -# CAN-FD unibody SUVs (Mustang Mach-E, Escape MK4.5) -_GAIN_CANFD_SUV = (1.00, 1.05) - -_CANFD_BOF_CARS = frozenset({ - CAR.FORD_F_150_MK14, - CAR.FORD_F_150_LIGHTNING_MK1, - CAR.FORD_EXPEDITION_MK4, - CAR.FORD_RANGER_MK2, -}) -_CANFD_SUV_CARS = frozenset({ - CAR.FORD_MUSTANG_MACH_E_MK1, - CAR.FORD_ESCAPE_MK4_5, -}) - - -# DBC ``LatCtlPath_An_Actl`` (rad) — panda safety uses the same in ``ford.h``; PSCM enforces in firmware. -FORD_DBC_PATH_ANGLE_MIN = -0.5 -FORD_DBC_PATH_ANGLE_MAX = 0.5235 - - -# PSCM d_ref (m) vs speed (m/s) — 6 points; above ~55.6 m/s use plateau + optional cap to 5 m. -_PSCM_DREF_SPEEDS_MS = (0.0, 4.17, 27.78, 41.67, 50.0, 55.56) -_PSCM_DREF_M = (0.5, 0.95, 1.4, 2.075, 2.75, 3.875) - -# Default blend ratio validated on F-150 fleet data (0.5s lookup time). -_FORD_PATH_ANGLE_BLEND_RATIO_DEFAULT = 0.50 - -# Variable lookup time (VLT): curvature_lookup_time adapts to speed and curvature magnitude. -# t_lookup = t_base + t_extra_max × speed_factor(v) × kappa_factor(|κ|) -# t_base = liveDelay.lateralDelay + DT_MDL — always matches the planner's pre-compensation floor. -# Extra lookahead collapses toward zero at high speed (PSCM responds faster) -# and at large curvature (prevents blend importing a "start unwinding" signal too early). -_DT_MDL = 0.05 # model loop period (matches common/realtime.py) -_VLT_T_EXTRA_MAX = 0.10 # max extra lookahead above t_base -_VLT_V_LOW_MS = 25.0 * 0.44704 # 25 mph — full extra lookahead at or below this speed -_VLT_V_HIGH_MS = 55.0 * 0.44704 # 55 mph — no extra lookahead at or above this speed -_VLT_KAPPA_FULL = 0.005 # 1/m — full extra lookahead below this curvature (200m+ radius) -_VLT_KAPPA_TAPER = 0.020 # 1/m — no extra lookahead above this curvature (50m radius) - -# Rate cap on path_angle magnitude DECREASE during PSCM LimitReached (rad/call = 0.40 rad/s). -# Both model and planner naturally drop path_angle ~0.36 rad/s at a sharp 90° apex, while the PSCM is -# physically pinned and cannot execute the rapidly falling desired angle. The resulting actual-vs-desired -# gap (up to 47° observed) causes a snap correction the moment the PSCM is released. This cap limits -# the desired-angle drop rate to what the PSCM can reasonably track, at the cost of holding the car -# slightly more in the curve during saturation. -# BluePilot: this strategy runs once per STEER_STEP (CarControllerParams.STEER_STEP=5), i.e. once -# every 5th 100Hz control tick = 20Hz, not every tick. The original 0.004 rad/call value (and its -# "50Hz" comment, corrected above) was authored 2026-05-11 on bp-sid-simple, which had already -# switched STEER_STEP 5->1 (true 100Hz) on 2026-04-22 -- so it was tuned at 100Hz real cadence -# even though its own comment mistakenly said 50Hz. Scaled x5 here to restore the same real-world -# 0.40 rad/s (23 deg/s) unwind rate on this branch's actual 20Hz cadence. -_PSCM_SAT_UNWIND_RATE = 0.02 # rad/call (0.02 * 20Hz = 0.40 rad/s) - -# Post-override stall blip. Road test 2026-07-14 (route 886240741b067740/000000bd--feb980680f) -# showed that after driver-touch episodes the Mach-E PSCM keeps reporting InProgress but honors -# path_angle at only ~0.56x (healthy hands-free delivery on the same route: ~0.95 median). The -# current-curvature deviation clip below then pins kappa_cmd at measured + CURVATURE_ERROR, so the -# command can never lead the car enough to overcome the attenuation -- a stall equilibrium the -# driver reads as "not engaging" (wire path_angle flat at ~4 deg for 4.5 s while desired kappa -# climbed to 3x measured, EPS motor current ~0 A). A short mode-0 pulse -- the identical -# panda-clean wire pattern the human-turn override sends, no ford.h involvement -- resets the -# PSCM's authority, after which path_angle ramps back in from zero through the soft ROC. -_STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL # 20 Hz lateral tick (matches human_turn.py) -_STALL_GAP_MIN = 2.0 * CarControllerParams.CURVATURE_ERROR # desired must lead measured by 2x the clip tolerance -_STALL_HOLD_S = 0.5 # accumulated clip-binding time before a pulse fires -_STALL_BLIP_FRAMES = 6 # mode-0 pulse length (6 frames @ 20 Hz = 300 ms; PSCM acked mode 0 in ~150 ms on-road) -_STALL_COOLDOWN_S = 2.0 # re-arm delay after a pulse (release ramp + PSCM response time) -_STALL_MAX_BLIPS = 3 # give up on a stuck episode; devLim telemetry keeps recording the stall -# Proactive hand-off blip: any sustained driver press attenuates the PSCM (route 000000be seg 4: -# 3 s of sub-45-deg circle-exit steering left it at ~0x delivery, and the reactive detector's -# fire-after-the-stall-develops timing meant 2.4 s of dead-straight running into the next curve -# before the pulse landed). Firing the same pulse on the falling edge of a sustained press resets -# the PSCM while the car is straight and the command is small -- a 300 ms lateral gap right at -# hand-off, imperceptible, instead of a missed curve. The reactive detector above stays as backstop. -_PRESS_BLIP_MIN_S = 0.5 # press must last this long before its release earns a pulse -# The pulse releases steering for 300 ms; never fire it in a curve. -_BLIP_MAX_PATH_ANGLE = 0.10 # rad - - -def pscm_d_ref_m(v_ego_ms: float) -> float: - v = max(float(v_ego_ms), 0.0) - d = float(np.interp(v, _PSCM_DREF_SPEEDS_MS, _PSCM_DREF_M)) - if v > _PSCM_DREF_SPEEDS_MS[-1]: - # Doc: d_ref table ends at 3.875 m; contribution saturates for high speed — cap at 5 m. - d = min(5.0, d) - return d - - -class LateralAngleExt: - def __init__(self, CP=None, CP_SP=None): - # Predicted-curvature blend for path_angle: pred * b + desired * (1-b); b from ``FordPathAngleBlendRatio`` - self.path_angle_blend_ratio = _FORD_PATH_ANGLE_BLEND_RATIO_DEFAULT - # Max extra VLT above t_base; from ``FordVLTExtraMax`` param - self.vlt_extra_max = _VLT_T_EXTRA_MAX - # Telemetry: final path_angle (rad) after limits (see bp_card_publisher) - self.bp_path_angle_final = 0.0 - # High-speed gain factors: set per-platform via carFingerprint in update_angle_params. - self.path_angle_gain_lowC_highV = 1.0 # dampening at high speed, low curvature - self.path_angle_gain_highC_highV = 1.0 # gain at high speed, high curvature - self.bp_path_angle_gain_lowC_highV = 1.0 - self.bp_path_angle_gain_highC_highV = 1.0 - # User-tunable "feel" multipliers: read from the angle-tuning Params below. - self.low_speed_curv_factor = 1.0 - self.high_speed_curv_factor = 1.0 - self.user_dampening_factor = 1.0 - self.bp_low_speed_curv_factor = 1.0 - self.bp_high_speed_curv_factor = 1.0 - # BluePilot: angle mode's own lane-change scaling factor, independent of curvature mode's - # lane_change_factor_high_curv -- angle needs a boost (>1) where curvature needs a cut (<1). - self.lane_change_factor_high_ang = 1.0 - # Telemetry: variable curvature lookup time used this frame (s) - self.bp_curvature_lookup_time = _VLT_T_EXTRA_MAX + 0.3725 # warm start at ~0.5s - # BluePilot: error-clipped kappa path_angle was derived from -- carcontroller.py reads this as - # shadow_curvature for ford.h's angle-mode deviation check. Actively consumed, not telemetry. - self.bp_kappa_cmd = 0.0 - # BluePilot: rate-limit diagnostics (controllerStateBP) - self.bp_angle_rate_limited = False # path_angle soft-ROC clip actually bit this frame - self.bp_curvature_rate_limited = False # equivalent curvature would be rate-limited by curv-mode logic (sim) - self.bp_curvature_deviation_limited = False # current_curvature error-clip constrained kappa_cmd this frame - self.sim_curvature_last = 0.0 # shadow curvature-mode last for the curvatureRateLimited sim - # Exit detection: track previous desired curvature to sense when planner is actively reducing - self._desired_curvature_last = 0.0 - # Human-turn override: while the driver manually turns, lateral is forced inactive (mode 0, - # all-zero signals) instead of winding path_angle into a stale command the PSCM can't cleanly - # reconcile on release (2-3 s re-engage dead time observed on Mach-E). See module docstring. - # Note: in CarController this attribute is shared with LateralCurvExt (same mixin instance) -- - # only one lateral strategy runs per frame, so a single detector serves both. - self.human_turn_detector = HumanTurnDetector() - self.angle_human_turn_active = False # read by carcontroller to force mode 0 - # Post-override stall blip state (see module constants). angle_stall_blip_active is read by - # carcontroller to force mode 0, exactly like angle_human_turn_active. - self.stall_blip_hold_s = 0.0 # accumulated deviation-clip-binding time toward a pulse - self.stall_blip_frames_left = 0 # remaining pulse frames; > 0 -> mode 0 on the wire - self.stall_blip_cooldown_s = 0.0 # re-arm delay after a pulse - self.stall_blip_count = 0 # pulses fired this stall episode - self.angle_stall_blip_active = False - self.press_timer_s = 0.0 # continuous steeringPressed time, for the hand-off blip - - def update_angle_params(self, params): - """Sets per-platform gain defaults and reads user angle-tuning params.""" - self._ensure_lateral_curv_initialized(self.CP) - fp = getattr(self.CP, 'carFingerprint', '') - if fp in _CANFD_BOF_CARS: - low, high = _GAIN_CANFD_BOF - elif fp in _CANFD_SUV_CARS: - low, high = _GAIN_CANFD_SUV - else: - low, high = _GAIN_CAN - self.path_angle_gain_lowC_highV = low - self.path_angle_gain_highC_highV = high - if params is not None and hasattr(params, "get"): - for attr, key, min_value, max_value in ( - ("low_speed_curv_factor", "FordLowSpeedFactor_ang", 0.5, 1.5), - ("high_speed_curv_factor", "FordHighSpeedFactor_ang", 0.5, 1.5), - ("user_dampening_factor", "FordHighSpeedDampening_ang", 0.25, 1.25), - ): - try: - raw = params.get(key, return_default=True) - if raw is not None and raw != b"": - setattr(self, attr, float(clip( - float(raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw), min_value, max_value))) - except Exception: - pass - try: - raw = params.get("lane_change_factor_high_ang", return_default=True) - if raw is not None and raw != b"": - self.lane_change_factor_high_ang = float(clip( - float(raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw), 0.85, 1.50)) - except Exception: - pass - - def update_angle_strategy(self, CC, CS, actuators, CP): - """ - Curvature from planner (+ optional predicted blend) → path_angle via ½·κ·d_ref. - c0 (path_offset) is always zero on the wire -- no centering trim in angle mode. c2 and c3 are zero. - Blended κ is not passed through Ford c2 rate / DBC limits (those target the curvature actuator). - """ - self._ensure_lateral_curv_initialized(CP) - - v_ego = float(CS.out.vEgoRaw) - d_ref = pscm_d_ref_m(v_ego) - - curvature_rate = 0.0 - path_offset = 0.0 - path_angle = 0.0 - ramp_type = 0 - lateral_uncertainty = 0.0 - precision = 1 - - if not CC.latActive: - self.path_angle_last = 0.0 - self.bp_path_angle_final = 0.0 - self.apply_curvature_last = 0.0 - self.bp_angle_rate_limited = False - self.bp_curvature_rate_limited = False - self.bp_curvature_deviation_limited = False - self.sim_curvature_last = 0.0 - # Publish the shadow curvature from the measured curvature while inactive. LKA keeps - # carrying angle_mode_engaged whenever angle mode is configured (independent of - # latActive), and ford.h latches the shadow from every LKA frame -- so the latched - # value must track reality here, not sit at a stale zero. Otherwise the first enabled - # LMC frame after (re-)engage races LKA's 33Hz latch against LMC's 20Hz enable bit and - # ford.h's deviation check compares a zero shadow against real measured curvature. - # (ford.h skips the check while steer_control_enabled is 0, so the value is free to - # follow the measurement during the inactive period itself.) - self.bp_kappa_cmd = self.get_current_curvature(CS) - self.human_turn_detector.reset() - self.angle_human_turn_active = False - self.stall_blip_hold_s = 0.0 - self.stall_blip_frames_left = 0 - self.stall_blip_cooldown_s = 0.0 - self.stall_blip_count = 0 - self.angle_stall_blip_active = False - self.press_timer_s = 0.0 - self.precision_type = 1 - return LateralResult( - apply_curvature=0.0, - curvature_rate=0.0, - path_offset=0.0, - path_angle=0.0, - ramp_type=0, - precision_type=1, - lateralUncertainty=0.0, - ) - - # Human-turn override: sustained driver press + large wheel angle → force lateral inactive - # (carcontroller drops mode to 0; all signals are zero on the wire) so path_angle can't wind - # into a stale command while the driver turns. Always on in angle mode (no param gate) -- the - # curv-suffixed human-turn toggle belongs to curvature mode's reset strategy, and the Mach-E - # PSCM re-engage stall this prevents is not something a user should be able to opt out of. - # On release, no jump seed: path_angle_last is 0, so the normal flow below ramps the command - # back in through the soft ROC -- generous at human-turn speeds, no panda bypass involved. - self.angle_human_turn_active = self.human_turn_detector.update( - True, CS.out.steeringPressed, CS.out.steeringAngleDeg) - if self.angle_human_turn_active: - self.path_angle_last = 0.0 - self.bp_path_angle_final = 0.0 - self.apply_curvature_last = 0.0 - self.bp_angle_rate_limited = False - self.bp_curvature_rate_limited = False - self.bp_curvature_deviation_limited = False - self.sim_curvature_last = 0.0 - # Truthful shadow during the override (mirrors the inactive path -- see the comment - # there): the driver is steering, so the honest command is the car's actual curvature, - # and the panda-latched shadow stays current for the re-engage frame. - self.bp_kappa_cmd = self.get_current_curvature(CS) - # Keep exit detection current so resume doesn't compare against a stale pre-turn value. - self._desired_curvature_last = float(actuators.curvature) - # A human turn ends any stall episode -- its own mode 0 does the PSCM reset job. That also - # covers the press so far: only press time accumulated AFTER the latch releases should earn - # a hand-off pulse. - self.stall_blip_hold_s = 0.0 - self.stall_blip_frames_left = 0 - self.stall_blip_cooldown_s = 0.0 - self.stall_blip_count = 0 - self.angle_stall_blip_active = False - self.press_timer_s = 0.0 - self.precision_type = 1 - return LateralResult( - apply_curvature=0.0, - curvature_rate=0.0, - path_offset=0.0, - path_angle=0.0, - ramp_type=0, - precision_type=1, - lateralUncertainty=0.0, - ) - - # Proactive hand-off blip: the falling edge of a sustained press earns an immediate mode-0 - # pulse (see _PRESS_BLIP_MIN_S) -- resets the PSCM's press-induced attenuation right at - # hand-off, while the car is straight and the command small, instead of waiting for the - # reactive stall detector below to watch the car miss the next curve first. - if CS.out.steeringPressed: - self.press_timer_s += _STEER_DT - else: - if (self.press_timer_s >= _PRESS_BLIP_MIN_S and self.stall_blip_cooldown_s <= 0.0 - and self.stall_blip_frames_left <= 0 - and abs(self.path_angle_last) < _BLIP_MAX_PATH_ANGLE): - self.stall_blip_frames_left = _STALL_BLIP_FRAMES - self.press_timer_s = 0.0 - - # Stall-blip pulse in progress: hold lateral inactive (mode 0, all-zero signals -- the same - # wire pattern as the human-turn override, no ford.h involvement) for _STALL_BLIP_FRAMES so the - # PSCM drops its post-override attenuation, then release; path_angle ramps back in from zero - # through the soft ROC exactly like a human-turn release. Detection lives at the end of the - # normal flow below. - if self.stall_blip_frames_left > 0: - self.stall_blip_frames_left -= 1 - self.angle_stall_blip_active = True - self.path_angle_last = 0.0 - self.bp_path_angle_final = 0.0 - self.apply_curvature_last = 0.0 - self.bp_angle_rate_limited = False - self.bp_curvature_rate_limited = False - self.bp_curvature_deviation_limited = False - self.sim_curvature_last = 0.0 - # Truthful shadow during the blip (see the inactive-path comment). - self.bp_kappa_cmd = self.get_current_curvature(CS) - self._desired_curvature_last = float(actuators.curvature) - self.precision_type = 1 - if self.stall_blip_frames_left <= 0: - self.stall_blip_cooldown_s = _STALL_COOLDOWN_S - return LateralResult( - apply_curvature=0.0, - curvature_rate=0.0, - path_offset=0.0, - path_angle=0.0, - ramp_type=0, - precision_type=1, - lateralUncertainty=0.0, - ) - self.angle_stall_blip_active = False - - self.precision_type = 1 - precision = 1 - LP = self.lp - desired_curvature = float(actuators.curvature) - - # Variable lookup time: t_base tracks planner pre-compensation; extra tapers on high speed and large curves. - # Cap liveDelay at 0.15s for VLT purposes. liveDelay can calibrate up to ~420ms on some runs, which inflates - # VLT to 0.6s and pushes the model lookahead 5m into the curve. At that depth the model sees full peak - # curvature, kappa_entering stays True, and the exit-biased blend is permanently disabled — causing the car - # to command max path_angle through the entire apex. 0.15s gives t_base ≤ 0.20s and VLT ≤ 0.33s, restoring - # the 2.8m lookahead that kept kappa_entering False at the apex in successful earlier runs. - _t_base = float(clip(self.sm['liveDelay'].lateralDelay, 0.1, 0.15)) + _DT_MDL - _speed_factor = float(interp(v_ego, [_VLT_V_LOW_MS, _VLT_V_HIGH_MS], [1.0, 0.0])) - # Direction-aware kappa factor: on curve ENTRY (model shows more curvature at t_base than planner now), - # keep full lookahead so pre-steering begins early. On exit/apex, taper by magnitude to prevent unwind. - _kappa_at_t_base = 0.0 - if self.model is not None and len(self.model.orientationRate.z) >= 17: - _curvatures_ref = np.array(self.model.orientationRate.z) / max(0.01, v_ego) - _kappa_at_t_base = abs(float(interp(_t_base, ModelConstants.T_IDXS, _curvatures_ref))) - _kappa_entering = _kappa_at_t_base > abs(desired_curvature) - if _kappa_entering: - _kappa_factor = 1.0 # curve deepening ahead: full extra lookahead for gradual entry - else: - _kappa_factor = float(interp(abs(desired_curvature), [_VLT_KAPPA_FULL, _VLT_KAPPA_TAPER], [1.0, 0.0])) - curvature_lookup_time = _t_base + self.vlt_extra_max * _speed_factor * _kappa_factor - self.bp_curvature_lookup_time = curvature_lookup_time - - predicted_curvature = 0.0 - if self.model is not None and len(self.model.orientationRate.z) >= 17: - curvatures = np.array(self.model.orientationRate.z) / max(0.01, v_ego) - predicted_curvature = float( - interp(curvature_lookup_time, ModelConstants.T_IDXS, curvatures) - ) - - b = float(self.path_angle_blend_ratio) - b = float(clip(b, 0.0, 1.0)) - - # Exit-biased blend: near the PSCM authority limit or while the planner is actively - # reducing curvature (exit detected), drop model prediction weight from 60% → ~15%. - # This lets the planner's natural unwind dominate instead of being diluted by a model - # prediction that still sees the curve (→ seg-14 slow unwind) or that snaps when its - # lookahead window crosses the curve exit (→ seg-17 snap + reverse PSCM hit). - # Normal gentle curves are unaffected: no PSCM limit, no falling desired → full b=0.60. - _pscm_lim = getattr(CS, 'lat_ctl_lim_stat', 0) - # In angle mode, LatCtlLim_D_Stat (→ lat_ctl_lim_stat) does not fire. - # Previously used angleState.saturated (CtrSat) as a proxy, but CtrSat fires whenever the car - # lags the commanded path_angle by > 2.5° — which happens during any normal curve entry. - # That caused a positive-feedback flat-line: under-steer → CtrSat → path_angle frozen → more under-steer. - # Use DBC-limit proximity instead: only block when path_angle is already near the ±0.5 rad CAN limits, - # which is the only condition where the anti-snap unwind rate cap makes physical sense. - _dbc_sat = (self.path_angle_last >= FORD_DBC_PATH_ANGLE_MAX * 0.90 or - self.path_angle_last <= FORD_DBC_PATH_ANGLE_MIN * 0.90) - _in_hard_sat = _pscm_lim >= 2 or _dbc_sat - # BluePilot: per-call delta threshold. The original 0.002 was authored 2026-05-07 on - # bp-sid-simple (9c3d000fd), which ran STEER_STEP=1 (true 100Hz, switched 2026-04-22) -- so it - # was tuned to trigger on planner unwind faster than 0.2 (1/m)/s. Scaled x5 here to restore - # that same real-world trigger rate on this branch's actual 20Hz cadence; unscaled it fired at - # 0.04 (1/m)/s, collapsing the model blend on mild straightening instead of genuine exits. - # Same bug class and fix as _PSCM_SAT_UNWIND_RATE and _soft_roc above. - _desired_falling = abs(desired_curvature) < abs(self._desired_curvature_last) - 0.010 - _on_exit_near_limit = not _kappa_entering and (_pscm_lim >= 1 or _in_hard_sat or _desired_falling) - b_blend = float(clip(b * 0.25, 0.0, 1.0)) if _on_exit_near_limit else b - requested_curvature = predicted_curvature * b_blend + desired_curvature * (1.0 - b_blend) - self._desired_curvature_last = desired_curvature - - if self.model is not None: - self.lane_change = self.model.meta.laneChangeState in (1, 2, 3) - else: - self.lane_change = False - - lane_change_factor = interp( - v_ego, self.lane_change_factor_bp, [self.lane_change_factor_low, self.lane_change_factor_high_ang] - ) - if self.lane_change and self.model is not None: - if self.model.meta.laneChangeDirection == 1 and requested_curvature < 0: - requested_curvature *= lane_change_factor - precision = 0 - elif self.model.meta.laneChangeDirection == 2 and requested_curvature > 0: - requested_curvature *= lane_change_factor - precision = 0 - self.precision_type = precision - - # Use planner / predicted κ directly for the κ → path_angle map; we are not sending κ on CAN. - kappa_cmd = float(requested_curvature) - - # BluePilot: clip kappa_cmd to current_curvature (measured, from yaw rate) +- CURVATURE_ERROR, - # mirroring lateral_curv_ext.py's apply_ford_curvature_limits_ext exactly (same formula, same - # v_ego > 9 gate, same CarControllerParams.CURVATURE_ERROR tolerance). Without this, kappa_cmd - # (and therefore path_angle, and the shadow_curvature sent to ford.h) can legitimately lead the - # measured curvature by more than ford.h's angle-error tolerance during normal curve entry/exit - # -- the shadow-curvature deviation check (ford_shadow_curvature_error_check) would then block - # routinely, not just on genuine pothole/override divergence. Curvature mode has always clipped - # here; this brings angle mode's actual steering intent in line with that proven behavior rather - # than only clipping the value reported to panda (which would make the check a no-op). - current_curvature = self.get_current_curvature(CS) - self.bp_curvature_deviation_limited = False - if v_ego > 9: - _kappa_cmd_pre_error_clip = kappa_cmd - kappa_cmd = float(clip(kappa_cmd, current_curvature - CarControllerParams.CURVATURE_ERROR, - current_curvature + CarControllerParams.CURVATURE_ERROR)) - # BluePilot: did this clip actually constrain kappa_cmd this frame (deviation from measured, - # not rate-of-change -- see carcontroller.py)? - self.bp_curvature_deviation_limited = bool(abs(kappa_cmd - _kappa_cmd_pre_error_clip) > 1e-9) - - lateral_uncertainty = 0.0 # no curvature-limit ladder until angle-mode torque display is defined - - - - # Speed-interpolated gain: at low speed both curves use 1.0; at high speed the params take effect. - self.low_gain_calc = interp( - v_ego, [13.5, 26.82], [1.0, (self.path_angle_gain_lowC_highV * self.user_dampening_factor)] - ) - self.high_gain_calc = interp(v_ego, [13.5, 26.82], [(1.30 * self.low_speed_curv_factor), (self.path_angle_gain_highC_highV * self.high_speed_curv_factor)]) - - # As the curve gets bigger, we will need a little boost to the signal to to not understeer - self.curvature_factor = interp(abs(kappa_cmd), [0.0007, 0.001], [self.low_gain_calc, self.high_gain_calc]) - - path_angle_calc = kappa_cmd * v_ego * self.curvature_factor - path_angle = path_angle_calc - - - # PSCM authority limit clamp. - # On CANFD Fords in angle mode, LatCtlLim_D_Stat does not fire, so _pscm_lim stays 0. - # _in_hard_sat (computed above) combines _pscm_lim >= 2 with _dbc_sat (path_angle near ±0.5 rad limit). - # LimitClose (_pscm_lim >= 1 only): block magnitude increases — exit-biased blend provides unwind. - # Hard saturation (_in_hard_sat): block increases AND rate-limit decreases to _PSCM_SAT_UNWIND_RATE. - # Without the decrease cap, model+planner drop path_angle at ~0.36 rad/s at a sharp apex, - # driving desired steering 30°+ ahead of actual while the PSCM is pinned, causing a snap when released. - if _in_hard_sat: - _last = self.path_angle_last - _last_mag = abs(_last) - _curr_mag = abs(path_angle) - if _curr_mag > _last_mag: # magnitude growing — block - path_angle = _last - elif _last_mag - _curr_mag > _PSCM_SAT_UNWIND_RATE: # decreasing too fast — rate-limit - _limited_mag = _last_mag - _PSCM_SAT_UNWIND_RATE - path_angle = float(_limited_mag if _last >= 0 else -_limited_mag) - elif _pscm_lim >= 1: # LimitClose (F150/non-angle-mode only): block increases only - path_angle = float(clip(path_angle, -abs(self.path_angle_last), abs(self.path_angle_last))) - - path_angle = min(FORD_DBC_PATH_ANGLE_MAX, max(FORD_DBC_PATH_ANGLE_MIN, path_angle)) - - # Soft ROC limit — unconditional, slightly tighter than ford.h, applied before the - # hardware bypass in ford.h is re-enabled. Lets us observe whether the limit would - # suppress control and tune it, while the PSCM still receives the clipped value. - # BluePilot: this strategy runs once per STEER_STEP (CarControllerParams.STEER_STEP=5), i.e. - # once every 5th 100Hz control tick = 20Hz, not every tick -- ported "verbatim from bp-sid-simple" - # (2026-06-13), which runs STEER_STEP=1 (true 100Hz, switched 2026-04-22). The y-values below are - # scaled x5 from the original [0.011, 0.011, 0.0085, 0.0018] to restore the same real-world rate - # (63/63/49/10 deg/s at v=9-10/15/25) on this branch's actual 20Hz cadence. See ford.h's - # FORD_PATH_ANGLE_LIMITS, which must mirror this scaling (x1.02 looser) to stay a true backstop. - _soft_roc = float(interp(v_ego, [9., 10., 15., 25.], [0.055, 0.055, 0.0425, 0.009])) - _path_angle_pre_roc = path_angle - path_angle = float(clip(path_angle, - self.path_angle_last - _soft_roc, - self.path_angle_last + _soft_roc)) - # BluePilot: did the soft ROC clip actually limit the path_angle we wanted to send this frame? - self.bp_angle_rate_limited = bool(abs(path_angle - _path_angle_pre_roc) > 1e-9) - - - # c0 always zero -- no centering trim in angle mode. - path_offset = 0.0 - - # Telemetry / state - self.bp_path_angle_gain_lowC_highV = self.path_angle_gain_lowC_highV - self.bp_path_angle_gain_highC_highV = self.path_angle_gain_highC_highV - self.bp_low_speed_curv_factor = self.low_speed_curv_factor - self.bp_high_speed_curv_factor = self.high_speed_curv_factor - self.path_angle_last = path_angle - self.bp_path_angle_final = path_angle - self.apply_curvature_last = 0.0 - # BluePilot: the error-clipped kappa path_angle was derived from -- carcontroller.py reads this - # as shadow_curvature for ford.h's angle-mode deviation check (see fordcan_ext.create_lka_msg). - # Not just telemetry: an actively-consumed value, unlike the removed *_kappa_cmd_raw stubs. - # While the driver is pressing (before the human-turn override latches), the clipped planner - # kappa can't follow the wheel: the driver moves the measured curvature faster than the - # deviation clip tracks it, so the shadow can exit ford.h's error band mid-curve -- the one - # in-drive lateral safety block observed across ~3h of replayed road-test routes was exactly - # this (driver fighting a sustained curve with the mode still enabled). The honest command - # during a press is the driver's actual curvature. - self.bp_kappa_cmd = self.get_current_curvature(CS) if CS.out.steeringPressed else kappa_cmd - - # BluePilot: would the equivalent curvature (kappa_cmd) have been rate-limited by curvature-mode's - # ROC (apply_std_steer_angle_limits)? kappa_cmd is already error-clipped above (same clip - # curvature mode applies), so only the rate-of-change portion remains to simulate here. - _equiv_curv_rl = apply_std_steer_angle_limits(kappa_cmd, self.sim_curvature_last, v_ego, - CS.out.steeringAngleDeg, CC.latActive, BP_ANGLE_LIMITS) - self.bp_curvature_rate_limited = bool(abs(_equiv_curv_rl - kappa_cmd) > 1e-9) - self.sim_curvature_last = float(_equiv_curv_rl) - - # Post-override stall detection (mechanism in the module constants' comment). Fires the mode-0 - # blip when, hands-free, desired curvature has led measured by more than 2x the deviation - # clip's tolerance while the clip was actually binding for _STALL_HOLD_S accumulated seconds. - # devLim flickers mid-stall (~63% duty on the diagnosis route), so off frames hold the - # accumulator rather than resetting it; a closed gap or driver press ends the episode. - self.stall_blip_cooldown_s = max(0.0, self.stall_blip_cooldown_s - _STEER_DT) - _stall_gap = desired_curvature - current_curvature - _stalled = (not CS.out.steeringPressed and not self.lane_change and v_ego > 9.0 - and abs(_stall_gap) > _STALL_GAP_MIN - and abs(desired_curvature) > abs(current_curvature)) - if _stalled: - if self.bp_curvature_deviation_limited and self.stall_blip_cooldown_s <= 0.0: - self.stall_blip_hold_s += _STEER_DT - if (self.stall_blip_hold_s >= _STALL_HOLD_S and self.stall_blip_count < _STALL_MAX_BLIPS - and abs(self.path_angle_last) < _BLIP_MAX_PATH_ANGLE): - self.stall_blip_frames_left = _STALL_BLIP_FRAMES - self.stall_blip_hold_s = 0.0 - self.stall_blip_count += 1 - else: - self.stall_blip_hold_s = 0.0 - if CS.out.steeringPressed or abs(_stall_gap) < 0.5 * _STALL_GAP_MIN: - self.stall_blip_count = 0 # episode over: the car is tracking again or the driver took it - - ramp_type = 2 - - - return LateralResult( - apply_curvature=0.0, - curvature_rate=curvature_rate, - path_offset=path_offset, - path_angle=path_angle, - ramp_type=ramp_type, - precision_type=self.precision_type, - lateralUncertainty=lateral_uncertainty, - ) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/bpdev_trim.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/bpdev_trim.py.txt deleted file mode 100644 index 5eedebd79e..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/bpdev_trim.py.txt +++ /dev/null @@ -1,203 +0,0 @@ -""" -BluePilot: angle-mode "advanced lane positioning" -- a curvature-domain trim toward true -lane-line center (plus an optional user left/right bias), for use with path_angle-primary -control (``lateral_angle_ext.py``). - -Under curvature-primary control, lane positioning rode on a second DBC signal (path_angle as -a heading trim, c3) layered on top of curvature (c1, the primary). In angle mode, path_angle -IS the primary signal -- there is no separate trim slot on the wire. An earlier attempt ported -the old PID controller as an additive delta on the *final* path_angle value and it never tracked -lane center correctly: path_angle there is a derived quantity (``kappa_cmd * v_ego * -curvature_factor``), so an additive trim in that domain has the wrong (inverted) speed-dependence -for a lane-centering nudge, and it bypasses every limiter angle mode already applies to -``kappa_cmd`` (deviation clip, PSCM-saturation clamp, DBC clip, soft ROC). - -This class instead computes a small correction in the **curvature domain**, meant to be added to -``kappa_cmd`` before any of those limiters run -- so the correction automatically inherits all of -them, with no new safety-relevant code path. This mirrors where a GM-focused fork (StarPilot, -u/jc01rho -- ``selfdrive/controls/lib/drive_helpers.py::LaneCenteringController`` on -``feat/lane-centering-camera-offset``) places their own lane-centering trim: on the universal -``desired_curvature`` signal, upstream of any car-specific actuator conversion. The geometry here -(``raw_correction = 2*error / lookahead**2``) is the same ``y ~= 1/2 * kappa * x**2`` relation -BluePilot already uses for PSCM d_ref / path_angle elsewhere in this package, solved for the -curvature that would eliminate a lateral position error at the lookahead distance. - -**Model-position fallback (blend, not hard gate)**: mirrors ``lateral_curv_ext.py``'s -``path_offset`` blend of ``path_offset_position`` (the model's own predicted path -- a "no -correction" baseline) vs. ``path_offset_lanelines`` (the geometric lane center), weighted by a -laneline confidence score. The *target* we correct toward is that same blend here, so: - -- Good lane lines (confidence -> 1): target -> lane-line center + offset (full centering + bias). -- No/poor lane lines (confidence -> 0): target -> the model's own current path + offset, i.e. the - correction reduces to *just* the user's left/right bias riding on top of whatever the model - already wants to do -- it never goes to zero just because lane lines dropped out. This is the - case that matters on center-stripe-only roads with a curbed edge: there's no reliable lane line - to center between, but the user's bias should still nudge the car off the curb. - -Confidence uses the exact formula and breakpoints ``lateral_curv_ext.py`` already uses for -``laneline_confidence`` / ``min_laneline_confidence_bp`` (smooth width-tolerance + laneline probs, -not a hard cutoff) -- reusing an already-tuned, production formula instead of inventing a second one. -""" -import numpy as np -from numpy import interp - -# Laneline confidence blend -- ported verbatim from lateral_curv_ext.py's path_offset blend -# (laneline_width_tolerance / min_laneline_confidence_bp) so both control schemes agree on what -# "good lane lines" means. -_WIDTH_TOLERANCE_BP = (2.4, 2.8, 3.75, 4.25) # m - the floor is added from StarPilot -_WIDTH_TOLERANCE_V = (0.0, 0.81, 0.81, 0.59) # Adds StarPilot's low edge -_STD_TOLERANCE_BP = (0.3, 0.5) #0.3 is from StarPilot to define bad references -_STD_TOLERANCE_V = (0.81, 0.0) #0.81 is a known good value and allows it to fade to zero as std increases -_CONFIDENCE_BP = (0.6, 0.8) -_CONFIDENCE_V = (0.0, 1.0) - -# Speed ramp: reuses curvature-mode's already-tuned centering-authority envelope -# (LC_PID_speed_bp/v in lateral_curv_ext.py) instead of inventing a new one. -_SPEED_RAMP_BP = (0.0, 9.0, 15.0) # m/s -_SPEED_RAMP_V = (0.0, 0.0, 1.0) - -# Lookahead distance for the position-error sample, clipped to a sane range (m). -_LOOKAHEAD_MIN_M = 8.0 -_LOOKAHEAD_MAX_M = 35.0 - -# Hard safety ceiling on the raw correction magnitude (1/m) -- fixed, not a "feel" knob, same -# treatment as _PSCM_SAT_UNWIND_RATE / _soft_roc in lateral_angle_ext.py. -_MAX_RAW_CORRECTION = 0.004 - -# First-order smoothing time constant (s) -- avoids abrupt jumps in the trim. -_SMOOTH_TAU_S = 0.4 - -# Rate-of-change limit on the applied correction (1/m per 20 Hz tick), independent of the -# smoothing filter above. The filter alone still has its *fastest* slew immediately after a -# target jump -- its per-tick step is proportional to how far the target moved, so a large, -# sudden confidence swing (e.g. crossing into/out of a too-wide merge lane, or lane lines -# dropping out entirely while the model's own path and the laneline center disagree) can still -# produce a big single-tick correction change even though it's technically "smoothed". This caps -# that step explicitly, the same way path_angle's own soft ROC (lateral_angle_ext.py) and -# curvature mode's LC_path_angle_ROC (lateral_curv_ext.py) rate-limit their outputs. At this -# rate, crossing the full -_MAX_RAW_CORRECTION..+_MAX_RAW_CORRECTION span takes ~2.7s; a more -# typical confidence-transition jump (a fraction of that) resolves proportionally faster. -_CORRECTION_ROC_PER_TICK = 0.00015 - - -class LaneCenterTrim: - def __init__(self): - self._correction = 0.0 - - def reset(self) -> None: - self._correction = 0.0 - - def update(self, kappa_cmd: float, model, v_ego: float, enabled: bool, offset: float, - gain: float, lat_active: bool, lane_change: bool) -> float: - """Returns ``kappa_cmd``, nudged toward (lane-blend target + ``offset``) when active. - - ``offset`` (m): positive shifts the target right, negative left (same sign convention as - curvature mode's ``custom_path_offset_curv``). Applied whether or not lane lines are usable - -- see module docstring. - ``gain`` (0.0-1.0): user-tunable authority -- how much of the (already magnitude-clipped) - raw correction is actually applied. 0 disables the trim's effect without disabling detection. - - The applied correction is both exponentially smoothed (_SMOOTH_TAU_S) and rate-limited - (_CORRECTION_ROC_PER_TICK) -- see the constants above -- so a lane-line-confidence - transition (e.g. a merge lane too wide to be trusted, then narrowing back into range) eases - into its new target instead of snapping. - """ - if not enabled or not lat_active or lane_change or model is None: - self.reset() - return kappa_cmd - - speed_factor = float(interp(v_ego, _SPEED_RAMP_BP, _SPEED_RAMP_V)) - if speed_factor <= 0.0: - self.reset() - return kappa_cmd - if not (np.isfinite(offset) and np.isfinite(gain)): #stops not a number from getting to steering command; validation of number - self.reset() - return kappa_cmd - - valid, raw = self._raw_correction(model, v_ego, offset) - if not valid: - # Only true failure case now: model.position itself is unusable, so there's no baseline - # to offset from at all (see _raw_correction). Lane-line-only failures fall back to the - # model-position blend instead of landing here. - self.reset() - return kappa_cmd - - target = float(np.clip(raw, -_MAX_RAW_CORRECTION, _MAX_RAW_CORRECTION)) * float(np.clip(gain, 0.0, 1.0)) * speed_factor - alpha = 1.0 - np.exp(-0.05 / _SMOOTH_TAU_S) # BluePilot lateral tick is 20 Hz (dt=0.05s) - filtered = float(alpha * target + (1.0 - alpha) * self._correction) - # Rate-of-change limit -- see _CORRECTION_ROC_PER_TICK. Bounds the correction's own per-tick - # delta on top of the exponential filter above, so a lane-line-confidence transition can't - # snap the trim toward its new target in one or two frames. - self._correction = float(np.clip(filtered, self._correction - _CORRECTION_ROC_PER_TICK, - self._correction + _CORRECTION_ROC_PER_TICK)) - return kappa_cmd + self._correction - - @property - def correction(self) -> float: - """Telemetry: last applied correction (1/m).""" - return self._correction - - def _raw_correction(self, model, v_ego: float, offset: float) -> tuple[bool, float]: - try: - pos_x = np.asarray(model.position.x, dtype=float) - pos_y = np.asarray(model.position.y, dtype=float) - if pos_x.size < 2 or pos_x.size != pos_y.size: - return False, 0.0 - if not (np.isfinite(pos_x).all() and np.isfinite(pos_y).all() and np.all(np.diff(pos_x) > 0)): - return False, 0.0 - - lookahead = float(np.clip(v_ego, _LOOKAHEAD_MIN_M, _LOOKAHEAD_MAX_M)) - model_y = float(np.interp(lookahead, pos_x, pos_y)) - except (AttributeError, IndexError, TypeError, ValueError): - return False, 0.0 - - # Laneline contribution, blended in by confidence. scale=0 (model-position-only, i.e. just - # the user's offset bias) whenever lines are missing, low-confidence, or structurally bad -- - # see _laneline_blend for the confidence formula (ported from lateral_curv_ext.py). - scale, laneline_center_y = self._laneline_blend(model, lookahead) - target_y = model_y * (1.0 - scale) + laneline_center_y * scale - - error = (target_y + offset) - model_y - raw = 2.0 * error / (lookahead ** 2) - return True, float(raw) - - def _laneline_blend(self, model, lookahead: float) -> tuple[float, float]: - """Returns (scale, laneline_center_y). scale=0 whenever lanelines can't be trusted (missing, - low-probability, structurally invalid) -- center_y is unused/meaningless in that case since - it's weighted out by scale in the caller's blend.""" - try: - lane_lines = model.laneLines - probs = model.laneLineProbs - stds = model.laneLineStds # a line could exist but this verifies how sure it is of where it is - if len(lane_lines) < 3 or len(probs) < 3 or len(stds) < 3: - return 0.0, 0.0 - - left_x = np.asarray(lane_lines[1].x, dtype=float) - left_y = np.asarray(lane_lines[1].y, dtype=float) - right_x = np.asarray(lane_lines[2].x, dtype=float) - right_y = np.asarray(lane_lines[2].y, dtype=float) - if (left_x.size < 2 or left_x.size != left_y.size or - right_x.size < 2 or right_x.size != right_y.size): - return 0.0, 0.0 - if not (np.isfinite(left_x).all() and np.isfinite(left_y).all() and - np.isfinite(right_x).all() and np.isfinite(right_y).all()): - return 0.0, 0.0 - if not (np.all(np.diff(left_x) > 0) and np.all(np.diff(right_x) > 0)): - return 0.0, 0.0 - - left = float(np.interp(lookahead, left_x, left_y)) - right = float(np.interp(lookahead, right_x, right_y)) - width = right - left - - # Same confidence formula as lateral_curv_ext.py's path_offset blend: width-tolerance - # (penalizes implausibly wide/merging-looking detections) combined with per-line - # probability via min() -- a single missing/unreliable line (e.g. no line on the curb - # side, only a center stripe) drags confidence toward 0 on its own. - width_tolerance = float(np.interp(width, _WIDTH_TOLERANCE_BP, _WIDTH_TOLERANCE_V)) - std_tolerance = float(np.interp(max(float(stds[1]), float(stds[2])), _STD_TOLERANCE_BP, _STD_TOLERANCE_V)) #StarPilot stopped at 0.3, this fades the std through the table - confidence = min(float(probs[1]), float(probs[2]), width_tolerance, std_tolerance) #confidence is the weakest signal - scale = float(np.clip(np.interp(confidence, _CONFIDENCE_BP, _CONFIDENCE_V), 0.0, 1.0)) - center_y = 0.5 * (left + right) - return scale, center_y - except (AttributeError, IndexError, TypeError, ValueError): - return 0.0, 0.0 diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/builders.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/builders.py.txt deleted file mode 100644 index 296351f704..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/builders.py.txt +++ /dev/null @@ -1,377 +0,0 @@ -""" -BluePilot Ford CAN message builder extensions. - -Provides extended versions of the stock fordcan.py message builders with additional -parameters for BluePilot features: - - Dynamic ramp_type and precision_type for lateral control - - Split brake_actuate / precharge_actuate for smoother deceleration - - BlueCruise cluster HUD status, TJA warnings, and hands-free messaging - - Independent left/right lane line logic for LKAS UI - - ICBM button injection for intelligent cruise button management - -Each function mirrors the stock fordcan.py function it replaces, with an extended -parameter list. When stock carcontroller.py is refactored, it will import these -functions instead of the stock versions. -""" - -from opendbc.car import structs -from opendbc.car.ford.fordcan import CanBus, calculate_lat_ctl2_checksum - -HUDControl = structs.CarControl.HUDControl - - -_BP_LKA_SHADOW_CURVATURE_SCALE = 1e-6 # 1/meter per raw unit, matches ford.h's decode - - -def create_lka_msg(packer, CAN: CanBus, lat_active: bool, hud_control, - angle_mode_engaged: bool = False, shadow_curvature: float = 0.0): - """ - Creates a CAN message for the Ford LKA Command. - - BluePilot extension: accepts lat_active and hud_control parameters for future - lane departure warning integration (unused so far). - - Also carries angle_mode_engaged + shadow_curvature packed into bits with no DBC signal mapped to - them -- confirmed unused (always 0, no cabana signal) on real F-150 dashcam routes. This message - is one openpilot itself originates every cycle, and ford_tx_hook already reads other fields - (LkaActvStats_D2_Req) directly out of these same bytes synchronously, in the same tx_hook call -- - no separate CAN ID, no RX round-trip needed (panda does not self-receive its own TX, confirmed - 2026-07-09 investigating a controlsMismatch caused by an earlier dedicated-message design). - - Byte layout (bits not covered by any Lane_Assist_Data1 DBC signal): - byte 4 bit 0: angle_mode_engaged - byte 4 bits 1-4: reserved (future bools) - byte 5-6: shadow_curvature (int16, scale 1e-6 1/m) - byte 7: reserved (future value) - Must match the decode in ford.h's FORD_Lane_Assist_Data1 tx_hook check exactly. - - Frequency is 33Hz. - """ - addr, dat, bus = packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) - dat = bytearray(dat) - - shadow_curvature_raw = int(round(shadow_curvature / _BP_LKA_SHADOW_CURVATURE_SCALE)) - shadow_curvature_raw = max(-32768, min(32767, shadow_curvature_raw)) & 0xFFFF - - dat[4] |= 1 if angle_mode_engaged else 0 - dat[5] = (shadow_curvature_raw >> 8) & 0xFF - dat[6] = shadow_curvature_raw & 0xFF - - return addr, bytes(dat), bus - - -def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, ramp_type: int, precision_type: int, - path_offset: float, path_angle: float, curvature: float, curvature_rate: float): - """ - Creates a CAN message for the Ford TJA/LCA Command (non-CAN FD). - - BluePilot extension: dynamic ramp_type and precision_type parameters. - Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise). - - Ford lane centering uses a third-order polynomial to describe the road centerline: - c0 (path_offset): lateral offset between vehicle and centerline (positive is right) - c1 (path_angle): heading angle between vehicle and centerline (positive is right) - c2 (curvature): curvature of the centerline (positive is left) - c3 (curvature_rate): rate of change of curvature - - Frequency is 20Hz. - """ - values = { - "LatCtlRng_L_Max": 0, # Unknown [0|126] meter - "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, - # 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision_type, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter - } - return packer.make_can_msg("LateralMotionControl", CAN.main, values) - - -def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, ramp_type: int, precision_type: int, - path_offset: float, path_angle: float, curvature: float, - curvature_rate: float, counter: int): - """ - Creates a CAN message for the Ford Lane Centering command (CAN FD). - - BluePilot extension: dynamic ramp_type and precision_type parameters. - Stock hardcodes ramp_type=0 (Slow) and precision_type=1 (Precise). - - This message replaces LateralMotionControl on CAN FD platforms and includes - counter and checksum fields. - - Frequency is 20Hz. - """ - values = { - "LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode, - # 3=SafeRampOut, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision_type, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians - "LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter - "LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2 - "HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1] - "LatCtlPath_No_Cnt": counter, # [0|15] - "LatCtlPath_No_Cs": 0, # [0|255] - } - - # Calculate checksum (reuse stock function) - dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1] - values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - - return packer.make_can_msg("LateralMotionControl2", CAN.main, values) - - -def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, accel_pred: float, - stopping: bool, brake_actuate: bool, precharge_actuate: bool, v_ego_kph: float): - """ - Creates a CAN message for the Ford ACC Command. - - BluePilot extension: split brake control into brake_actuate and precharge_actuate - (each with independent hysteresis thresholds) for smoother deceleration. Also - accepts accel_pred as a parameter instead of hardcoding -5.0. - - Precharge engages slightly before full brake for smoother initial decel feel. - Both use configurable hysteresis to avoid binary on/off feel. - - Frequency is 50Hz. - """ - values = { - "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 - "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes - "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccPrpl_A_Pred": accel_pred, # Predicted accel (from carcontroller, not hardcoded) - "AccResumEnbl_B_Rq": 1 if long_active else 0, - "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h - "AccBrkPrchg_B_Rq": 1 if precharge_actuate else 0, # Pre-charge brake request (independent hysteresis) - "AccBrkDecel_B_Rq": 1 if brake_actuate else 0, # Deceleration request (independent hysteresis) - "AccStopStat_B_Rq": 1 if stopping else 0, - } - return packer.make_can_msg("ACCDATA", CAN.main, values) - - -def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, - standstill: bool, hud_control, stock_values: dict, send_hands_free_msg: bool, - send_ui: bool, send_bars: bool, tja_warn: int, tja_msg: int): - """ - Creates a CAN message for the Ford IPC adaptive cruise, FCW and TJA status. - - BluePilot extension: replaces stock show_distance_bars with explicit send_ui, - send_bars, and TJA parameters. Adds BlueCruise status 7 for hands-free cluster - UI. TJA warn/msg are set from DM state computation rather than stock passthrough. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 5Hz. - """ - - # Tja_D_Stat: TJA status for cluster display - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - elif send_hands_free_msg: - status = 7 # BlueCruise UI in the cluster - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - elif standstill: - status = 0 # Off - else: - status = 1 # Standby - - values = {s: stock_values[s] for s in [ - "HaDsply_No_Cs", - "HaDsply_No_Cnt", - "AccStopStat_D_Dsply", # ACC stopped status message - "AccTrgDist2_D_Dsply", # ACC target distance - "AccStopRes_B_Dsply", - # TjaWarn_D_Rq and TjaMsgTxt_D_Dsply are set explicitly below, not passed through - "IaccLamp_D_Rq", # iACC status icon - "AccMsgTxt_D2_Rq", # ACC text - "FcwDeny_B_Dsply", # FCW disabled - "FcwMemStat_B_Actl", # FCW enabled setting - "AccTGap_B_Dsply", # ACC time gap display setting - "CadsAlignIncplt_B_Actl", - "AccFllwMde_B_Dsply", # ACC follow mode display setting - "CadsRadrBlck_B_Actl", - "CmbbPostEvnt_B_Dsply", # AEB event status - "AccStopMde_B_Dsply", # ACC stop mode display setting - "FcwMemSens_D_Actl", # FCW sensitivity setting - "FcwMsgTxt_D_Rq", # FCW text - "AccWarn_D_Dsply", # ACC warning - "FcwVisblWarn_B_Rq", # FCW visible alert - "FcwAudioWarn_B_Rq", # FCW audio alert - "AccTGap_D_Dsply", # ACC time gap - "AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting - "FdaMem_B_Stat", # FDA enabled setting - ]} - - values.update({ - "Tja_D_Stat": status, # TJA status - "TjaWarn_D_Rq": tja_warn, # TJA warning (from DM state, not stock passthrough) - "TjaMsgTxt_D_Dsply": tja_msg, # TJA text (from DM state, not stock passthrough) - }) - - if CP.openpilotLongitudinalControl: - values.update({ - "AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text - "AccMsgTxt_D2_Rq": 0, # ACC text - "AccTGap_B_Dsply": 1 if send_bars else 0, # Show time gap control UI - "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator - "AccStopMde_B_Dsply": 1 if standstill else 0, - "AccWarn_D_Dsply": 0, # ACC warning - "AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap - }) - - # Forward FCW alert from IPMA - if fcw_alert: - values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert - values["FcwAudioWarn_B_Rq"] = 1 # FCW audio alert - - return packer.make_can_msg("ACCDATA_3", CAN.main, values) - - -def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, hands: int, - hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC IPMA/LKAS status. - - BluePilot extension: replaces stock steer_alert bool with hands int (0-3), - and uses independent left/right lane line status logic. - - hands values: - 0 = HandsOn - 1 = Level1 (warning without chime) - 2 = Level2 (warning with chime) - 3 = Suppressed - - LaActvStats_D_Dsply value table (left \\ right): - Right → | Intervene | Warning | Suppress | Available | None - Intervene | 24 | 19 | 14 | 9 | 4 - Warning | 23 | 18 | 13 | 8 | 3 - Suppress | 22 | 17 | 12 | 7 | 2 - Available | 21 | 16 | 11 | 6 | 1 - None | 20 | 15 | 10 | 5 | 0 - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 1Hz. - """ - - lines = 0 - - if hud_control is not None: - # Determine left lane status independently - if hud_control.leftLaneDepart: - left_status = 4 # Intervene (Yellow) - elif hud_control.leftLaneVisible: - left_status = 1 # Available - else: - left_status = 2 # Suppress - - # Determine right lane status independently - if hud_control.rightLaneDepart: - right_status = 20 # Intervene (Yellow) - elif hud_control.rightLaneVisible: - right_status = 5 # Available - else: - right_status = 10 # Suppress - - # Combine left and right lane status - lines = left_status + right_status - - values = {s: stock_values[s] for s in [ - "FeatConfigIpmaActl", - "FeatNoIpmaActl", - "PersIndexIpma_D_Actl", - "AhbcRampingV_D_Rq", # AHB ramping - "LaDenyStats_B_Dsply", # LKAS error - "CamraDefog_B_Req", # Windshield heater? - "CamraStats_D_Dsply", # Camera status - "DasAlrtLvl_D_Dsply", # DAS alert level - "DasStats_D_Dsply", # DAS status - "DasWarn_D_Dsply", # DAS warning - "AhbHiBeam_D_Rq", # AHB status - "Passthru_63", - "Passthru_48", - ]} - - values.update({ - "LaActvStats_D_Dsply": lines, # LKAS status (lane lines) [0|31] - "LaHandsOff_D_Dsply": hands, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed - }) - return packer.make_can_msg("IPMA_Data", CAN.main, values) - - -def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, - tja_toggle=False, icbm_button=None): - """ - Creates a CAN message for the Ford SCCM buttons/switches. - - BluePilot extension: adds icbm_button parameter for Intelligent Cruise Button - Management. When set, the specified CAN signal is set to 1 in the outgoing - message, enabling openpilot to emulate cruise button presses for speed adjustment. - - Args: - icbm_button: Optional string signal name (e.g., "CcAslButtnSetIncPress", - "CcAslButtnSetDecPress") for ICBM button injection. - - Frequency is 10Hz. - """ - values = {s: stock_values[s] for s in [ - "HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons - "TurnLghtSwtch_D_Stat", # SCCM Turn signal switch - "WiprFront_D_Stat", - "LghtAmb_D_Sns", - "AccButtnGapDecPress", - "AccButtnGapIncPress", - "AslButtnOnOffCnclPress", - "AslButtnOnOffPress", - "LaSwtchPos_D_Stat", - "CcAslButtnCnclResPress", - "CcAslButtnDeny_B_Actl", - "CcAslButtnIndxDecPress", - "CcAslButtnIndxIncPress", - "CcAslButtnOffCnclPress", - "CcAslButtnOnOffCncl", - "CcAslButtnOnPress", - "CcAslButtnResDecPress", - "CcAslButtnResIncPress", - "CcAslButtnSetDecPress", - "CcAslButtnSetIncPress", - "CcAslButtnSetPress", - "CcButtnOffPress", - "CcButtnOnOffCnclPress", - "CcButtnOnOffPress", - "CcButtnOnPress", - "HeadLghtHiFlash_D_Actl", - "HeadLghtHiOn_B_StatAhb", - "AhbStat_B_Dsply", - "AccButtnGapTogglePress", - "WiprFrontSwtch_D_Stat", - "HeadLghtHiCtrl_D_RqAhb", - ]} - - values.update({ - "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button - "CcAsllButtnResPress": 1 if resume else 0, # CC resume button - "TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button - }) - - # ICBM button support — set the specified button signal to 1 - if icbm_button is not None: - values[icbm_button] = 1 - - return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/fordcan.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/fordcan.py.txt deleted file mode 100644 index 2ac68c4427..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/fordcan.py.txt +++ /dev/null @@ -1,342 +0,0 @@ -from opendbc.car import CanBusBase, structs - -HUDControl = structs.CarControl.HUDControl - - -class CanBus(CanBusBase): - def __init__(self, CP=None, fingerprint=None) -> None: - super().__init__(CP, fingerprint) - - @property - def main(self) -> int: - return self.offset - - @property - def radar(self) -> int: - return self.offset + 1 - - @property - def camera(self) -> int: - return self.offset + 2 - - -def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int: - curvature = (dat[2] << 3) | ((dat[3]) >> 5) - curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) - path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2) - path_offset = ((dat[4] & 0x3) << 8) | dat[5] - - checksum = mode + counter - for sig_val in (curvature, curvature_rate, path_angle, path_offset): - checksum += sig_val + (sig_val >> 8) - - return 0xFF - (checksum & 0xFF) - - -def create_lka_msg(packer, CAN: CanBus): - """ - Creates an empty CAN message for the Ford LKA Command. - - This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout. - - Frequency is 33Hz. - """ - - return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) - - -def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float, - curvature_rate: float): - """ - Creates a CAN message for the Ford TJA/LCA Command. - - This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway - driving. It is not subject to the PSCM lockout. - - Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined - by the following coefficients: - c0: lateral offset between the vehicle and the centerline (positive is right) - c1: heading angle between the vehicle and the centerline (positive is right) - c2: curvature of the centerline (positive is left) - c3: rate of change of curvature of the centerline - As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering - angle cannot be easily controlled. - - The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done - using tools such as Forscan. - - Frequency is 20Hz. - """ - - values = { - "LatCtlRng_L_Max": 0, # Unknown [0|126] meter - "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, - # 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - # Makes no difference with curvature control - "LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - # The stock system always uses comfortable - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter - } - return packer.make_can_msg("LateralMotionControl", CAN.main, values) - - -def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float, - curvature_rate: float, counter: int): - """ - Create a CAN message for the new Ford Lane Centering command. - - This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has - additional signals for a counter and checksum. - - Frequency is 20Hz. - """ - - values = { - "LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode, - # 3=SafeRampOut, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians - "LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter - "LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2 - "HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1] - "LatCtlPath_No_Cnt": counter, # [0|15] - "LatCtlPath_No_Cs": 0, # [0|255] - } - - # calculate checksum - dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1] - values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - - return packer.make_can_msg("LateralMotionControl2", CAN.main, values) - - -def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, brake_request, v_ego_kph: float): - """ - Creates a CAN message for the Ford ACC Command. - - This command can be used to enable ACC, to set the ACC gas/brake/decel values - and to disable ACC. - - Frequency is 50Hz. - """ - values = { - "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 - "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes - "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - # No observed acceleration seen from this signal alone. During stock system operation, it appears to - # be the raw acceleration request (AccPrpl_A_Rq when positive, AccBrkTot_A_Rq when negative) - "AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2 - "AccResumEnbl_B_Rq": 1 if long_active else 0, - # No observed acceleration seen from this signal alone - "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h - # TODO: we may be able to improve braking response by utilizing pre-charging better - # When setting these two bits without AccBrkTot_A_Rq, an initial jerk is observed and car may be able to brake temporarily with AccPrpl_A_Rq - "AccBrkPrchg_B_Rq": 1 if brake_request else 0, # Pre-charge brake request: 0=No, 1=Yes - "AccBrkDecel_B_Rq": 1 if brake_request else 0, # Deceleration request: 0=Inactive, 1=Active - "AccStopStat_B_Rq": 1 if stopping else 0, - } - return packer.make_can_msg("ACCDATA", CAN.main, values) - - -def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool, - show_distance_bars: bool, hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam - assist status. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 5Hz. - """ - - # Tja_D_Stat - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - else: - status = 0 # Off - - values = {s: stock_values[s] for s in [ - "HaDsply_No_Cs", - "HaDsply_No_Cnt", - "AccStopStat_D_Dsply", # ACC stopped status message - "AccTrgDist2_D_Dsply", # ACC target distance - "AccStopRes_B_Dsply", - "TjaWarn_D_Rq", # TJA warning - "TjaMsgTxt_D_Dsply", # TJA text - "IaccLamp_D_Rq", # iACC status icon - "AccMsgTxt_D2_Rq", # ACC text - "FcwDeny_B_Dsply", # FCW disabled - "FcwMemStat_B_Actl", # FCW enabled setting - "AccTGap_B_Dsply", # ACC time gap display setting - "CadsAlignIncplt_B_Actl", - "AccFllwMde_B_Dsply", # ACC follow mode display setting - "CadsRadrBlck_B_Actl", - "CmbbPostEvnt_B_Dsply", # AEB event status - "AccStopMde_B_Dsply", # ACC stop mode display setting - "FcwMemSens_D_Actl", # FCW sensitivity setting - "FcwMsgTxt_D_Rq", # FCW text - "AccWarn_D_Dsply", # ACC warning - "FcwVisblWarn_B_Rq", # FCW visible alert - "FcwAudioWarn_B_Rq", # FCW audio alert - "AccTGap_D_Dsply", # ACC time gap - "AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting - "FdaMem_B_Stat", # FDA enabled setting - ]} - - values.update({ - "Tja_D_Stat": status, # TJA status - }) - - if CP.openpilotLongitudinalControl: - values.update({ - "AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text - "AccMsgTxt_D2_Rq": 0, # ACC text - "AccTGap_B_Dsply": 1 if show_distance_bars else 0, # Show time gap control UI - "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator - "AccStopMde_B_Dsply": 1 if standstill else 0, - "AccWarn_D_Dsply": 0, # ACC warning - "AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap - }) - - # Forwards FCW alert from IPMA - if fcw_alert: - values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert - - return packer.make_can_msg("ACCDATA_3", CAN.main, values) - - -def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control, - stock_values: dict): - """ - Creates a CAN message for the Ford IPC IPMA/LKAS status. - - Show the LKAS status with the "driver assist" lines in the IPC. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 1Hz. - """ - - # LaActvStats_D_Dsply - # R Intvn Warn Supprs Avail No - # L - # Intvn 24 19 14 9 4 - # Warn 23 18 13 8 3 - # Supprs 22 17 12 7 2 - # Avail 21 16 11 6 1 - # No 20 15 10 5 0 - # - # TODO: test suppress state - if enabled: - lines = 0 # NoLeft_NoRight - if hud_control.leftLaneDepart: - lines += 4 - elif hud_control.leftLaneVisible: - lines += 1 - if hud_control.rightLaneDepart: - lines += 20 - elif hud_control.rightLaneVisible: - lines += 5 - elif main_on: - lines = 0 - else: - if hud_control.leftLaneDepart: - lines = 3 # WarnLeft_NoRight - elif hud_control.rightLaneDepart: - lines = 15 # NoLeft_WarnRight - else: - lines = 30 # LA_Off - - hands_on_wheel_dsply = 1 if steer_alert else 0 - - values = {s: stock_values[s] for s in [ - "FeatConfigIpmaActl", - "FeatNoIpmaActl", - "PersIndexIpma_D_Actl", - "AhbcRampingV_D_Rq", # AHB ramping - "LaDenyStats_B_Dsply", # LKAS error - "CamraDefog_B_Req", # Windshield heater? - "CamraStats_D_Dsply", # Camera status - "DasAlrtLvl_D_Dsply", # DAS alert level - "DasStats_D_Dsply", # DAS status - "DasWarn_D_Dsply", # DAS warning - "AhbHiBeam_D_Rq", # AHB status - "Passthru_63", - "Passthru_48", - ]} - - values.update({ - "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] - "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed - }) - return packer.make_can_msg("IPMA_Data", CAN.main, values) - - -def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False): - """ - Creates a CAN message for the Ford SCCM buttons/switches. - - Includes cruise control buttons, turn lights and more. - - Frequency is 10Hz. - """ - - values = {s: stock_values[s] for s in [ - "HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons - "TurnLghtSwtch_D_Stat", # SCCM Turn signal switch - "WiprFront_D_Stat", - "LghtAmb_D_Sns", - "AccButtnGapDecPress", - "AccButtnGapIncPress", - "AslButtnOnOffCnclPress", - "AslButtnOnOffPress", - "LaSwtchPos_D_Stat", - "CcAslButtnCnclResPress", - "CcAslButtnDeny_B_Actl", - "CcAslButtnIndxDecPress", - "CcAslButtnIndxIncPress", - "CcAslButtnOffCnclPress", - "CcAslButtnOnOffCncl", - "CcAslButtnOnPress", - "CcAslButtnResDecPress", - "CcAslButtnResIncPress", - "CcAslButtnSetDecPress", - "CcAslButtnSetIncPress", - "CcAslButtnSetPress", - "CcButtnOffPress", - "CcButtnOnOffCnclPress", - "CcButtnOnOffPress", - "CcButtnOnPress", - "HeadLghtHiFlash_D_Actl", - "HeadLghtHiOn_B_StatAhb", - "AhbStat_B_Dsply", - "AccButtnGapTogglePress", - "WiprFrontSwtch_D_Stat", - "HeadLghtHiCtrl_D_RqAhb", - ]} - - values.update({ - "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button - "CcAsllButtnResPress": 1 if resume else 0, # CC resume button - "TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button - }) - return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/human.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/human.py.txt deleted file mode 100644 index 96f05760ee..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/human.py.txt +++ /dev/null @@ -1,71 +0,0 @@ -""" -BluePilot: shared manual-steering-override ("human turn") detection for Ford lateral control. - -Both Ford lateral strategies hand control back to the driver on a sustained manual turn, and the -detection is identical, so it lives here as one class instead of being copied into each mode. What -each mode DOES with the signal differs: curvature-primary (``lateral_curv_ext``) zeroes its command -(reset_steering + post-reset ramp); angle-primary (``lateral_angle_ext``) forces lateral inactive -(mode 0 on the wire) and ramps path_angle back in from zero through its soft ROC on release. -""" -from opendbc.car import DT_CTRL -from opendbc.car.ford.values import CarControllerParams - -# Require sustained hands-on AND a large angle (avoids resetting on small wheel nudges in a curve). -HUMAN_TURN_ANGLE_DEG = 45.0 -HUMAN_TURN_HOLD_S = 1.5 -# When the wheel was ALREADY past HUMAN_TURN_ANGLE_DEG at first contact -- lateral control had it -# turned mid-curve -- the angle condition is pre-satisfied, so a brief corrective nudge would latch -# after only HUMAN_TURN_HOLD_S of light contact and kill steering mid-curve. Require a longer hold -# there before reading it as an intentional takeover. Route 000000bd (2026-07-14) showed the -# discriminator holds on-road: all 7 deliberate turns began with the wheel below the threshold -# (driver wound it up through 45 deg); only mid-maneuver grabs/nudges began beyond it. -HUMAN_TURN_HOLD_PRETURNED_S = 3.0 -_STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL # 20 Hz lateral tick - - -class HumanTurnDetector: - """Latches ``active`` once the driver holds real steering pressure AND ``|wheel angle|`` > - ``HUMAN_TURN_ANGLE_DEG`` continuously for ``HUMAN_TURN_HOLD_S`` — long enough to tell an - intentional turn from a brief nudge. ``just_released`` pulses True on the first frame after the - override clears, so a mode can re-seed its command as it re-engages. - - Call ``update`` once per lateral tick while control is active. Modes that want the timer to zero - on disengage call ``reset`` on their inactive path; modes that want it to persist simply stop - calling ``update`` (the timer holds its value). - """ - - def __init__(self): - self.hold_timer_s = 0.0 - self.active = False - self._active_last = False - self._pressed_last = False - self._press_started_preturned = False - - def update(self, enabled: bool, steering_pressed: bool, steering_angle_deg: float) -> bool: - self._active_last = self.active - # Was the wheel already past the angle threshold when this press began? If so the driver is - # touching a wheel that lateral control turned (mid-curve nudge), not driving a turn -- hold - # the longer HUMAN_TURN_HOLD_PRETURNED_S before latching. - if steering_pressed and not self._pressed_last: - self._press_started_preturned = abs(steering_angle_deg) > HUMAN_TURN_ANGLE_DEG - self._pressed_last = steering_pressed - if not enabled: - self.hold_timer_s = 0.0 - elif steering_pressed and abs(steering_angle_deg) > HUMAN_TURN_ANGLE_DEG: - self.hold_timer_s += _STEER_DT - else: - self.hold_timer_s = 0.0 - hold_req = HUMAN_TURN_HOLD_PRETURNED_S if self._press_started_preturned else HUMAN_TURN_HOLD_S - self.active = self.hold_timer_s >= hold_req - return self.active - - @property - def just_released(self) -> bool: - return self._active_last and not self.active - - def reset(self) -> None: - self.hold_timer_s = 0.0 - self.active = False - self._active_last = False - self._pressed_last = False - self._press_started_preturned = False diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/manifest.json b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/manifest.json deleted file mode 100644 index 9d43526b68..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/manifest.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "angle": { - "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/lateral_angle_ext.py", - "sha256": "18fa5290edade52137c7c6705a2eb2d42c94d39d1fa649eae06b7828c68207b3", - "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a" - }, - "human": { - "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/human_turn.py", - "sha256": "82735e348c5ce3e7b2c6a28ea3e298cca71ae8867433c270f7b54a9ee315ef37", - "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a" - }, - "builders": { - "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/fordcan_ext.py", - "sha256": "65ad2114db7210371fc5de06de962c0e29ce396a651c1dd2d58b07a80555a1bf", - "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a" - }, - "fordcan": { - "origin": "opendbc_repo/opendbc/car/ford/fordcan.py", - "sha256": "0c35b8663afcaa3a58ab028a56f076c2c9f2f0296416c0abaf5905c674672956", - "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a" - }, - "values": { - "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/values_ext.py", - "sha256": "74802d82314eaa27eb610810d2815d3da77003c4a1c62e0437e57e785ba25f52", - "revision": "e1d051d7ba270261b4455068bd68f1a58db15a4a" - }, - "starpilot_curvature_controller": { - "origin": "opendbc_repo/opendbc/car/ford/carcontroller.py", - "sha256": "9838f258b7a4eef48c8c1ed4fb40d180939b86e22ac9079a734d1eabf4c0060e", - "revision": "d2ae98eb3959c88011ed537e7cbc033d91fd3efa", - "intentional_changes": [ - { - "commit": "d60f2d7ada6cf6aa0f32e881aa916809686a65a6", - "contract": "Generic CAN-FD stock-idle and same-batch mode-before-bounded-command handoff. Retains the pre-angle curvature oracle and all full-byte comparisons." - } - ] - }, - "bpdev_trim": { - "origin": "opendbc_repo/opendbc/sunnypilot/car/ford/lane_center_trim.py", - "sha256": "1affc0abeaeeabaefca4741b0d75d8f249590c157340c5a9760a395d28f0a621", - "revision": "e22afa6be9b881fa784c92ebb316db47728a3d81" - } -} diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/starpilot_curvature_controller.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/starpilot_curvature_controller.py.txt deleted file mode 100644 index 307a324624..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/starpilot_curvature_controller.py.txt +++ /dev/null @@ -1,337 +0,0 @@ -import math -import numpy as np -from opendbc.can import CANPacker -from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs -from opendbc.car.ford import fordcan -from opendbc.car.ford.manual_turn import ManualTurnLatch -from opendbc.car.ford.aol import qualified as qualified_aol -from opendbc.car.ford.stock_cruise import FordStockCruiseButton, qualified as stock_switch_qualified -from opendbc.car.ford.curvature_preview import blend_curvature -from opendbc.car.ford import mache_can -from opendbc.car.ford.extended_classic_can import create_extended_classic_lat_ctl_msg -from opendbc.car.ford.classic_lateral import create_controller as create_classic_controller, bounded_command as classic_bounded_command -from opendbc.car.ford.generic_canfd_can import create_extended_canfd_msg -from opendbc.car.ford.generic_canfd_lateral import ( - GenericCanfdLateralController, qualified as generic_canfd_qualified, bounded_command as generic_canfd_bounded_command, -) -from opendbc.car.ford.mache_lateral import MachELateralController, FordLateralResult, bounded_command, qualified as mache_qualified -from opendbc.car.ford.values import CarControllerParams, FordFlags, FordSafetyFlags, CAR -from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX - -LongCtrlState = structs.CarControl.Actuators.LongControlState -VisualAlert = structs.CarControl.HUDControl.VisualAlert - -def anti_overshoot(apply_curvature, apply_curvature_last, v_ego): - diff = 0.1 - tau = 5 # 5s smooths over the overshoot - dt = DT_CTRL * CarControllerParams.STEER_STEP - alpha = 1 - np.exp(-dt / tau) - - lataccel = apply_curvature * (v_ego ** 2) - last_lataccel = apply_curvature_last * (v_ego ** 2) - last_lataccel = apply_hysteresis(lataccel, last_lataccel, diff) - last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel - - output_curvature = last_lataccel / (max(v_ego, 1) ** 2) - - return float(np.interp(v_ego, [5, 10], [apply_curvature, output_curvature])) - - -def apply_creep_compensation(accel: float, v_ego: float, car_fingerprint: str, *, standstill: bool, stopping: bool) -> float: - if car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not (standstill and stopping): - return accel - creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.]) - creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.]) - accel -= creep_accel - return float(accel) - - -def apply_brake_rate_limit(accel: float, gas: float, accel_last: float, v_ego: float, car_fingerprint: str, - *, stopping: bool, standstill: bool, fcw: bool) -> tuple[float, float]: - mild_mach_e_braking = ( - car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and - -1.0 < gas < 0.0 and v_ego >= 5.0 and not (stopping or standstill or fcw) - ) - if mild_mach_e_braking: - accel = max(accel, min(accel_last, 0.0) - 2.0 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL) - gas = accel - else: - accel = max(accel, accel_last - 3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL) - return float(accel), float(gas) - - -class CarController(CarControllerBase): - def __init__(self, dbc_names, CP): - super().__init__(dbc_names, CP) - self.packer = CANPacker(dbc_names[Bus.pt]) - self.CAN = fordcan.CanBus(CP) - - self.manual_turn = ManualTurnLatch() if CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not CP.flags & FordFlags.LKA_STEERING else None - self.stock_cruise_button = FordStockCruiseButton() - self.manual_turn_inputs = None - self.mache_lateral = MachELateralController(CP) if mache_qualified(CP) else None - self.mache_extended_announced = False - self.generic_canfd = generic_canfd_qualified(CP) - self.classic_lateral = GenericCanfdLateralController(CP) if self.generic_canfd else create_classic_controller(CP) - self.classic_extended_announced = False - self.classic_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and - s.safetyParam & (FordSafetyFlags.CLASSIC_EXTENDED | FordSafetyFlags.GENERIC_CANFD_EXTENDED) for s in CP.safetyConfigs) - self.mache_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and - s.safetyParam & FordSafetyFlags.MACH_E_EXTENDED for s in CP.safetyConfigs) - self.apply_curvature_last = 0 - self.anti_overshoot_curvature_last = 0 - self.accel = 0.0 - self.gas = 0.0 - self.brake_request = False - self.main_on_last = False - self.lkas_enabled_last = False - self.steer_alert_last = False - self.lead_distance_bars_last = None - self.distance_bar_frame = 0 - self.apply_lka_angle_last = 0. - self.apply_lka_curvature_last = 0. - - def update(self, CC, CS, now_nanos): - can_sends = [] - if (self.mache_lateral is not None or self.classic_lateral is not None) and self.manual_turn_inputs is not None: - self.manual_turn_inputs.update() - self.manual_turn_inputs.apply_blend_settings(self) - - actuators = CC.actuators - hud_control = CC.hudControl - - main_on = CS.out.cruiseState.available - steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) - fcw_alert = hud_control.visualAlert == VisualAlert.fcw - - ### acc buttons ### - stock_cancel = False - stock_resume = False - if stock_switch_qualified(self.CP): - stock_cancel, stock_resume = self.stock_cruise_button.update( - bool(CS.buttons_stock_values["CcAslButtnCnclResPress"]), - CS.out.cruiseState.available, CS.out.cruiseState.enabled) - - if CC.cruiseControl.cancel: - can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) - can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) - elif (stock_cancel or stock_resume) and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(fordcan.create_button_msg( - self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume)) - can_sends.append(fordcan.create_button_msg( - self.packer, self.CAN.main, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume)) - elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) - can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) - # if stock lane centering isn't off, send a button press to toggle it off - # the stock system checks for steering pressed, and eventually disengages cruise control - elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) - - ### lateral control ### - # send steer msg at 20Hz - if (self.frame % CarControllerParams.STEER_STEP) == 0 and self.CP.flags & FordFlags.LKA_STEERING: - # Preserve the stock LMC heartbeat without requesting lateral action. - can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, False, 0., 0., 0., 0., - stock_lmc=CS.lateral_motion_control)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.mache_lateral is not None: - permission = getattr(self.manual_turn_inputs, "assist_permission", None) - self.mache_lateral.set_assist_permission(*(permission() if permission is not None else ((), False))) - inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None - if inputs is not None: - self.mache_lateral.set_inputs(*inputs) - else: - # Withdraw stale preview while retaining current actuator/manual-turn control. - self.mache_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True) - previous = self.mache_lateral.curvature_last - previous_path_angle = self.mache_lateral.path_angle_last - demanded = self.mache_lateral.update(CC, CS, actuators) if self.mache_extended_announced else FordLateralResult() - lateral = bounded_command(self.mache_lateral, demanded, previous, CS.out.vEgoRaw, previous_path_angle) - self.mache_lateral_demand = demanded - self.apply_curvature_last = lateral.curvature - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(mache_can.create_lat_ctl2_msg( - self.packer, self.CAN, int(lateral.active), lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.classic_lateral is not None: - inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None - if inputs is not None: - self.classic_lateral.set_inputs(*inputs) - else: - self.classic_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True) - previous = self.classic_lateral.curvature_last - demanded = self.classic_lateral.update(CC, CS, actuators) if self.classic_extended_announced or self.generic_canfd else FordLateralResult() - bound = generic_canfd_bounded_command if self.generic_canfd else classic_bounded_command - lateral = bound(self.classic_lateral, demanded, previous, CS.out.vEgoRaw, - -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)) - self.classic_lateral_demand = demanded - self.apply_curvature_last = lateral.curvature - if self.generic_canfd: - if self.classic_extended_announced != bool(lateral.active): - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN) if lateral.active else - fordcan.create_lka_msg(self.packer, self.CAN)) - self.classic_extended_announced = bool(lateral.active) - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(create_extended_canfd_msg( - self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate, counter)) - else: - can_sends.append(create_extended_classic_lat_ctl_msg( - self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0: - lateral_active = CC.latActive and not self.mache_profile and not self.classic_profile - manual_turn = False - if self.manual_turn is not None and self.manual_turn_inputs is not None: - detection_enabled, lane_change, model_ready = self.manual_turn_inputs.update() - manual_turn = self.manual_turn.update(CC, CS, float(actuators.curvature), detection_enabled, lane_change, model_ready) - if manual_turn: - lateral_active = False - self.apply_curvature_last = 0. - # Bronco and some other cars consistently overshoot curv requests - # Apply some deadzone + smoothing convergence to avoid oscillations - if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14): - self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw) - apply_curvature = self.anti_overshoot_curvature_last - else: - apply_curvature = actuators.curvature - - # apply rate limits, curvature error limit, and clip to signal range - current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) - if self.manual_turn is not None and self.manual_turn_inputs is not None and lateral_active: - prediction = getattr(self.manual_turn_inputs, "preview_curvature", None) - preview = prediction(CS.out.vEgoRaw) if prediction is not None else None - if preview is not None: - apply_curvature = blend_curvature(apply_curvature, preview, current_curvature) - # No blending at low speed due to lack of torque wind-up and inaccurate current curvature - if CS.out.vEgoRaw > 9: - apply_curvature = float(np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, - current_curvature + CarControllerParams.CURVATURE_ERROR)) - apply_curvature = CarControllerParams.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw, - 0., lateral_active, CarControllerParams.STEER_STEP) - self.apply_curvature_last = 0. if manual_turn else apply_curvature - - if self.CP.flags & FordFlags.CANFD: - # TODO: extended mode - # Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02 m^-1) - # can actuate the steering for a large portion of any lateral movements. However, in order to get further control on - # steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes. - # A detailed explanation on ford control can be found here: - # https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706 - mode = 1 if lateral_active else 0 - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter)) - else: - can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, lateral_active, 0., 0., -self.apply_curvature_last, 0.)) - - # send lka msg at 33Hz - if (self.frame % CarControllerParams.LKA_STEP) == 0 and not any( - address == 0x3CA for address, _, _ in can_sends): - if self.CP.flags & FordFlags.LKA_STEERING: - source_age_ns = now_nanos - CS.lkas_available_ts_nanos - lka_active = (CC.latActive and CS.lkas_available and 0 <= source_age_ns <= 100_000_000 and - (CS.out.cruiseState.enabled or qualified_aol(self.CP, marked_only=True)) and - not CS.out.steerFaultTemporary and - not CS.out.vehicleSensorsInvalid) - if lka_active: - desired_angle = float(np.clip(actuators.steeringAngleDeg - CS.out.steeringAngleDeg, -5.8, 5.8)) - self.apply_lka_angle_last = float(np.clip(desired_angle, self.apply_lka_angle_last - 1., - self.apply_lka_angle_last + 1.)) - desired_curvature = -actuators.curvature - current_curvature = CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) - if CS.out.vEgoRaw > 9.: - desired_curvature = float(np.clip(desired_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, - current_curvature + CarControllerParams.CURVATURE_ERROR)) - self.apply_lka_curvature_last = CarControllerParams.LKA_CURVATURE_LIMITS.apply_limits( - desired_curvature, self.apply_lka_curvature_last, CS.out.vEgoRaw, 0., True, CarControllerParams.LKA_STEP) - else: - self.apply_lka_angle_last = 0. - self.apply_lka_curvature_last = 0. - self.apply_curvature_last = -self.apply_lka_curvature_last - direction = 2 if self.apply_lka_angle_last >= 0. else 4 - can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN, lka_active, self.apply_lka_angle_last, - direction, self.apply_lka_curvature_last, transit=True)) - elif self.mache_lateral is not None: - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN)) - self.mache_extended_announced = True - elif self.classic_lateral is not None: - if self.generic_canfd and not self.classic_extended_announced: - can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) - else: - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN)) - self.classic_extended_announced = True - else: - can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) - - ### longitudinal control ### - # send acc msg at 50Hz - if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: - accel = actuators.accel - gas = accel - stopping = actuators.longControlState == LongCtrlState.stopping - - if CC.longActive: - accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint, - standstill=CS.out.standstill, stopping=stopping) - - accel, gas = apply_brake_rate_limit( - accel, gas, self.accel, CS.out.vEgo, self.CP.carFingerprint, - stopping=stopping, standstill=CS.out.standstill, - fcw=fcw_alert or CS.out.stockFcw or CS.out.stockAeb, - ) - - accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)) - gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)) - - # Both gas and accel are in m/s^2, accel is used solely for braking - if not CC.longActive or gas < CarControllerParams.MIN_GAS: - gas = CarControllerParams.INACTIVE_GAS - - # PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits - accel_due_to_pitch = 0.0 - if len(CC.orientationNED) == 3: - accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY - - accel_pitch_compensated = accel + accel_due_to_pitch - if accel_pitch_compensated > 0.3 or not CC.longActive: - self.brake_request = False - elif accel_pitch_compensated < 0.0: - self.brake_request = True - - # TODO: look into using the actuators packet to send the desired speed - can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX)) - - self.accel = accel - self.gas = gas - - ### ui ### - send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) - # send lkas ui msg at 1Hz or if ui state changes - if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) - - # send acc ui msg at 5Hz or if ui state changes - if hud_control.leadDistanceBars != self.lead_distance_bars_last: - send_ui = True - self.distance_bar_frame = self.frame - - if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - show_distance_bars = self.frame - self.distance_bar_frame < 400 - can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, - fcw_alert, CS.out.cruiseState.standstill, show_distance_bars, - hud_control, CS.acc_tja_status_stock_values)) - - self.main_on_last = main_on - self.lkas_enabled_last = CC.latActive - self.steer_alert_last = steer_alert - self.lead_distance_bars_last = hud_control.leadDistanceBars - - new_actuators = actuators.as_builder() - new_actuators.curvature = self.apply_curvature_last - if self.CP.flags & FordFlags.LKA_STEERING: - new_actuators.steeringAngleDeg = CS.out.steeringAngleDeg + self.apply_lka_angle_last - new_actuators.accel = self.accel - new_actuators.gas = self.gas - - self.frame += 1 - return new_actuators, can_sends diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/values.py.txt b/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/values.py.txt deleted file mode 100644 index a748a6f97c..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/reference/values.py.txt +++ /dev/null @@ -1,125 +0,0 @@ -""" -Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. - -This file is part of sunnypilot and is licensed under the MIT License. -See the LICENSE.md file in the root directory for more details. -""" - -from collections import namedtuple - -from opendbc.car import structs -from opendbc.car.docs_definitions import CarParts, Device -from opendbc.car.ford.values import CAR -from opendbc.car.lateral import AngleSteeringLimits - -ButtonType = structs.CarState.ButtonEvent.Type -Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) - -# Ford cruise control buttons are in the Steering_Data_FD1 message (CAN ID 131) -# These signals are 1-bit flags: 1 = pressed, 0 = not pressed -# -# Note: Some buttons are combo buttons that emit multiple ButtonEvent types: -# - CcAslButtnSetIncPress emits both accelCruise (type 3) and setCruise (type 9) -# - CcAslButtnCnclResPress emits both cancel (type 5) and resumeCruise (type 10) -# -# There is also a separate CcAslButtnSetPress signal for the standalone "Set" button, -# but based on user mapping, setCruise is mapped to the combo button instead. -BUTTONS = [ - # Combo button: Set + Increase (emits accelCruise when enabled, setCruise when disabled) - Button(ButtonType.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]), - Button(ButtonType.setCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]), - - # Combo button: Set + Decrease (emits decelCruise when enabled, setCruise when disabled) - Button(ButtonType.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]), - Button(ButtonType.setCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]), - - # Combo button: Cancel/Resume (emits cancel when enabled, resumeCruise when disabled) - Button(ButtonType.cancel, "Steering_Data_FD1", "CcAslButtnCnclResPress", [1]), - Button(ButtonType.resumeCruise, "Steering_Data_FD1", "CcAslButtnCnclResPress", [1]), - - # Main cruise button (on/off toggle) - Button(ButtonType.mainCruise, "Steering_Data_FD1", "CcButtnOnOffPress", [1]), -] - - -class FordSafetyFlagsSP: - """Sunnypilot-level safety flags for Ford. - - Carried in CP_SP.safetyParam and delivered to the safety firmware as - current_safety_param_sp (the separate SP uint16, USB control 0xdf) -- NOT the main - safetyConfigs[].safetyParam. ford_init reads it with GET_FLAG(current_safety_param_sp, - ...), same pattern as Subaru STOP_AND_GO (subaru_common.h). Plain int constants, not - IntFlag: CP_SP.safetyParam must stay a plain int through capnp serialization in card. - """ - STEER_ANGLE_CURVATURE = 1 - - -# Geometry-table index for the steering-angle curvature measurement, packed into -# CP_SP.safetyParam bits 1-4 when STEER_ANGLE_CURVATURE is set. Must match the -# ford_pinion_geometry table in safety/modes/ford.h row for row (enforced by -# test_ford.py's geometry-consistency test against CarSpecs + calc_slip_factor). -# Index 0 is reserved as invalid: the firmware treats flag-set-but-no-index as feature -# off, so a half-configured param can never select the wrong geometry silently. -# FORD_EDGE_MK2 is deliberately absent: ALT_STEER_ANGLE platforms read a RELATIVE pinion -# angle (SteeringPinion_Data_Alt + learned offset) and lack the absolute measurement -# this feature needs -- the toggle no-ops there and yaw behavior is kept. -FORD_PINION_GEOMETRY_SHIFT = 1 -FORD_PINION_GEOMETRY_INDEX = { - CAR.FORD_BRONCO_SPORT_MK1: 1, - CAR.FORD_ESCAPE_MK4: 2, - CAR.FORD_ESCAPE_MK4_5: 3, - CAR.FORD_EXPEDITION_MK4: 4, - CAR.FORD_EXPLORER_MK6: 5, - CAR.FORD_FOCUS_MK4: 6, - CAR.FORD_F_150_LIGHTNING_MK1: 7, - CAR.FORD_F_150_MK14: 8, - CAR.FORD_MAVERICK_MK1: 9, - CAR.FORD_MONDEO_MK5: 10, - CAR.FORD_MUSTANG_MACH_E_MK1: 11, - CAR.FORD_RANGER_MK2: 12, -} - - -# BluePilot: Max curvature for steering command (m^-1), from DBC file limits -CURVATURE_MAX = 0.02 - -# BluePilot: Curvature rate limits — 3-point breakpoints for smoother lateral control. -# Upstream opendbc uses 2-point ([5, 25]) with more conservative values. -# These allow higher rates at low speed for responsiveness, lower rates at mid-speed -# for comfort, and very low rates at highway speed for stability. -# -# Control (Python) uses stricter windup than unwind so OP stays inside panda when apply_std -# picks the wrong table vs steer_angle_cmd_checks. Safety firmware uses looser symmetric ROCs -# (former “down” table for both up/down) — see ford.h FORD_LIMITS. -# Tests: test_ford.py ANGLE_RATE_* match ford.h, not the stricter BP_ANGLE_LIMITS up row. -_BP_ANGLE_RATE_UP = ([5, 16, 25], [0.0025, 0.0012, 0.00008]) -_BP_ANGLE_RATE_DOWN = ([5, 16, 25], [0.0025, 0.0014, 0.00018]) -BP_ANGLE_LIMITS = AngleSteeringLimits( - 0.02, # Max curvature for steering command, m^-1 - _BP_ANGLE_RATE_UP, - _BP_ANGLE_RATE_DOWN, -) - - -def apply_bp_device_mount(car_docs, CP): - """BluePilot: Select comma3 mount type per vehicle. - - Most Ford vehicles use the angled mount due to windshield angle. - Vehicles not in this list use the standard mount. - """ - from opendbc.car.ford.values import CAR, CarHarness, FordFlags - harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3 - if CP.carFingerprint in ( - CAR.FORD_BRONCO_SPORT_MK1, - CAR.FORD_MAVERICK_MK1, - CAR.FORD_F_150_MK14, - CAR.FORD_F_150_LIGHTNING_MK1, - CAR.FORD_ESCAPE_MK4_5, - CAR.FORD_MUSTANG_MACH_E_MK1, - CAR.FORD_RANGER_MK2, - CAR.FORD_EDGE_MK2, - ): - car_docs.car_parts = CarParts([Device.threex_angled_mount, harness]) - else: - car_docs.car_parts = CarParts([Device.threex, harness]) - diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py b/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py deleted file mode 100644 index b81870ff06..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py +++ /dev/null @@ -1,250 +0,0 @@ -"""Pure angle host-independent finite inputs and explicit override/blip reset.""" -import math -import unittest -from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs, Command -from opendbc.bluepilot_lateral.params import limits -from opendbc.bluepilot_lateral.tests import reference -from opendbc.bluepilot_lateral.hosts.starpilot import CLASSIC, CANFD, TRUCKS -from opendbc.bluepilot_lateral.can.ford import lateral, lka -from opendbc.can import CANPacker -from types import SimpleNamespace -from dataclasses import replace -from opendbc.bluepilot_lateral.core.trim import LaneCenterTrim, LaneGeometry, TrimConfig -from opendbc.bluepilot_lateral.hosts.starpilot import model_geometry -from openpilot.selfdrive.modeld.constants import ModelConstants - - -class TestAngleCore(unittest.TestCase): - def test_finite_permission_and_inactive_state_clear_pending_history(self): - for value in (math.nan, math.inf, -math.inf): - for field in ("speed", "desired_curvature", "measured_curvature", "steering_angle", "lateral_delay"): - core = AngleController() - inputs = Inputs(active=True, speed=15., measured_curvature=0., desired_curvature=.001) - self.assertEqual(core.step(replace(inputs, **{field: value})), Command()) - core = AngleController() - for _ in range(10): - self.assertTrue(core.step(Inputs(True, 15., 0., .001)).active) - self.assertEqual(core.step(Inputs(False, 15., 0., .001)), Command()) - self.assertEqual(core.path_last, 0.) - - def test_actual_equivalent_jerk_and_cap_both_signs_and_speeds(self): - for speed in (1., 9., 10., 15., 25., 40., 55.): - for direction in (-1, 1): - core = AngleController(low_gain=.95, high_gain=.95) - previous = 0. - for _ in range(60): - command = core.step(Inputs(True, speed, 0., direction * .002)) - if command.active: - equivalent = command.path_angle / speed / limits.GAIN_MIN - self.assertLessEqual(abs(equivalent), min(limits.CURVATURE_MAX, limits.LATERAL_ACCEL / max(speed, 1.) ** 2)) - self.assertLessEqual(abs(equivalent - previous), limits.LATERAL_JERK / max(speed - 1., 1.) ** 2 * .05) - previous = equivalent - else: - previous = 0. - - def test_human_turn_and_release_blips_are_neutral_then_bounded(self): - core = AngleController() - for _ in range(61): - result = core.step(Inputs(True, 15., 0., .001, steering_pressed=True, steering_angle=60.)) - self.assertFalse(result.active) - self.assertEqual(result.path_angle, 0.) - core = AngleController() - for _ in range(12): - core.step(Inputs(True, 15., 0., .001, steering_pressed=True)) - for _ in range(6): - self.assertEqual(core.step(Inputs(True, 15., 0., .001)), Command()) - resumed = core.step(Inputs(True, 15., 0., .001)) - self.assertTrue(resumed.active) - self.assertLess(abs(resumed.path_angle), .02) - - def test_retained_aol_keeps_active_after_release_and_tracking_error(self): - for stalled in (False, True): - core = AngleController(recovery_blips=False) - for tick in range(100): - inputs = Inputs(True, 15., 0., .006 if stalled else .001, - steering_pressed=not stalled and tick < 20) - result = core.step(inputs) - self.assertTrue(result.active, (stalled, tick)) - self.assertLessEqual(abs(result.path_angle / (15. * limits.GAIN_MIN)), limits.LATERAL_ACCEL / 15. ** 2) - self.assertEqual(core.blip_frames, 0) - - def test_retained_aol_preserves_human_turn_and_invalid_input_neutral(self): - core = AngleController(recovery_blips=False) - for _ in range(61): - result = core.step(Inputs(True, 15., 0., .001, steering_pressed=True, steering_angle=60.)) - self.assertEqual(result, Command()) - self.assertEqual(core.step(Inputs(True, 15., 0., math.nan)), Command()) - self.assertEqual(core.step(Inputs(False, 15., 0., .001)), Command()) - # Infeasible measured-curvature and actuator envelopes must still go neutral. - self.assertEqual(core.step(Inputs(True, 15., .1, .001)), Command()) - - def test_pinned_bp7_pure_angle_and_actual_control_bytes_with_documented_limits(self): - builders = reference.builders() - bus = SimpleNamespace(main=0) - differences = set() - packer = CANPacker("ford_lincoln_base_pt") - for identity in sorted(CLASSIC | CANFD): - gains = (.95, .95) if identity in TRUCKS else ((1., 1.05) if identity in CANFD else (1., 1.15)) - for speed in (5., 15., 25., 40.): - for direction in (-1, 1): - adapted, upstream = AngleController(low_gain=gains[0], high_gain=gains[1]), reference.Angle(identity) - for tick in range(60): - # Tiny tracking curves stay clear of all intentional envelope changes. - desired = direction * .00005 * (1. + .2 * math.sin(tick / 8.)) - inputs = Inputs(True, speed, desired, desired, - yaw_predictions=tuple(desired * speed for _ in ModelConstants.T_IDXS), - time_indices=tuple(ModelConstants.T_IDXS), lateral_delay=.15, - lane_change=tick >= 30, lane_direction=1 if direction < 0 else 2) - result = upstream.step(inputs) - command = adapted.step(inputs) - self.assertTrue(command.active) - self.assertAlmostEqual(command.path_angle, result.path_angle, places=12) - self.assertEqual(command.precision, result.precision_type) - fd = identity in CANFD - actual = lateral(packer, 0, command, canfd=fd, counter=tick % 16) - expected = (builders["create_lat_ctl2_msg"](packer, bus, 1, result.ramp_type, result.precision_type, - 0., -result.path_angle, 0., 0., tick % 16) if fd else - builders["create_lat_ctl_msg"](packer, bus, True, result.ramp_type, result.precision_type, - 0., -result.path_angle, 0., 0.)) - self.assertEqual(actual, expected) - old_shadow = builders["create_lka_msg"](packer, bus, True, SimpleNamespace(), True, upstream.controller.bp_kappa_cmd) - new_shadow = lka(packer, 0, command.shadow_curvature, tick % 8) - # bp7 packs an empty body as raw zeros; the strict native contract requires physical zeros. - self.assertEqual(old_shadow[1][:4], b"\x00\x00\x00\x00") - self.assertEqual(new_shadow[1][:4], b"\x00\x80\x08\x00") - differences.update(("physical_neutral_dbc_offsets", "versioned_side_channel")) - # Aggressive entry demonstrates the required stricter native-equivalent derivative/cap. - adapted, upstream = AngleController(low_gain=gains[0], high_gain=gains[1]), reference.Angle(identity) - previous = 0. - for _tick in range(8): - inputs = Inputs(True, speed, 0., direction * .02, - yaw_predictions=tuple(direction * .02 * speed for _ in ModelConstants.T_IDXS), - time_indices=tuple(ModelConstants.T_IDXS), lateral_delay=.15) - result, command = upstream.step(inputs), adapted.step(inputs) - if command.active: - equivalent = command.path_angle / max(speed, .1) / limits.GAIN_MIN - self.assertLessEqual(abs(equivalent), min(limits.CURVATURE_MAX, limits.LATERAL_ACCEL / max(speed, 1.) ** 2)) - self.assertLessEqual(abs(equivalent - previous), limits.LATERAL_JERK / max(speed - 1., 1.) ** 2 * .05) - previous = equivalent - if abs(command.path_angle - result.path_angle) > 1e-7: - differences.add("native_cap_jerk_deviation_packing") - else: - previous = 0. - self.assertEqual(differences, {"physical_neutral_dbc_offsets", "versioned_side_channel", "native_cap_jerk_deviation_packing"}) - - -class TestAngleTrim(unittest.TestCase): - @staticmethod - def geometry(direction=1., *, width=3.3, probability=.9): - xs = (0., 10., 40.) - return LaneGeometry(xs, (direction * .3,) * 3, xs, (-width / 2,) * 3, - xs, (width / 2,) * 3, (probability,) * 2, (.1,) * 2, True) - - @staticmethod - def model(g): - return SimpleNamespace(position=SimpleNamespace(x=g.position_x, y=g.position_y), - laneLines=[SimpleNamespace(x=(), y=()), SimpleNamespace(x=g.left_x, y=g.left_y), - SimpleNamespace(x=g.right_x, y=g.right_y)], - laneLineProbs=[0., *g.probabilities], laneLineStds=[0., *g.standard_deviations]) - - def test_disabled_trim_preserves_all_eleven_default_commands_and_wire_bytes(self): - packer = CANPacker("ford_lincoln_base_pt") - for identity in sorted(CLASSIC | CANFD): - low, high = (.95, .95) if identity in TRUCKS else ((1., 1.05) if identity in CANFD else (1., 1.15)) - for speed in (5., 15., 25., 40.): - for direction in (-1, 1): - baseline, supplied = AngleController(low_gain=low, high_gain=high), AngleController(low_gain=low, high_gain=high) - self.assertFalse(supplied.trim_config.enabled) - for tick in range(30): - i = Inputs(True, speed, 0., direction * .0002) - a, b = baseline.step(i), supplied.step(replace(i, geometry=self.geometry(direction))) - self.assertEqual(a, b) - self.assertEqual(lateral(packer, 0, a, canfd=identity in CANFD, counter=tick % 16), - lateral(packer, 0, b, canfd=identity in CANFD, counter=tick % 16)) - self.assertEqual(lka(packer, 0, a.shadow_curvature, tick % 8), lka(packer, 0, b.shadow_curvature, tick % 8)) - self.assertEqual(supplied.trim.correction, 0.) - - def test_fresh_geometry_matches_exact_currentdev_trim_and_model_fallback(self): - for speed in (5., 9., 12., 15., 25., 40.): - for direction in (-1, 1): - adapted, upstream = LaneCenterTrim(), reference.trim()() - config = TrimConfig(True, direction * .1, .25) - for tick in range(90): - g = self.geometry(direction, width=3.3 if tick < 30 or tick >= 60 else 1.5, - probability=.9 if tick < 60 else .3) - actual = adapted.update(.0001, speed, g, config, active=True, lane_change=False) - expected = upstream.update(.0001, self.model(g), speed, True, config.offset_m, config.gain, True, False) - self.assertAlmostEqual(actual, expected, places=14) - self.assertAlmostEqual(adapted.correction, upstream.correction, places=14) - projected = model_geometry(self.model(g), fresh=True) - self.assertEqual(projected, g) - self.assertIsNone(model_geometry(self.model(g), fresh=False)) - - def test_invalid_stale_driver_and_lane_change_suppress_trim_and_reset_history(self): - original = self.geometry() - config = TrimConfig(True, 0., .25) - for geometry in (replace(original, fresh=False), replace(original, position_x=(0., 0., 40.)), - replace(original, position_y=(0., math.nan, 0.)), replace(original, position_y=(0.,)), None): - trim = LaneCenterTrim() - self.assertNotEqual(trim.update(0., 15., original, config, active=True, lane_change=False), 0.) - self.assertEqual(trim.update(.001, 15., geometry, config, active=True, lane_change=False), .001) - self.assertEqual(trim.correction, 0.) - for changes in ({"active": False}, {"lane_change": True}, {"steering_pressed": True}): - trim = LaneCenterTrim() - trim.update(0., 15., original, config, active=True, lane_change=False) - flags = {"active": True, "lane_change": False, "steering_pressed": False} - flags.update(changes) - self.assertEqual(trim.update(.001, 15., original, config, **flags), .001) - self.assertEqual(trim.correction, 0.) - for invalid in (TrimConfig(True, math.nan, .25), TrimConfig(True, 0., math.inf), TrimConfig(True, .6, .25)): - self.assertEqual(LaneCenterTrim().update(.001, 15., original, invalid, active=True, lane_change=False), .001) - # Bad lane-only references fall back to the model+offset, not a stale lane correction. - bad = replace(original, probabilities=(math.nan, .9)) - without_lines = replace(original, left_x=(), right_x=()) - a, b = LaneCenterTrim(), LaneCenterTrim() - self.assertEqual(a.update(0., 15., bad, TrimConfig(True, .1, .25), active=True, lane_change=False), - b.update(0., 15., without_lines, TrimConfig(True, .1, .25), active=True, lane_change=False)) - core = AngleController(trim_config=config) - core.step(Inputs(True, 15., 0., 0., geometry=original)) - self.assertNotEqual(core.trim.correction, 0.) - self.assertEqual(core.step(Inputs(False, 15., 0., 0., geometry=original)), Command()) - self.assertEqual(core.trim.correction, 0.) - - def test_enabled_trim_remains_inside_final_curvature_jerk_and_shadow_bounds(self): - for speed in (9., 10., 15., 25., 40.): - for direction in (-1, 1): - core = AngleController(low_gain=.95, high_gain=.95, trim_config=TrimConfig(True, direction * .5, 1.)) - previous, previous_trim, previous_active = 0., 0., False - for _tick in range(100): - command = core.step(Inputs(True, speed, 0., direction * .02, geometry=self.geometry(-direction))) - if command.active and previous_active: - self.assertLessEqual(abs(core.trim.correction - previous_trim), .00015 + 1e-12) - previous_trim, previous_active = core.trim.correction, command.active - if command.active: - equivalent = command.path_angle / speed / limits.GAIN_MIN - self.assertLessEqual(abs(equivalent), min(limits.CURVATURE_MAX, limits.LATERAL_ACCEL / max(speed, 1.) ** 2)) - self.assertLessEqual(abs(equivalent - previous), limits.LATERAL_JERK / max(speed - 1., 1.) ** 2 * .05) - self.assertLessEqual(abs(command.shadow_curvature), min(limits.CURVATURE_MAX, limits.LATERAL_ACCEL / max(speed, 1.) ** 2)) - # Shadow comes from the final path; no independent trim/shadow command can bypass bounds. - ratio = command.path_angle / (speed * command.shadow_curvature) if command.shadow_curvature else 1. - self.assertTrue(limits.GAIN_MIN - 1e-12 <= ratio <= limits.GAIN_MAX + 1e-12) - previous = equivalent - else: - previous = 0. - self.assertEqual(core.trim.correction, 0.) - - -class TestAngleInputParity(unittest.TestCase): - def test_missing_model_fallback_matches_pinned_bp7(self): - for identity in sorted(CLASSIC | CANFD): - gains = (.95, .95) if identity in TRUCKS else ((1., 1.05) if identity in CANFD else (1., 1.15)) - for speed in (5., 8.): - for direction in (-1, 1): - adapted = AngleController(low_gain=gains[0], high_gain=gains[1]) - upstream = reference.Angle(identity) - for _ in range(20): - inputs = Inputs(True, speed, direction * .001, direction * .001) - command, expected = adapted.step(inputs), upstream.step(inputs) - self.assertTrue(command.active) - self.assertAlmostEqual(command.path_angle, expected.path_angle, places=12) - self.assertEqual(command.precision, expected.precision_type) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_native.py b/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_native.py deleted file mode 100644 index 0e2cbfc4cf..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_native.py +++ /dev/null @@ -1,307 +0,0 @@ -"""Public packed angle/native boundaries; uses the runner-selected safety library.""" -from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs, Command -from opendbc.bluepilot_lateral.can.ford import lateral, lka, checksum4 -from opendbc.safety.tests import common -from opendbc.safety.tests.libsafety import libsafety_py -from opendbc.car.structs import CarParams -from opendbc.can import CANPacker - - -class TestFordAngleNative(common.SafetyTestBase): - DBC = "ford_lincoln_base_pt" - SAFETY_MODEL = CarParams.SafetyModel.ford - SAFETY_PARAM = 128 - - def setUp(self): - super().setUp() - self.debug = self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 0) == 0 - self.safety.set_safety_hooks(self.SAFETY_MODEL, self.SAFETY_PARAM) - self.safety.init_tests() - self.now = 1_000_000 - self.lka_count = 0 - self.control_count = 0 - self.word = self.SAFETY_PARAM - - def packet(self, msg): - addr, dat, bus = msg - return libsafety_py.make_CANPacket(addr, bus, dat) - - def rx(self, name, values, *, bus=0): - self.assertTrue(self._rx(self.packer.make_can_msg_safety(name, bus, values))) - - def warm(self, speed=15.0, curvature=0.0): - self.safety.set_timer(self.now) - for _ in range(6): - self.rx("BrakeSysFeatures", {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3}) - self.rx("EngVehicleSpThrottle2", {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3}) - self.rx("Yaw_Data_FD1", {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3}) - self.rx("EngVehicleSpThrottle", {"ApedPos_Pc_ActlArb": 0}) - self.rx("DesiredTorqBrk", {"VehStop_D_Stat": 0}) - self.rx("Steering_Data_FD1", {"CcAslButtnCnclResPress": 0}) - if not self.safety.get_controls_allowed(): - self.rx("EngBrakeData", {"BpedDrvAppl_D_Actl": 1, "CcStat_D_Actl": 0}) - self.rx("EngBrakeData", {"BpedDrvAppl_D_Actl": 1, "CcStat_D_Actl": 5}) - self.assertTrue(self.safety.get_controls_allowed()) - - def reset_word(self, word): - self.safety.set_alternative_experience(0) - self.safety.set_safety_hooks(self.SAFETY_MODEL, word) - self.word = word - self.lka_count = self.control_count = 0 - self.now += 1_000_000 - self.warm() - - def shadow(self, command): - msg = lka(self.packer, 0, command.shadow_curvature, self.lka_count) - self.lka_count = (self.lka_count + 1) % 8 - return msg - - def control(self, command): - msg = lateral(self.packer, 0, command, canfd=bool(self.word & 2), counter=self.control_count) - self.control_count = (self.control_count + 1) % 16 - return msg - - def send(self, msg, expected=True): - self.assertEqual(bool(self._tx(self.packet(msg))), expected) - - def tick(self, command): - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - self.send(self.control(command)) - - def test_real_packer_physical_neutral_shadow_and_corruptions(self): - packer = CANPacker(self.DBC) - for word in (128, 130): - for direction in (-1, 1): - for fault in ("angle", "curvature", "checksum", "version", "counter", "replay"): - with self.subTest(word=word, direction=direction, fault=fault): - self.reset_word(word) - command = Command(True, direction * 0.005, direction * 0.005 / 15.0) - # Real RX and PCM edges in warm() establish permission, with no allowance setter. - self.assertTrue(self.safety.get_controls_allowed()) - good = lka(packer, 0, command.shadow_curvature, 0) - addr, data, bus = good - self.assertEqual((addr, bus), (0x3CA, 0)) - self.assertEqual(data[:4], b"\x00\x80\x08\x00") - self.assertEqual(((data[2] & 15) << 8) | data[3], 2048) - self.assertEqual((data[1] << 4) | (data[2] >> 4), 2048) - self.assertEqual(data[7] & 15, 1) - self.assertEqual(data[7] >> 4, checksum4(data)) - self.assertEqual(int.from_bytes(data[5:7], "big", signed=True), round(-command.shadow_curvature * 1e6)) - self.send(good) - self.send(lateral(packer, 0, command, canfd=bool(word & 2), counter=0)) - self.now += 50_000 - self.warm() - next_good = lka(packer, 0, command.shadow_curvature, 1) - mutated = bytearray(next_good[1]) - if fault == "angle": - mutated[3] ^= 1 - elif fault == "curvature": - mutated[1] ^= 1 - elif fault == "checksum": - mutated[7] ^= 16 - elif fault == "version": - mutated[7] ^= 1 - elif fault == "counter": - mutated[4] ^= 4 - if fault in ("angle", "curvature", "counter"): - mutated[7] = 1 | (checksum4(mutated) << 4) - bad = good if fault == "replay" else (addr, bytes(mutated), bus) - self.send(bad, False) - self.assertTrue(self.safety.get_controls_allowed()) - self.send(lateral(packer, 0, command, canfd=bool(word & 2), counter=1), False) - # A new valid announcement restores the same bounded path without relaxing native checks. - self.now += 50_000 - self.warm() - self.send(next_good) - self.send(lateral(packer, 0, command, canfd=bool(word & 2), counter=1)) - - def test_actual_core_packer_boundary_all_namespaces(self): - words = [128, 129, 130] - if self.debug: - words.append(131) - for word in words: - for direction in (-1, 1): - self.reset_word(word) - core = AngleController(low_gain=0.95, high_gain=0.95) - active_seen = False - for _ in range(40): - command = core.step(Inputs(True, 15.0, 0.0, direction * 0.02)) - active_seen |= command.active - self.tick(command) - self.assertTrue(active_seen) - self.tick(Command()) - - def test_cold_and_stale_shadow_require_new_valid_announcement(self): - command = Command(True, 0.005, 0.005 / 15.0) - self.warm() - self.send(self.control(command), False) - self.send(self.shadow(command)) - self.send(self.control(command)) - self.now += 60_001 - self.warm() - self.send(self.control(command), False) - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - self.send(self.control(command)) - - def test_invalid_shadow_version_checksum_and_dbc_bits_withdraw(self): - command = Command(True, 0.005, 0.005 / 15.0) - for index, mask in ((7, 1), (7, 16), (0, 32), (4, 2), (4, 32)): - self.reset_word(128) - valid = self.shadow(command) - addr, data, bus = valid - mutated = bytearray(data) - mutated[index] ^= mask - if index != 7: - mutated[7] = 1 | (checksum4(mutated) << 4) - self.send((addr, bytes(mutated), bus), False) - self.send(self.control(command), False) - self.send(valid) - self.send(self.control(command)) - - def test_replay_wrong_bus_and_length_cannot_refresh_shadow(self): - command = Command(True, 0.005, 0.005 / 15.0) - self.warm() - msg = self.shadow(command) - self.send(msg) - self.send(msg, False) - self.send(self.control(command), False) - for bus, size in ((2, 8), (0, 7), (0, 16)): - addr, dat, _ = self.shadow(command) - self.send((addr, (dat + b"\x00" * 8)[:size], bus), False) - self.now += 30_000 - self.rx("EngBrakeData", {"BpedDrvAppl_D_Actl": 1, "CcStat_D_Actl": 0}) - self.send(self.shadow(Command())) - self.now += 30_000 - self.warm() - self.send(self.shadow(command)) - self.send(self.control(command)) - - def test_native_actual_path_cannot_be_laundered_by_shadow(self): - for command in (Command(True, 0.0005, 0.0), Command(True, -0.0005, 0.0), Command(True, 0.5, 0.0), Command(True, -0.01, 0.001), - Command(True, 0.04, 0.002), Command(True, 0.10, 0.005)): - self.reset_word(128) - self.send(self.shadow(command)) - self.send(self.control(command), False) - # A rejected command does not seed an excessive subsequent ROC. - self.reset_word(128) - large = Command(True, 0.20, 0.01) - self.send(self.shadow(large)) - self.send(self.control(large), False) - self.now += 50_000 - self.warm() - small = Command(True, 0.005, 0.005 / 15.0) - self.send(self.shadow(small)) - self.send(self.control(small)) - - def test_permission_and_rx_withdrawals(self): - command = Command(True, 0.005, 0.005 / 15.0) - for source in ("brake", "gas", "cruise", "speed_quality", "yaw_checksum", "stale"): - self.reset_word(128) - self.send(self.shadow(command)) - self.send(self.control(command)) - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - if source == "brake": - self.rx("EngBrakeData", {"BpedDrvAppl_D_Actl": 2, "CcStat_D_Actl": 5}) - elif source == "gas": - self.rx("EngVehicleSpThrottle", {"ApedPos_Pc_ActlArb": 50}) - elif source == "cruise": - self.rx("EngBrakeData", {"BpedDrvAppl_D_Actl": 1, "CcStat_D_Actl": 3}) - elif source == "speed_quality": - self.assertFalse(self._rx(self.packer.make_can_msg_safety("BrakeSysFeatures", 0, {"VehVActlBrk_D_Qf": 0}))) - elif source == "yaw_checksum": - packet = self.packer.make_can_msg_safety("Yaw_Data_FD1", 0, {"VehYawWActl_D_Qf": 3}) - packet[0].data[4] ^= 1 - self.assertFalse(self._rx(packet)) - else: - self.now += 200_001 - self.safety.set_timer(self.now) - self.send(self.control(command), False) - self.send(self.control(Command())) - - def test_fd_bad_crc_counter_and_mode_neutral_recovery(self): - self.reset_word(130) - command = Command(True, 0.005, 0.005 / 15.0) - self.send(self.shadow(command)) - good = self.control(command) - addr, dat, bus = good - bad = bytearray(dat) - bad[1] ^= 1 - self.send((addr, bytes(bad), bus), False) - self.send(good, False) # bad CRC withdrew shadow - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - self.send(self.control(Command())) # valid mode0 resynchronizes skipped counters - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - self.send(self.control(command)) - self.now += 50_000 - self.warm() - self.send(self.shadow(command)) - self.control_count = (self.control_count + 1) % 16 - self.send(self.control(command), False) - - def test_adjacent_profile_version_and_release_long_denials(self): - command = Command(True, 0.005, 0.005 / 15.0) - for word in (0, 2, 4, 8, 10, 12, 18, 32, 66, 132, 134, 136, 160, 194, 256): - self.reset_word(word) - announcement = self.shadow(command) - if word & 128: - self.send(announcement, False) - else: - self._tx(self.packet(announcement)) # Existing neutral metadata is not angle authority. - self.send(self.control(command), False) - self.reset_word(131) - expected = bool(self.debug) - self.send(self.shadow(command), expected) - self.send(self.control(command), expected) - - def test_rejected_metadata_does_not_erase_last_accepted_path_and_neutral_resync(self): - self.reset_word(128) - # At25m/s ROC is tight enough that erasing the accepted path would reject a same-path retry. - core = AngleController(low_gain=.95, high_gain=.95) - for _ in range(30): - self.now += 50_000 - self.warm(speed=25., curvature=.001) - command = core.step(Inputs(True, 25., -.001, -.001)) - self.send(self.shadow(command)) - self.send(self.control(command)) - self.assertGreater(abs(command.path_angle), .01) - self.now += 50_000 - self.warm(speed=25., curvature=.001) - good = self.shadow(command) - addr, data, bus = good - bad = bytearray(data) - bad[7] ^= 16 - self.send((addr, bytes(bad), bus), False) - self.send(good) - self.send(self.control(command)) - self.now += 50_000 - self.warm(speed=25., curvature=.001) - self.send(self.control(Command())) - self.now += 50_000 - self.warm(speed=25., curvature=.001) - recovery = AngleController(low_gain=.95, high_gain=.95).step(Inputs(True, 25., -.001, -.001)) - self.send(self.shadow(recovery)) - self.send(self.control(recovery)) - - def test_rt_rate_denial_expires_and_neutral_can_recover(self): - self.reset_word(130) - for _ in range(8): - self.send(self.control(Command())) - self.send(self.control(Command()), False) - self.now += 250_000 - self.warm() - self.send(self.control(Command())) - self.now += 50_000 - self.warm() - command = Command(True, .005, .005 / 15.) - self.send(self.shadow(command)) - self.send(self.control(command)) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_transport.py b/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_transport.py deleted file mode 100644 index 540267b432..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_transport.py +++ /dev/null @@ -1,179 +0,0 @@ -"""Mach-E route 0000000d: refresh before publication; neutral restarts from zero.""" -import pytest - -from collections import defaultdict -from types import SimpleNamespace - -from opendbc.car import structs, Bus -from opendbc.car.ford.values import CAR -from opendbc.car.ford.carcontroller import CarController -from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs, Command - - -class CoreHost: - def __init__(self): - self.controller = AngleController(low_gain=1., high_gain=1.05, recovery_blips=False) - self.steering_rejected = False - self.steering_pressed = False - self.steering_angle = 0. - - def update(self, cc, cs): - active = cc.latActive and not self.steering_rejected - self.steering_rejected = False - return self.controller.step(Inputs(active, 32.6, 0., .0012, steering_pressed=self.steering_pressed, steering_angle=self.steering_angle)) - - -def setup(canfd=True): - cp = structs.CarParams(brand='ford', carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1 if canfd else CAR.FORD_FOCUS_MK4, - flags=3 if canfd else 2, pcmCruise=True, alternativeExperience=32, - transmissionType=structs.CarParams.TransmissionType.automatic, - steerControlType=structs.CarParams.SteerControlType.angle, - openpilotLongitudinalControl=True) - cp.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford, safetyParam=147 if canfd else 161)] - owner = CarController({Bus.pt:'ford_lincoln_base_pt'}, cp) - owner.bp_lat.host = CoreHost() - cc = structs.CarControl(latActive=True) - state = structs.CarState(vEgo=32.6, vEgoRaw=32.6, canValid=True, - gearShifter=structs.CarState.GearShifter.drive) - state.cruiseState.available = True - cs = SimpleNamespace(out=state.as_reader(), buttons_stock_values=defaultdict(int), - acc_tja_status_stock_values=defaultdict(int), lkas_status_stock_values=defaultdict(int)) - return owner, cc.as_reader(), cs - - -def control_active(message): - return ((message[1][0] >> 4) if message[0] == 0x3D6 else (message[1][4] >> 2)) & 7 - - -def prime(owner, cc, cs): - for now in range(1_000_000_000, 2_000_000_000, 10_000_000): - owner.update(cc, cs, now) - assert owner.bp_lat.pending.active - assert abs(owner.bp_lat.host.controller.path_last) > .015 - - -def test_due_shadow_precedes_control_after_recorded_72ms_gap(): - owner, cc, cs = setup() - prime(owner, cc, cs) - bp = owner.bp_lat - now = max(bp.shadow_sent_ns, bp.control_sent_ns) + 72_000_000 - _, messages = owner.update(cc, cs, now) - angle = [m for m in messages if m[0] in (0x3CA, 0x3D6)] - assert [m[0] for m in angle] == [0x3CA, 0x3D6] - assert control_active(angle[-1]) == 1 - assert bp.announced_ns == now - - -def test_unrefreshable_stale_lease_neutral_clears_pending_actuator_history(): - owner, cc, cs = setup() - prime(owner, cc, cs) - bp = owner.bp_lat - now = max(bp.shadow_sent_ns, bp.control_sent_ns) + 72_000_000 - # A newly consumed late shadow echo still enforces its pacing delay. - bp.shadow_echo_pending = True - _, messages = owner.update(cc, cs, now) - angle = [m for m in messages if m[0] in (0x3CA, 0x3D6)] - assert [m[0] for m in angle] == [0x3D6] - assert control_active(angle[0]) == 0 - assert bp.pending == Command() - assert bp.host.controller.path_last == 0. - # A subsequent announcement cannot revive the old nonzero actuator. - seen = [] - for t in range(now + 10_000_000, now + 300_000_000, 10_000_000): - _, messages = owner.update(cc, cs, t) - seen.extend(m for m in messages if m[0] == 0x3D6 and control_active(m)) - assert seen - sig = owner.packer.dbc.name_to_msg['LateralMotionControl2'].sigs['LatCtlPath_An_Actl'] - first_path = sig.get_raw_value(seen[0][1]) * sig.factor + sig.offset - assert abs(first_path) <= .005 - - -@pytest.mark.parametrize('canfd, word', [(True, 147), (False, 161)]) -def test_aol_native_accepts_due_refresh_and_stale_restart_without_relaxation(canfd, word): - from opendbc.safety.tests.test_ford_aol import TestFordAolDriverIntent - from opendbc.safety.tests.libsafety import libsafety_py - native = TestFordAolDriverIntent() - native.setUp() - native.reset(word) - native.arm() - native.pump(30, speed=32.6, mask=1) - owner, cc, cs = setup(canfd) - active = 0 - try: - for tick in range(200): - native.pump(1, speed=32.6, mask=1) - now = (1_000_000 + native.tick * 10_000) * 1000 - if tick in (110, 150): - # No host update for 70ms, but native receives fresh vehicle sources. - native.pump(7, speed=32.6, mask=1) - now = (1_000_000 + native.tick * 10_000) * 1000 - if tick == 150: - owner.bp_lat.shadow_echo_pending = True - _, messages = owner.update(cc, cs, now) - for address, data, bus in messages: - if address not in (0x3CA, 0x3D6, 0x3D3): - continue - assert native.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)), (tick, hex(address), data.hex()) - active += address in (0x3D6, 0x3D3) and bool(control_active((address, data, bus))) - assert active > 20 - finally: - native.tearDown() - - -def test_rejected_shadow_is_not_an_ack_and_withdraws_next_control(): - owner, cc, cs = setup() - prime(owner, cc, cs) - bp = owner.bp_lat - now = max(bp.shadow_sent_ns, bp.control_sent_ns) + 72_000_000 - payload = bp.shadow_return_payload - bp.observe_can([(now, [(0x3CA, payload, 0xC0)])], 0) - assert bp.host.steering_rejected - assert not bp.shadow_echo_pending - _, messages = owner.update(cc, cs, now) - controls = [m for m in messages if m[0] == 0x3D6] - assert controls and control_active(controls[0]) == 0 - assert bp.host.controller.path_last == 0. - - -def test_unrelated_or_out_of_order_returns_do_not_refresh_shadow_time(): - owner, cc, cs = setup() - prime(owner, cc, cs) - bp = owner.bp_lat - sent = bp.shadow_sent_ns - payload = bp.shadow_return_payload - bp.shadow_returned_ns = sent + 10_000_000 - bp.observe_can([(sent, [(0x3CA, payload, 0x80)])], 0) - bp.observe_can([(sent + 20_000_000, [(0x3CA, bytes(8), 0x80)])], 0) - assert not bp.shadow_echo_pending - assert bp.announced_ns == sent - - -def test_permission_withdrawal_does_not_publish_active_even_with_due_shadow(): - owner, cc, cs = setup() - prime(owner, cc, cs) - now = max(owner.bp_lat.shadow_sent_ns, owner.bp_lat.control_sent_ns) + 72_000_000 - _, messages = owner.update(structs.CarControl().as_reader(), cs, now) - controls = [m for m in messages if m[0] == 0x3D6] - assert controls and control_active(controls[0]) == 0 - assert owner.bp_lat.pending == Command() - - -def test_stale_transport_reset_preserves_continuous_manual_turn_pause(): - owner, cc, cs = setup() - prime(owner, cc, cs) - host = owner.bp_lat.host - host.steering_pressed = True - host.steering_angle = 60. - for _ in range(70): - command = host.update(cc, cs) - assert not command.active - assert host.controller.human_timer >= 3. - now = max(owner.bp_lat.shadow_sent_ns, owner.bp_lat.control_sent_ns) + 72_000_000 - owner.bp_lat.shadow_echo_pending = True - _, messages = owner.update(cc, cs, now) - assert not any(control_active(m) for m in messages if m[0] == 0x3D6) - assert host.controller.human_timer >= 3. - assert host.controller.press_last and host.controller.preturned - for t in range(now + 10_000_000, now + 500_000_000, 10_000_000): - _, messages = owner.update(cc, cs, t) - assert not any(control_active(m) for m in messages if m[0] == 0x3D6) diff --git a/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE b/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE deleted file mode 100644 index 7dafa9443b..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2018, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE.md b/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE.md deleted file mode 100644 index 650b6f55b3..0000000000 --- a/opendbc_repo/opendbc/bluepilot_lateral/upstream-root-LICENSE.md +++ /dev/null @@ -1,21 +0,0 @@ -# Custom MIT License - -Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions: - -1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s). - -2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment: - "This software is licensed under a custom license requiring permission for use." - -3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment: - "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use." - -4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - -Contact sunnypilot Support for permission requests. - ---- - -Haibin Wen, SUNNYPILOT LLC diff --git a/opendbc_repo/opendbc/car/ford/aol.py b/opendbc_repo/opendbc/car/ford/aol.py index dd894938e6..f92d3f5221 100644 --- a/opendbc_repo/opendbc/car/ford/aol.py +++ b/opendbc_repo/opendbc/car/ford/aol.py @@ -1,20 +1,18 @@ from opendbc.car import structs -from opendbc.car.ford.values import CAR, FordFlags, FordSafetyFlags +from opendbc.car.ford.values import CAR, FORD_CANFD_CARS, FORD_CLASSIC_CARS, FordFlags, FordSafetyFlags AOL_EXPERIENCE = 32 -CLASSIC = frozenset((CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_ESCAPE_MK4, CAR.FORD_FOCUS_MK4, - CAR.FORD_MAVERICK_MK1, CAR.FORD_EXPLORER_MK6)) -GENERIC_CANFD = frozenset((CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, CAR.FORD_F_150_MK14, - CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2)) MANUAL = int(FordSafetyFlags.MANUAL) -BASE_WORDS = frozenset((8, 9, 10, 11, 12, 13, 18, 19, 32, 33, 66, 67)) -ANGLE = 128 -ANGLE_BASE_WORDS = frozenset((18, 19, 32, 33, 66, 67)) -AOL_WORDS = (BASE_WORDS | frozenset(word | ANGLE for word in ANGLE_BASE_WORDS)) -AOL_WORDS |= frozenset(word | MANUAL for word in AOL_WORDS) -from opendbc.car.ford.pinion import ENABLE, SHIFT, PROFILES, base_word, configured -AOL_WORDS |= frozenset(word | ENABLE | index << SHIFT for index, words in PROFILES.items() - for word in tuple(AOL_WORDS) if (word & ~MANUAL) in words) +# bits 9-14 carry the BluePilot lateral library's startup bits (safety/modes/ford_param.h); bit 14 is its +# BluePilot lateral bit, set when the panda runs the library's steering checks +BP_PARAM_MASK = 0x7E00 +BP_LATERAL = 0x4000 +BASE_WORDS = frozenset((0, 1, 2, 3, 8, 9, 10, 11, 12, 13)) +AOL_WORDS = BASE_WORDS | frozenset(word | MANUAL for word in BASE_WORDS) + + +def profile_word(word): + return int(word) & ~BP_PARAM_MASK def aol_safety_config(cp): @@ -35,23 +33,9 @@ def base_safety_param(cp): manual = cp.transmissionType == structs.CarParams.TransmissionType.manual if cp.transmissionType not in (structs.CarParams.TransmissionType.automatic, structs.CarParams.TransmissionType.manual): return -1 - word = int(owner.safetyParam) - normalized = base_word(word) - if normalized != word and not configured(cp): - return -1 - word = normalized + word = profile_word(owner.safetyParam) if (word & MANUAL and not manual) or (manual and cp.alternativeExperience == AOL_EXPERIENCE and not word & MANUAL): return -1 - if word & ANGLE: - if cp.alternativeExperience == 0: - from opendbc.bluepilot_lateral.hosts.starpilot import qualified as angle_qualified - if not angle_qualified(cp): - return -1 - base = 18 if cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 else (66 if cp.carFingerprint in GENERIC_CANFD else 32) - return base | int(cp.openpilotLongitudinalControl) - if word not in AOL_WORDS: - return -1 - word &= ~ANGLE return word & ~MANUAL @@ -61,12 +45,10 @@ def qualified(cp, *, marked_only=False): cp.alternativeExperience not in ((32,) if marked_only else (0, 32))): return False flags = int(cp.flags) & ~int(FordFlags.HAS_BSM) - if cp.carFingerprint in CLASSIC and flags == 0: - base = 32 - elif cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and flags == int(FordFlags.CANFD): - base = 18 - elif cp.carFingerprint in GENERIC_CANFD and flags == int(FordFlags.CANFD): - base = 66 + if cp.carFingerprint in FORD_CLASSIC_CARS and flags == 0: + base = 0 + elif cp.carFingerprint in FORD_CANFD_CARS and flags == int(FordFlags.CANFD): + base = 2 elif cp.carFingerprint == CAR.FORD_EDGE_MK2 and flags == int(FordFlags.NEW_PORT | FordFlags.ALT_STEER_ANGLE): base = 8 elif cp.carFingerprint == CAR.FORD_MONDEO_MK5 and flags == int(FordFlags.NEW_PORT | FordFlags.CANFD): diff --git a/opendbc_repo/opendbc/car/ford/carcontroller.py b/opendbc_repo/opendbc/car/ford/carcontroller.py index acfd670d0e..dc5fb85b54 100644 --- a/opendbc_repo/opendbc/car/ford/carcontroller.py +++ b/opendbc_repo/opendbc/car/ford/carcontroller.py @@ -1,24 +1,12 @@ import math import numpy as np from opendbc.can import CANPacker -from opendbc.bluepilot_lateral import BluePilotLateral -from opendbc.bluepilot_lateral.hosts.starpilot import qualified as angle_qualified from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs from opendbc.car.ford import fordcan -from opendbc.car.ford.manual_turn import ManualTurnLatch -from opendbc.car.ford.aol import qualified as qualified_aol, base_safety_param +from opendbc.car.ford.aol import qualified as qualified_aol from opendbc.car.ford.stock_cruise import FordStockCruiseButton, qualified as stock_switch_qualified -from opendbc.car.ford.curvature_preview import blend_curvature -from opendbc.car.ford import mache_can -from opendbc.car.ford.extended_classic_can import create_extended_classic_lat_ctl_msg -from opendbc.car.ford.classic_lateral import create_controller as create_classic_controller, bounded_command as classic_bounded_command -from opendbc.car.ford.generic_canfd_can import create_extended_canfd_msg -from opendbc.car.ford.generic_canfd_lateral import ( - GenericCanfdLateralController, qualified as generic_canfd_qualified, bounded_command as generic_canfd_bounded_command, -) -from opendbc.car.ford.mache_lateral import MachELateralController, FordLateralResult, bounded_command, path_speed_window_supported, qualified as mache_qualified -from opendbc.car.ford.new_port_curvature import create_controller as create_new_port_curvature, bounded_command as new_port_bounded_command -from opendbc.car.ford.values import CarControllerParams, FordFlags, FordSafetyFlags, CAR +from opendbc.car.ford.aol import profile_word +from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX LongCtrlState = structs.CarControl.Actuators.LongControlState @@ -69,23 +57,10 @@ class CarController(CarControllerBase): self.packer = CANPacker(dbc_names[Bus.pt]) self.CAN = fordcan.CanBus(CP) - self.bp_lat = BluePilotLateral(CP) if angle_qualified(CP) else None - self.manual_turn = ManualTurnLatch() if CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not CP.flags & FordFlags.LKA_STEERING else None self.stock_cruise_button = FordStockCruiseButton() - self.manual_turn_inputs = None - self.mache_lateral = MachELateralController(CP) if mache_qualified(CP) else None - self.mache_extended_announced = False - self.mache_ui_owned = False + self.lat_ui_owned = False self.hands_free_cluster_input = None self.cluster_extended_announced = False - self.generic_canfd = generic_canfd_qualified(CP) - self.classic_lateral = GenericCanfdLateralController(CP) if self.generic_canfd else create_classic_controller(CP) - self.new_port_curvature = create_new_port_curvature(CP) - self.classic_extended_announced = False - self.classic_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and - s.safetyParam & (FordSafetyFlags.CLASSIC_EXTENDED | FordSafetyFlags.GENERIC_CANFD_EXTENDED) for s in CP.safetyConfigs) - self.mache_profile = any(s.safetyModel == structs.CarParams.SafetyModel.ford and - s.safetyParam & FordSafetyFlags.MACH_E_EXTENDED for s in CP.safetyConfigs) self.apply_curvature_last = 0 self.anti_overshoot_curvature_last = 0 self.accel = 0.0 @@ -104,10 +79,7 @@ class CarController(CarControllerBase): if self.hands_free_cluster_input is not None: self.hands_free_cluster_input.update() if not CC.latActive: - self.mache_ui_owned = False - if (self.mache_lateral is not None or self.classic_lateral is not None or self.new_port_curvature is not None) and self.manual_turn_inputs is not None: - self.manual_turn_inputs.update() - self.manual_turn_inputs.apply_blend_settings(self) + self.lat_ui_owned = False actuators = CC.actuators hud_control = CC.hudControl @@ -143,92 +115,11 @@ class CarController(CarControllerBase): ### lateral control ### # send steer msg at 20Hz - if self.bp_lat is not None: - # Publish a due shadow before its dependent actuator, not after a stale-lease withdrawal. - can_sends += self.bp_lat.step_lka(self.packer, self.CAN, now_nanos) - lateral_sends = self.bp_lat.step_lateral(CC, CS, self.packer, self.CAN, self.frame, now_nanos) - can_sends += lateral_sends - self.apply_curvature_last = self.bp_lat.apply_curvature_last - self.mache_ui_owned |= bool(lateral_sends and self.bp_lat.announced.active and self.bp_lat.pending.active) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.CP.flags & FordFlags.LKA_STEERING: + if (self.frame % CarControllerParams.STEER_STEP) == 0 and self.CP.flags & FordFlags.LKA_STEERING: # Preserve the stock LMC heartbeat without requesting lateral action. can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, False, 0., 0., 0., 0., stock_lmc=CS.lateral_motion_control)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.mache_lateral is not None: - permission = getattr(self.manual_turn_inputs, "assist_permission", None) - self.mache_lateral.set_assist_permission(*(permission() if permission is not None else ((), False))) - inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None - if inputs is not None: - self.mache_lateral.set_inputs(*inputs) - else: - # Withdraw stale preview while retaining current actuator/manual-turn control. - self.mache_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True) - previous = self.mache_lateral.curvature_last - previous_path_angle = self.mache_lateral.path_angle_last - demanded = self.mache_lateral.update(CC, CS, actuators) if self.mache_extended_announced else FordLateralResult() - lateral = bounded_command(self.mache_lateral, demanded, previous, CS.out.vEgoRaw, previous_path_angle, - getattr(CS, "bluepilot_speed_window", None) if path_speed_window_supported(self.CP) else None) - self.mache_lateral_demand = demanded - self.mache_ui_owned |= bool(lateral.active) - self.apply_curvature_last = lateral.curvature - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(mache_can.create_lat_ctl2_msg( - self.packer, self.CAN, int(lateral.active), lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.classic_lateral is not None: - inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None - if inputs is not None: - self.classic_lateral.set_inputs(*inputs) - else: - self.classic_lateral.set_inputs(None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True) - previous = self.classic_lateral.curvature_last - demanded = self.classic_lateral.update(CC, CS, actuators) if self.classic_extended_announced or self.generic_canfd else FordLateralResult() - bound = generic_canfd_bounded_command if self.generic_canfd else classic_bounded_command - lateral = bound(self.classic_lateral, demanded, previous, CS.out.vEgoRaw, - self.classic_lateral._current_curvature(CS)) - self.classic_lateral_demand = demanded - self.apply_curvature_last = lateral.curvature - if self.generic_canfd: - # Stay in the stock interface while inactive. Announce a mode change in - # the same batch, before the corresponding bounded steering command. - if self.classic_extended_announced != bool(lateral.active): - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN) if lateral.active else - fordcan.create_lka_msg(self.packer, self.CAN)) - self.classic_extended_announced = bool(lateral.active) - self.mache_ui_owned |= bool(lateral.active) - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(create_extended_canfd_msg( - self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate, counter)) - else: - can_sends.append(create_extended_classic_lat_ctl_msg( - self.packer, self.CAN, lateral.active, lateral.ramp_type, lateral.precision_type, - -lateral.curvature, -lateral.curvature_rate)) - elif (self.frame % CarControllerParams.STEER_STEP) == 0 and self.new_port_curvature is not None: - inputs = self.manual_turn_inputs.lateral_snapshot(CS.out.vEgoRaw) if self.manual_turn_inputs is not None else None - self.new_port_curvature.set_inputs(*(inputs if inputs is not None else - (None, (), 0.2, self.manual_turn_inputs.enabled if self.manual_turn_inputs is not None else True))) - previous = self.new_port_curvature.curvature_last - demanded = self.new_port_curvature.update(CC, CS, actuators) - lateral = new_port_bounded_command(self.new_port_curvature, demanded, previous, CS.out.vEgoRaw, - self.new_port_curvature._current_curvature(CS)) - self.new_port_curvature_demand = demanded - self.apply_curvature_last = lateral.curvature - if self.CP.flags & FordFlags.CANFD: - counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 - can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, int(lateral.active), 0., 0., - -lateral.curvature, 0., counter)) - else: - can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, lateral.active, 0., 0., -lateral.curvature, 0.)) elif (self.frame % CarControllerParams.STEER_STEP) == 0: - lateral_active = CC.latActive and not self.mache_profile and not self.classic_profile - manual_turn = False - if self.manual_turn is not None and self.manual_turn_inputs is not None: - detection_enabled, lane_change, model_ready = self.manual_turn_inputs.update() - manual_turn = self.manual_turn.update(CC, CS, float(actuators.curvature), detection_enabled, lane_change, model_ready) - if manual_turn: - lateral_active = False - self.apply_curvature_last = 0. # Bronco and some other cars consistently overshoot curv requests # Apply some deadzone + smoothing convergence to avoid oscillations if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14): @@ -239,18 +130,14 @@ class CarController(CarControllerBase): # apply rate limits, curvature error limit, and clip to signal range current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) - if self.manual_turn is not None and self.manual_turn_inputs is not None and lateral_active: - prediction = getattr(self.manual_turn_inputs, "preview_curvature", None) - preview = prediction(CS.out.vEgoRaw) if prediction is not None else None - if preview is not None: - apply_curvature = blend_curvature(apply_curvature, preview, current_curvature) # No blending at low speed due to lack of torque wind-up and inaccurate current curvature if CS.out.vEgoRaw > 9: apply_curvature = float(np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, current_curvature + CarControllerParams.CURVATURE_ERROR)) apply_curvature = CarControllerParams.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw, - 0., lateral_active, CarControllerParams.STEER_STEP) - self.apply_curvature_last = 0. if manual_turn else apply_curvature + 0., CC.latActive, CarControllerParams.STEER_STEP) + self.apply_curvature_last = apply_curvature + self.lat_ui_owned |= CC.latActive if self.CP.flags & FordFlags.CANFD: # TODO: extended mode @@ -259,18 +146,15 @@ class CarController(CarControllerBase): # steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes. # A detailed explanation on ford control can be found here: # https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706 - mode = 1 if lateral_active else 0 + mode = 1 if CC.latActive else 0 counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10 can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter)) else: - can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, lateral_active, 0., 0., -self.apply_curvature_last, 0.)) + can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.)) # send lka msg at 33Hz - if (self.bp_lat is not None or (self.frame % CarControllerParams.LKA_STEP) == 0) and not any( - address == 0x3CA for address, _, _ in can_sends): - if self.bp_lat is not None: - can_sends += self.bp_lat.step_lka(self.packer, self.CAN, now_nanos) - elif self.CP.flags & FordFlags.LKA_STEERING: + if (self.frame % CarControllerParams.LKA_STEP) == 0: + if self.CP.flags & FordFlags.LKA_STEERING: source_age_ns = now_nanos - CS.lkas_available_ts_nanos lka_active = (CC.latActive and CS.lkas_available and 0 <= source_age_ns <= 100_000_000 and (CS.out.cruiseState.enabled or qualified_aol(self.CP, marked_only=True)) and @@ -294,15 +178,6 @@ class CarController(CarControllerBase): direction = 2 if self.apply_lka_angle_last >= 0. else 4 can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN, lka_active, self.apply_lka_angle_last, direction, self.apply_lka_curvature_last, transit=True)) - elif self.mache_lateral is not None: - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN)) - self.mache_extended_announced = True - elif self.classic_lateral is not None: - if self.generic_canfd and not self.classic_extended_announced: - can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) - else: - can_sends.append(mache_can.create_lka_msg(self.packer, self.CAN)) - self.classic_extended_announced = True else: can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) @@ -354,8 +229,10 @@ class CarController(CarControllerBase): ### ui ### # Acquire the display after the first active replacement, then retain it while # AOL stays active, including a manual-turn steering handoff (as on Dom). - aol_owned_ui = qualified_aol(self.CP, marked_only=True) and base_safety_param(self.CP) in (18, 19, 66, 67) - ui_enabled = CC.latActive and (not aol_owned_ui or self.mache_ui_owned) + aol_owned_ui = qualified_aol(self.CP, marked_only=True) and any( + s.safetyModel == structs.CarParams.SafetyModel.ford and (profile_word(s.safetyParam) & ~(1 | 256)) == 2 + for s in self.CP.safetyConfigs) + ui_enabled = CC.latActive and (not aol_owned_ui or self.lat_ui_owned) neutral_ui = (aol_owned_ui and self.CP.openpilotLongitudinalControl and not CC.latActive and not steer_alert and CS.out.canValid and not CS.out.canTimeout and not CS.out.vehicleSensorsInvalid and not CS.out.steerFaultTemporary and not CS.out.steerFaultPermanent and not CS.out.accFaulted and diff --git a/opendbc_repo/opendbc/car/ford/carstate.py b/opendbc_repo/opendbc/car/ford/carstate.py index dcd59184f9..b5a0d8ded6 100644 --- a/opendbc_repo/opendbc/car/ford/carstate.py +++ b/opendbc_repo/opendbc/car/ford/carstate.py @@ -6,7 +6,6 @@ from opendbc.can.dbc import DBC as CANDBC from opendbc.car import Bus, create_button_events, structs from opendbc.car.common.conversions import Conversions as CV from opendbc.car.ford.fordcan import CanBus -from opendbc.car.ford.mache_lateral import path_speed_window_supported from opendbc.car.ford.stock_cruise import FordStockCruiseButton from opendbc.car.ford.values import CAR, DBC, CarControllerParams, FordFlags from opendbc.car.interfaces import CarStateBase @@ -41,9 +40,6 @@ class CarState(CarStateBase): self.lkas_available = False self.lkas_available_ts_nanos = 0 self.lateral_motion_control = None - self.bluepilot_speed_samples = [0] * 6 if (CP.safetyConfigs and CP.safetyConfigs[-1].safetyParam & 128 or - path_speed_window_supported(CP)) else None - self.bluepilot_speed_window = None def get_car_gps(self): return self.car_gps_tracker.get() @@ -67,14 +63,6 @@ class CarState(CarStateBase): # car speed ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS - if self.bluepilot_speed_samples is not None: - # Match Panda's six raw ABS speed samples, including its millimetre/second rounding. - for value in cp.vl_all["BrakeSysFeatures"]["Veh_V_ActlBrk"]: - self.bluepilot_speed_samples.append(math.floor(value * CV.KPH_TO_MS * 1000 + .5)) - self.bluepilot_speed_samples = self.bluepilot_speed_samples[-6:] - samples = self.bluepilot_speed_samples - step = max(abs(b - a) for a, b in zip(samples, samples[1:], strict=False)) / 1000 - self.bluepilot_speed_window = (min(samples) / 1000, max(samples) / 1000, step) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 diff --git a/opendbc_repo/opendbc/car/ford/classic_lateral.py b/opendbc_repo/opendbc/car/ford/classic_lateral.py deleted file mode 100644 index 053813ee68..0000000000 --- a/opendbc_repo/opendbc/car/ford/classic_lateral.py +++ /dev/null @@ -1,51 +0,0 @@ -"""Shared source-derived classic Ford family; model transport stays outside opendbc. - -The reused extended strategy derives from BluePilot Ford work by Alan Polk and -contributors. Its original attribution and licenses remain in lateral_strategy.py, -CREDITS.md and THIRD_PARTY_NOTICES.md; this module only selects admitted callers. -""" - -from opendbc.car import structs -from opendbc.car.ford.aol import base_safety_param -from opendbc.car.ford.explorer_lateral import ExplorerLateralController, bounded_command as bounded_command, qualified as explorer_qualified -from opendbc.car.ford.lateral_strategy import FordLateralController -from opendbc.car.ford.values import CAR, FordFlags, FordSafetyFlags - -GENERIC_CLASSIC_CARS = frozenset({CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_ESCAPE_MK4, - CAR.FORD_FOCUS_MK4, CAR.FORD_MAVERICK_MK1}) -CLASSIC_EXTENDED_CARS = GENERIC_CLASSIC_CARS | {CAR.FORD_EXPLORER_MK6} - - -def qualified(cp): - if cp.carFingerprint == CAR.FORD_EXPLORER_MK6: - return explorer_qualified(cp) - if (cp.brand != "ford" or cp.carFingerprint not in GENERIC_CLASSIC_CARS or - cp.flags & ~int(FordFlags.HAS_BSM) or cp.passive or cp.dashcamOnly or cp.notCar or - cp.alternativeExperience not in (0, 32) or len(cp.safetyConfigs) not in (1, 2)): - return False - if len(cp.safetyConfigs) == 2 and (cp.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - cp.safetyConfigs[0].safetyParam != 0): - return False - safety = cp.safetyConfigs[-1] - expected = int(FordSafetyFlags.CLASSIC_EXTENDED | (FordSafetyFlags.LONG_CONTROL if cp.openpilotLongitudinalControl else 0)) - return safety.safetyModel == structs.CarParams.SafetyModel.ford and base_safety_param(cp) == expected - - -class GenericClassicLateralController(FordLateralController): - """Original generic liveDelay preview; no Explorer fixed-delay or Mach-E latch.""" - - def __init__(self, cp): - if not qualified(cp) or cp.carFingerprint not in GENERIC_CLASSIC_CARS: - raise ValueError("Generic classic controller requires the exact admitted family") - super().__init__(cp) - self.manual_turn_detected = False - - def _manual_turn(self, CC, CS, desired, driver_assisting): - self.manual_turn_detected = super()._manual_turn(CC, CS, desired, driver_assisting) - return self.manual_turn_detected - - -def create_controller(cp): - if not qualified(cp): - return None - return ExplorerLateralController(cp) if cp.carFingerprint == CAR.FORD_EXPLORER_MK6 else GenericClassicLateralController(cp) diff --git a/opendbc_repo/opendbc/car/ford/curvature_preview.py b/opendbc_repo/opendbc/car/ford/curvature_preview.py deleted file mode 100644 index 6b63937d31..0000000000 --- a/opendbc_repo/opendbc/car/ford/curvature_preview.py +++ /dev/null @@ -1,14 +0,0 @@ -"""Mach-E default model preview, before the upstream actuator limits.""" - -import math - - -def blend_curvature(desired: float, predicted: float, current: float) -> float: - if not all(math.isfinite(value) for value in (desired, predicted, current)): - return desired - blend = 0.4 - if desired * predicted <= 0.0: - blend = 0.0 - elif current * predicted > 0.0 and abs(current) > abs(desired) and abs(predicted) > abs(desired): - blend *= abs(desired) / abs(predicted) - return predicted * blend + desired * (1.0 - blend) diff --git a/opendbc_repo/opendbc/car/ford/explorer_lateral.py b/opendbc_repo/opendbc/car/ford/explorer_lateral.py deleted file mode 100644 index ae88e9650b..0000000000 --- a/opendbc_repo/opendbc/car/ford/explorer_lateral.py +++ /dev/null @@ -1,91 +0,0 @@ -"""Explorer/Aviator source-derived demand and exact native profile contract. - -The inherited strategy is adapted from BluePilot Ford work. Attribution and -license notices are preserved in lateral_strategy.py, CREDITS.md and -THIRD_PARTY_NOTICES.md. -""" - -from dataclasses import replace -from typing import Protocol - -import numpy as np - -from opendbc.car import structs -from opendbc.car.ford.aol import base_safety_param -from opendbc.car.ford.lateral_strategy import FordLateralController, FordLateralResult, FORD_CURVATURE_LIMITS, STEER_DT -from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags, FordSafetyFlags - - -class ExplorerLateralController(FordLateralController): - """Exact classic Explorer family, including the Aviator identity alias.""" - - def __init__(self, CP): - if CP.carFingerprint != CAR.FORD_EXPLORER_MK6 or CP.flags & ~int(FordFlags.HAS_BSM): - raise ValueError("Explorer demand strategy requires the exact classic family") - super().__init__(CP) - self.manual_turn_detected = False - - def _manual_turn(self, CC, CS, desired: float, driver_assisting: bool = False) -> bool: - self.manual_turn_detected = super()._manual_turn(CC, CS, desired, driver_assisting) - return self.manual_turn_detected - - def _curvature_lookahead(self) -> float: - # Original reached family override precedes liveDelay inspection. - return 0.20 - - -def qualified(CP) -> bool: - if (CP.brand != "ford" or CP.carFingerprint != CAR.FORD_EXPLORER_MK6 or - CP.flags & ~int(FordFlags.HAS_BSM) or CP.passive or CP.dashcamOnly or CP.notCar or - CP.alternativeExperience not in (0, 32) or len(CP.safetyConfigs) not in (1, 2)): - return False - if len(CP.safetyConfigs) == 2 and (CP.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - CP.safetyConfigs[0].safetyParam != 0): - return False - safety = CP.safetyConfigs[-1] - expected = int(FordSafetyFlags.EXPLORER_EXTENDED | (FordSafetyFlags.LONG_CONTROL if CP.openpilotLongitudinalControl else 0)) - return safety.safetyModel == structs.CarParams.SafetyModel.ford and base_safety_param(CP) == expected - - -class CurvatureOwner(Protocol): - manual_turn_detected: bool - curvature_last: float - path_angle_last: float - - -def bounded_command(owner: CurvatureOwner, demanded: FordLateralResult, - previous: float, speed: float, measured: float, *, absolute_cap: float | None = None) -> FordLateralResult: - """Keep classic demand inside the modern common ISO/jerk envelope.""" - limits = CarControllerParams.CURVATURE_LIMITS - cap = min(limits.CURVATURE_MAX, limits.MAX_LATERAL_ACCEL / max(speed, 1.0) ** 2) - if absolute_cap is not None: - cap = min(cap, absolute_cap) - modern_delta = limits.MAX_LATERAL_JERK / max(speed, 1.0) ** 2 * STEER_DT - source_up = FORD_CURVATURE_LIMITS.ANGLE_RATE_LIMIT_UP - source_down = FORD_CURVATURE_LIMITS.ANGLE_RATE_LIMIT_DOWN - rise = float(np.interp(speed, source_up[0], source_up[1])) - fall = float(np.interp(speed, source_down[0], source_down[1])) - # Same sign plus increasing magnitude uses rise; unwind/opposite uses fall. - source_low = previous - (fall if previous > 0.0 else rise) - source_high = previous + (fall if previous < 0.0 else rise) - low = max(-cap, previous - modern_delta, source_low) - high = min(cap, previous + modern_delta, source_high) - # Match modern recovery toward the actual measured-curvature error window. - # Outside the window, require directional progress without jumping into it. - if speed > 10.0: - error_low = measured - CarControllerParams.CURVATURE_ERROR - error_high = measured + CarControllerParams.CURVATURE_ERROR - if previous < error_low: - low = max(low, min(previous + modern_delta, error_low, cap)) - elif previous > error_high: - high = min(high, max(previous - modern_delta, error_high, -cap)) - else: - low = max(low, error_low) - high = min(high, error_high) - if not demanded.active or owner.manual_turn_detected or low > high: - command = FordLateralResult() - else: - command = replace(demanded, curvature=float(np.clip(demanded.curvature, low, high)), path_angle=0.0) - owner.curvature_last = command.curvature - owner.path_angle_last = 0.0 - return command diff --git a/opendbc_repo/opendbc/car/ford/extended_classic_can.py b/opendbc_repo/opendbc/car/ford/extended_classic_can.py deleted file mode 100644 index f7cffbcb87..0000000000 --- a/opendbc_repo/opendbc/car/ford/extended_classic_can.py +++ /dev/null @@ -1,25 +0,0 @@ -"""Source-derived classic Ford extended lateral constructor. - -Adapted from BluePilot fordcan_ext.py; see CREDITS.md and -THIRD_PARTY_NOTICES.md. This codec does not grant native authority. -""" - -from opendbc.car.ford.fordcan import CanBus - - -def create_extended_classic_lat_ctl_msg(packer, CAN: CanBus, active: bool, ramp_type: int, precision_type: int, - curvature: float, curvature_rate: float): - # 13-bit DBC endpoint: positive .001024 would wrap to negative .001024. - curvature_rate = max(-0.001024, min(curvature_rate, 0.00102375)) - values = { - "LatCtlRng_L_Max": 0, - "HandsOffCnfm_B_Rq": 0, - "LatCtl_D_Rq": 1 if active else 0, - "LatCtlRampType_D_Rq": ramp_type, - "LatCtlPrecision_D_Rq": precision_type, - "LatCtlPathOffst_L_Actl": 0.0, - "LatCtlPath_An_Actl": 0.0, - "LatCtlCurv_NoRate_Actl": curvature_rate, - "LatCtlCurv_No_Actl": curvature, - } - return packer.make_can_msg("LateralMotionControl", CAN.main, values) diff --git a/opendbc_repo/opendbc/car/ford/generic_canfd_can.py b/opendbc_repo/opendbc/car/ford/generic_canfd_can.py deleted file mode 100644 index aee70d36ce..0000000000 --- a/opendbc_repo/opendbc/car/ford/generic_canfd_can.py +++ /dev/null @@ -1,9 +0,0 @@ -"""Generic extended CAN FD wire endpoint, using the attributed shared codec.""" -from opendbc.car.ford.mache_can import create_lat_ctl2_msg - - -def create_extended_canfd_msg(packer, CAN, active, ramp, precision, curvature, rate, counter): - # Generic original lower rate negates to +.001024, outside the 11-bit field. - # Clamp the physical wire endpoint before packing instead of wrapping sign. - rate = max(-.001024, min(.001023, rate)) - return create_lat_ctl2_msg(packer, CAN, int(active), ramp, precision, curvature, rate, counter, 0.) diff --git a/opendbc_repo/opendbc/car/ford/generic_canfd_lateral.py b/opendbc_repo/opendbc/car/ford/generic_canfd_lateral.py deleted file mode 100644 index 204982e0d0..0000000000 --- a/opendbc_repo/opendbc/car/ford/generic_canfd_lateral.py +++ /dev/null @@ -1,46 +0,0 @@ -"""Exact generic CAN FD caller; no Mach-E error, path assist, or latch. - -The reused BluePilot-derived strategy retains its original attribution in -lateral_strategy.py, CREDITS.md and THIRD_PARTY_NOTICES.md. -""" -from opendbc.car import structs -from opendbc.car.ford.aol import base_safety_param -from opendbc.car.ford.explorer_lateral import bounded_command as shared_bound -from opendbc.car.ford.lateral_strategy import FordLateralController -from opendbc.car.ford.values import CAR, FordFlags, FordSafetyFlags - -GENERIC_CANFD_CARS = frozenset({CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, - CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2}) -SOURCE_ACCEL_CAP = 3.0 - 9.81 * .06 - - -def qualified(cp): - if (cp.brand != "ford" or cp.carFingerprint not in GENERIC_CANFD_CARS or - not cp.flags & FordFlags.CANFD or cp.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM) or - cp.passive or cp.dashcamOnly or cp.notCar or cp.alternativeExperience not in (0, 32) or - len(cp.safetyConfigs) not in (1, 2)): - return False - if len(cp.safetyConfigs) == 2 and (cp.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - cp.safetyConfigs[0].safetyParam != 0): - return False - s = cp.safetyConfigs[-1] - expected = int(FordSafetyFlags.GENERIC_CANFD_EXTENDED | FordSafetyFlags.CANFD | - (FordSafetyFlags.LONG_CONTROL if cp.openpilotLongitudinalControl else 0)) - return s.safetyModel == structs.CarParams.SafetyModel.ford and base_safety_param(cp) == expected - - -class GenericCanfdLateralController(FordLateralController): - def __init__(self, cp): - if not qualified(cp): - raise ValueError("Generic CAN FD controller requires its exact source-owned profile") - super().__init__(cp) - self.manual_turn_detected = False - - def _manual_turn(self, CC, CS, desired, driver_assisting): - self.manual_turn_detected = super()._manual_turn(CC, CS, desired, driver_assisting) - return self.manual_turn_detected - - -def bounded_command(owner, demanded, previous, speed, measured): - return shared_bound(owner, demanded, previous, speed, measured, - absolute_cap=SOURCE_ACCEL_CAP / max(speed, 1.) ** 2) diff --git a/opendbc_repo/opendbc/car/ford/interface.py b/opendbc_repo/opendbc/car/ford/interface.py index fb1827ab72..8256af5bdb 100644 --- a/opendbc_repo/opendbc/car/ford/interface.py +++ b/opendbc_repo/opendbc/car/ford/interface.py @@ -4,11 +4,9 @@ from opendbc.car.carlog import carlog from opendbc.car.common.conversions import Conversions as CV from opendbc.car.ford.carcontroller import CarController from opendbc.car.ford.carstate import CarState -from opendbc.car.ford.classic_lateral import CLASSIC_EXTENDED_CARS -from opendbc.car.ford.generic_canfd_lateral import GENERIC_CANFD_CARS from opendbc.car.ford.fordcan import CanBus from opendbc.car.ford.radar_interface import RadarInterface -from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags, CAR +from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags, CAR, FORD_CANFD_CARS, FORD_CLASSIC_CARS from opendbc.car.interfaces import CarInterfaceBase TransmissionType = structs.CarParams.TransmissionType @@ -21,11 +19,6 @@ class CarInterface(CarInterfaceBase): DRIVABLE_GEARS = (structs.CarState.GearShifter.low, structs.CarState.GearShifter.manumatic) - def update(self, can_packets): - if self.CC is not None and self.CC.bp_lat is not None: - self.CC.bp_lat.observe_can(can_packets, self.CC.CAN.main) - return super().update(can_packets) - @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): # PCM doesn't allow acceleration near cruise_speed, @@ -59,18 +52,9 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = cfgs new_port = bool(ret.flags & FordFlags.NEW_PORT) - if candidate in GENERIC_CANFD_CARS: + if candidate in FORD_CANFD_CARS | FORD_CLASSIC_CARS: + # Explicit stock/OP-long selection on these families ret.alphaLongitudinalAvailable = True - ret.steerActuatorDelay = 0.22 - longitudinal_requested = bool(alpha_long) - elif candidate == CAR.FORD_MUSTANG_MACH_E_MK1: - ret.alphaLongitudinalAvailable = True - longitudinal_requested = bool(alpha_long) - elif candidate in CLASSIC_EXTENDED_CARS: - # Original shared classic ownership is explicit stock/OP-long selection. - # Actuator delay is live; modern LongControl already supplies the original P=0. - ret.alphaLongitudinalAvailable = True - ret.steerActuatorDelay = 0.22 longitudinal_requested = bool(alpha_long) else: ret.alphaLongitudinalAvailable = True if new_port else ret.radarUnavailable @@ -126,28 +110,4 @@ class CarInterface(CarInterfaceBase): ret.autoResumeSng = ret.minEnableSpeed == -1. ret.centerToFront = ret.wheelbase * 0.44 - classic_extended = ( - candidate in CLASSIC_EXTENDED_CARS and not (ret.flags & ~int(FordFlags.HAS_BSM)) - and not ret.dashcamOnly and ret.alternativeExperience == 0 - and ret.safetyConfigs[-1].safetyParam in (0, 1) - ) - if classic_extended: - ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CLASSIC_EXTENDED.value - - # The source-derived Mach-E owner has a separate native namespace. SecOC, - # unrelated static flags and alternative experiences retain no extension. - mach_e_extended = ( - candidate == CAR.FORD_MUSTANG_MACH_E_MK1 - and bool(ret.flags & FordFlags.CANFD) - and not (ret.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM)) - and not ret.dashcamOnly and ret.alternativeExperience == 0 - and ret.safetyConfigs[-1].safetyParam in (2, 3) - ) - if mach_e_extended: - ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.MACH_E_EXTENDED.value - if (candidate in GENERIC_CANFD_CARS and ret.flags & FordFlags.CANFD and - not ret.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM) and - not ret.dashcamOnly and not ret.passive and not ret.notCar and ret.alternativeExperience == 0): - ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.GENERIC_CANFD_EXTENDED.value - return ret diff --git a/opendbc_repo/opendbc/car/ford/lateral_strategy.py b/opendbc_repo/opendbc/car/ford/lateral_strategy.py deleted file mode 100644 index 336018eb87..0000000000 --- a/opendbc_repo/opendbc/car/ford/lateral_strategy.py +++ /dev/null @@ -1,758 +0,0 @@ -"""Ford lateral-control extensions. - -The extended curvature strategy, manual-turn detector, and related safety protocol are substantially -adapted from BluePilot's Ford work, principally by Alan Polk and additional contributors. The audited -bp-7.0 reference is e1d051d7ba270261b4455068bd68f1a58db15a4a; source attribution is retained in -CREDITS.md and THIRD_PARTY_NOTICES.md. StarPilot reorganized that work for its own architecture and has since -changed its tuning and lookahead behavior. - -See CREDITS.md for feature-level authorship and upstream commits, and THIRD_PARTY_NOTICES.md for the -published upstream license notices. Upstream contributors do not maintain this adaptation. -""" - -from collections import deque -from dataclasses import dataclass - -import numpy as np - -from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, DT_CTRL, structs -from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags, FordSafetyFlags -from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL, apply_std_steer_angle_limits - - -# These rate-limit values descend from BluePilot's ``values_ext.py``, which carries the Haibin Wen -# and sunnypilot contributors copyright notice reproduced in THIRD_PARTY_NOTICES.md. -FORD_CURVATURE_LIMITS = AngleSteeringLimits( - 0.02, - ([5, 16, 25], [0.0025, 0.0012, 0.00008]), - ([5, 16, 25], [0.0025, 0.0014, 0.00018]), -) - -MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - ACCELERATION_DUE_TO_GRAVITY * 0.06 -STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL -CURVATURE_LOOKAHEAD_MIN = 0.20 -CURVATURE_LOOKAHEAD_MAX = 0.40 -MACH_E_HIGH_SPEED_LOOKAHEAD_EXTRA = 0.40 -MACH_E_HIGH_SPEED_LOOKAHEAD_START_SPEED = 16.0 -MACH_E_HIGH_SPEED_LOOKAHEAD_FULL_SPEED = 23.0 -MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.80 -MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA = 1.60 -MACH_E_LOW_SPEED_TURN_IN_START_SPEED = 2.0 -MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED = 3.0 -MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED = 12.0 -MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED = 15.0 -MACH_E_TURN_IN_MIN_CURVATURE = 0.002 -MACH_E_TURN_IN_FULL_CURVATURE = 0.008 -MACH_E_TURN_IN_LAG_CURVATURE = 0.006 -MACH_E_TURN_IN_PREVIEW_HOLD_SECONDS = 0.10 -MACH_E_TURN_IN_PREVIEW_HOLD_MIN_LAG = 0.0005 -MACH_E_TURN_IN_RATE_MIN_SPEED = 3.0 -MACH_E_TURN_IN_RATE_MIN_DEFICIT = 0.002 -MACH_E_UNWIND_LOOKAHEAD_EXTRA = 0.80 -MACH_E_UNWIND_FULL_LAG_CURVATURE = 0.0005 -MACH_E_UNWIND_PREVIEW_LAG_CURVATURE = 0.002 -MACH_E_UNWIND_PREVIEW_HOLD_SECONDS = 0.10 -MACH_E_UNWIND_PREVIEW_RISE_TOLERANCE = 0.0002 -MACH_E_UNWIND_RELEASE_GAIN = 0.40 -MACH_E_DIRECTION_CHANGE_MIN_SPEED = 9.0 -MACH_E_DIRECTION_CHANGE_LOOKAHEAD_RAMP_SPEED = 10.0 -MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FULL_SPEED = 12.0 -MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FADE_SPEED = 15.0 -MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA = 2.40 -MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE = 0.0005 -MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE = 0.002 -MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE = 0.0008 -MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE = 0.0015 -MACH_E_DIRECTION_CHANGE_EARLY_MIN_LAG_CURVATURE = -0.001 -MACH_E_DIRECTION_CHANGE_EARLY_FULL_LAG_CURVATURE = 0.0008 -MACH_E_DIRECTION_CHANGE_EARLY_MIN_CURVATURE = 0.002 -MACH_E_DIRECTION_CHANGE_EARLY_FULL_CURVATURE = 0.004 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_START_SPEED = 1.8 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_SPEED = 2.0 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_HOLD_SPEED = 2.8 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_FADE_SPEED = 3.5 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_MIN_CURVATURE = 0.0004 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_CURVATURE = 0.0006 -MACH_E_LOW_SPEED_DIRECTION_CHANGE_MAX_CURVATURE = 0.0015 -MACH_E_SHARP_DIRECTION_CHANGE_START_SPEED = 1.5 -MACH_E_SHARP_DIRECTION_CHANGE_FULL_SPEED = 1.8 -MACH_E_SHARP_DIRECTION_CHANGE_HOLD_SPEED = 3.0 -MACH_E_SHARP_DIRECTION_CHANGE_FADE_SPEED = 4.0 -MACH_E_SHARP_DIRECTION_CHANGE_MIN_CURVATURE = 0.0002 -MACH_E_SHARP_DIRECTION_CHANGE_FULL_CURVATURE = 0.0005 -MACH_E_SHARP_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE = 0.008 -MACH_E_SHARP_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE = 0.012 -MACH_E_SHARP_DIRECTION_CHANGE_MIN_ACCEL = 1.8 -MACH_E_SHARP_DIRECTION_CHANGE_FULL_ACCEL = 2.2 -MACH_E_SHARP_DIRECTION_CHANGE_MIN_LAG_CURVATURE = -0.0005 -MACH_E_SHARP_DIRECTION_CHANGE_FULL_LAG_CURVATURE = 0.0008 -MACH_E_CURVATURE_ERROR_MAX = 0.006 -MACH_E_UNDERSTEER_ERROR_MIN_DEFICIT = 0.002 -MACH_E_UNDERSTEER_ERROR_FULL_DEFICIT = 0.004 -MACH_E_PATH_ANGLE_MAX = 0.16 -MACH_E_PATH_ANGLE_STEP = 0.055 -MACH_E_PATH_ANGLE_FADE_START_SPEED = 8.0 -MACH_E_PATH_ANGLE_MAX_SPEED = 8.8 -MACH_E_PATH_ANGLE_TRACKING_FACTOR = 0.75 -MACH_E_PATH_ANGLE_DRIVER_COOLDOWN = 0.75 -MACH_E_DRIVER_ASSIST_MIN_SPEED = 2.0 -MACH_E_DRIVER_ASSIST_MAX_SPEED = 15.0 -MACH_E_DRIVER_ASSIST_MAX_TORQUE = 3.5 -FORD_CURVATURE_LOOKAHEAD = { - CAR.FORD_EXPLORER_MK6: 0.20, -} -FORD_CONSERVATIVE_PREVIEW_CARS = frozenset({ - CAR.FORD_MUSTANG_MACH_E_MK1, -}) -FORD_SHARP_DIRECTION_CHANGE_CARS = frozenset({ - CAR.FORD_MUSTANG_MACH_E_MK1, -}) -FORD_MANUAL_TURN_LATCH_CARS = frozenset({ - CAR.FORD_MUSTANG_MACH_E_MK1, -}) -MANUAL_TURN_ENTRY_ANGLE_DEG = 12.0 -MANUAL_TURN_RELEASE_ANGLE_DEG = 12.0 -MANUAL_TURN_RECOVERY_SECONDS = 0.25 - - -@dataclass(frozen=True) -class FordLateralResult: - curvature: float = 0.0 - curvature_rate: float = 0.0 - path_angle: float = 0.0 - ramp_type: int = 0 - precision_type: int = 1 - active: bool = False - - -# Adapted from BluePilot HumanTurnDetector (Alan Polk, 97867c1eb57b7472f6fc3de62f0fef576e5a5497). -class HumanTurnDetector: - ANGLE_DEG = 45.0 - HOLD_SECONDS = 1.5 - PRETURNED_HOLD_SECONDS = 3.0 - - def __init__(self): - self.timer = 0.0 - self.active = False - self._pressed_last = False - self._press_started_preturned = False - - def update(self, enabled: bool, steering_pressed: bool, steering_angle_deg: float) -> bool: - if steering_pressed and not self._pressed_last: - self._press_started_preturned = abs(steering_angle_deg) > self.ANGLE_DEG - self._pressed_last = steering_pressed - - if enabled and steering_pressed and abs(steering_angle_deg) > self.ANGLE_DEG: - self.timer += STEER_DT - else: - self.timer = 0.0 - - hold_time = self.PRETURNED_HOLD_SECONDS if self._press_started_preturned else self.HOLD_SECONDS - self.active = self.timer + 1e-9 >= hold_time - return self.active - - def reset(self): - self.timer = 0.0 - self.active = False - self._pressed_last = False - self._press_started_preturned = False - - -class FordLateralController: - - def __init__(self, CP): - self.CP = CP - from opendbc.car.ford.pinion import Measurement - self.measurement = Measurement(CP) - self.model = None - self.time_indices = () - self.lookahead = CURVATURE_LOOKAHEAD_MIN - - self.human_turn_enabled = True - self.curvature_blend_low = 0.4 - self.curvature_blend_high = 0.4 - self.curvature_lane_change_factor = 0.85 - - self.human_turn = HumanTurnDetector() - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - self.curvature_samples = deque(maxlen=max(2, round(0.3 / STEER_DT))) - self.curvature_last = 0.0 - self.path_angle_last = 0.0 - self.path_angle_driver_cooldown = 0.0 - self.desired_curvature_last = 0.0 - self.turn_in_preview_hold_timer = 0.0 - self.unwind_preview_hold_timer = 0.0 - self.assist_engagement_retained = False - - def set_assist_permission(self, panda_states, healthy: bool): - ford_pandas = [p for p in panda_states if p.safetyModel == structs.CarParams.SafetyModel.ford] if healthy else [] - assist_flags = FordSafetyFlags.CANFD | FordSafetyFlags.MACH_E_EXTENDED - self.assist_engagement_retained = bool(ford_pandas) and all( - p.controlsAllowed and p.safetyParam & assist_flags == assist_flags and - not p.safetyParam & FordSafetyFlags.LKA_STEERING for p in ford_pandas - ) - - def _path_angle_assist_permitted(self, CC, CS) -> bool: - if not CC.enabled or CS.out.brakePressed: - return False - return not CS.out.gasPressed or (CS.out.cruiseState.enabled and self.assist_engagement_retained) - - def set_blend_settings(self, low: float, high: float, lane_change: float): - self.curvature_blend_low = float(np.clip(low if np.isfinite(low) else 0.4, 0.0, 1.0)) - self.curvature_blend_high = float(np.clip(high if np.isfinite(high) else 0.4, 0.0, 1.0)) - self.curvature_lane_change_factor = float(np.clip(lane_change if np.isfinite(lane_change) else 0.85, 0.5, 1.25)) - - def set_inputs(self, model, time_indices, lookahead: float, human_turn_enabled: bool): - self.model = model - self.time_indices = time_indices - self.lookahead = float(np.clip(lookahead, CURVATURE_LOOKAHEAD_MIN, CURVATURE_LOOKAHEAD_MAX)) - self.human_turn_enabled = human_turn_enabled - - def _predicted_curvature(self, v_ego: float, lookup_time: float) -> float: - if self.model is None or len(self.model.orientationRate.z) < 17: - return 0.0 - curvatures = np.asarray(self.model.orientationRate.z) / max(v_ego, 0.01) - return float(np.interp(lookup_time, self.time_indices, curvatures)) - - def _curvature_lookahead(self) -> float: - return self.lookahead - - def _lane_change(self) -> tuple[bool, int]: - if self.model is None: - return False, 0 - state = int(getattr(self.model.meta.laneChangeState, "raw", self.model.meta.laneChangeState)) - direction = int(getattr(self.model.meta.laneChangeDirection, "raw", self.model.meta.laneChangeDirection)) - return state in (1, 2, 3), direction - - def _high_speed_lookahead_extra(self, v_ego: float, steering_pressed: bool, lane_change: bool) -> float: - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - steering_pressed or lane_change): - return 0.0 - return MACH_E_HIGH_SPEED_LOOKAHEAD_EXTRA * float(np.interp( - v_ego, [MACH_E_HIGH_SPEED_LOOKAHEAD_START_SPEED, MACH_E_HIGH_SPEED_LOOKAHEAD_FULL_SPEED], [0.0, 1.0])) - - def _current_curvature(self, CS) -> float: - return self.measurement.curvature(CS.out) - - def _driver_assisting_curve(self, CS, desired: float) -> bool: - v_ego = float(CS.out.vEgoRaw) - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - not CS.out.steeringPressed or not MACH_E_DRIVER_ASSIST_MIN_SPEED <= v_ego < MACH_E_DRIVER_ASSIST_MAX_SPEED or - self._lane_change()[0] or abs(desired) < MACH_E_TURN_IN_MIN_CURVATURE or - desired * CS.out.steeringTorque >= 0.0 or abs(CS.out.steeringTorque) > MACH_E_DRIVER_ASSIST_MAX_TORQUE): - return False - current = self._current_curvature(CS) - preview = self._predicted_curvature(v_ego, self._curvature_lookahead() + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - return bool(desired * current > 0.0 and desired * preview > 0.0 and - abs(preview) >= MACH_E_TURN_IN_FULL_CURVATURE and - np.sign(desired) * (current - desired) <= CarControllerParams.CURVATURE_ERROR) - - def _curvature_error_limit(self, requested: float, desired: float, current: float, v_ego: float, - steering_pressed: bool, lane_change: bool, predicted: float = 0.0) -> float: - base = CarControllerParams.CURVATURE_ERROR - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - steering_pressed or lane_change): - return base - speed_weight = float(np.interp(v_ego, [8.0, 9.0, 14.0, 16.0], [0.0, 1.0, 1.0, 0.0])) - deficit_weight = 0.0 - planned_curve = abs(desired) >= 0.003 or (abs(requested) >= 0.003 and requested * predicted > 0.0) - if requested * desired > 0.0 and planned_curve: - deficit = np.sign(desired) * (requested - current) - deficit_weight = float(np.interp( - deficit, [MACH_E_UNDERSTEER_ERROR_MIN_DEFICIT, MACH_E_UNDERSTEER_ERROR_FULL_DEFICIT], [0.0, 1.0])) - if current * desired < 0.0: - predicted = self._predicted_curvature(v_ego, self._curvature_lookahead() + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - reversal_weight = 0.0 - if current * predicted < 0.0 and current * (requested - current) < 0.0: - reversal_weight = float(np.interp( - abs(predicted), - [MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE], - [0.0, 1.0], - )) - unwind_weight = 0.0 - if (self.model is not None and len(self.model.orientationRate.z) >= 17 and - requested * current >= 0.0 and desired * current >= 0.0 and abs(desired) < abs(current)): - unwind_deficit = np.sign(current) * (current - requested) - preview_deficit = np.sign(current) * (current - predicted) - unwind_weight = float(np.interp( - min(unwind_deficit, preview_deficit), - [MACH_E_UNDERSTEER_ERROR_MIN_DEFICIT, MACH_E_UNDERSTEER_ERROR_FULL_DEFICIT], - [0.0, 1.0], - )) - return base + (MACH_E_CURVATURE_ERROR_MAX - base) * speed_weight * max(deficit_weight, reversal_weight, unwind_weight) - - def _path_angle_assist(self, requested: float, desired: float, applied: float, current: float, v_ego: float, - steering_pressed: bool, lane_change: bool) -> float: - if steering_pressed: - self.path_angle_driver_cooldown = MACH_E_PATH_ANGLE_DRIVER_COOLDOWN - else: - self.path_angle_driver_cooldown = max(0.0, self.path_angle_driver_cooldown - STEER_DT) - target = 0.0 - if (self.CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and self.CP.flags & FordFlags.CANFD and - not steering_pressed and self.path_angle_driver_cooldown == 0.0 and not lane_change and - 3.0 <= v_ego < MACH_E_PATH_ANGLE_MAX_SPEED and - requested * desired > 0.0 and requested * applied > 0.0 and - abs(requested) > 0.0198 and abs(desired) > MACH_E_TURN_IN_FULL_CURVATURE and abs(applied) >= 0.0195 and - np.sign(desired) * (desired - current) > 0.002): - max_curvature = MAX_LATERAL_ACCEL / v_ego ** 2 - residual = max(0.0, min(max(abs(requested), abs(desired)), max_curvature) - abs(applied)) - tracking_deficit = max(0.0, np.sign(applied) * (applied - current)) - acceleration_headroom = max(0.0, (max_curvature - abs(applied)) * v_ego) - speed_weight = float(np.interp( - v_ego, [MACH_E_PATH_ANGLE_FADE_START_SPEED, MACH_E_PATH_ANGLE_MAX_SPEED], [1.0, 0.0])) - target = float(np.sign(applied) * min( - (residual + MACH_E_PATH_ANGLE_TRACKING_FACTOR * tracking_deficit) * v_ego, - acceleration_headroom, MACH_E_PATH_ANGLE_MAX) * speed_weight) - if target == 0.0 or target * self.path_angle_last < 0.0: - self.path_angle_last = 0.0 - else: - self.path_angle_last = float(np.clip( - target, self.path_angle_last - MACH_E_PATH_ANGLE_STEP, self.path_angle_last + MACH_E_PATH_ANGLE_STEP)) - return self.path_angle_last - - def _blend_and_scale(self, desired: float, predicted: float, v_ego: float, current: float = 0.0, - allow_opposite_preview: bool = False) -> tuple[float, int]: - blend = float(np.interp(abs(desired), [0.0, 0.001], [self.curvature_blend_low, self.curvature_blend_high])) - if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS: - if desired * predicted <= 0.0 and not allow_opposite_preview: - blend = 0.0 - elif current * predicted > 0.0 and abs(current) > abs(desired) and abs(predicted) > abs(desired): - blend *= abs(desired) / abs(predicted) - requested = predicted * blend + desired * (1.0 - blend) - lane_change, direction = self._lane_change() - precision = 1 - if lane_change: - factor = float(np.interp(v_ego, [4.4, 40.23], [0.95, self.curvature_lane_change_factor])) - if (direction == 1 and requested < 0.0) or (direction == 2 and requested > 0.0): - requested *= factor - precision = 0 - return requested, precision - - def _unwind_preview(self, desired: float, predicted: float, current: float, v_ego: float, - allow_plateau: bool = False) -> float: - if self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1: - return predicted - if desired * current <= 0.0 or desired * predicted <= 0.0 or desired * self.desired_curvature_last <= 0.0: - return predicted - if abs(desired) >= abs(self.desired_curvature_last) and not allow_plateau: - return predicted - preview = self._predicted_curvature(v_ego, self._curvature_lookahead() + MACH_E_UNWIND_LOOKAHEAD_EXTRA) - if desired * preview <= 0.0 or abs(preview) >= min(abs(desired), abs(predicted), abs(current)): - return predicted - speed_weight = float(np.interp(v_ego, [5.0, 7.0, 12.0, 15.0], [0.0, 1.0, 1.0, 0.0])) - curvature_weight = float(np.interp(abs(desired), [0.002, 0.008], [0.0, 1.0])) - lag_weight = float(np.interp(abs(current) - abs(desired), [0.0, MACH_E_UNWIND_FULL_LAG_CURVATURE], [0.0, 1.0])) - preview_lag_weight = float(np.interp( - abs(current) - abs(preview), [0.0, MACH_E_UNWIND_PREVIEW_LAG_CURVATURE], [0.0, 1.0])) - lag_weight = max(lag_weight, preview_lag_weight) - return predicted + speed_weight * curvature_weight * lag_weight * (preview - predicted) - - def _turn_in_preview_plateau(self, desired: float, current: float, v_ego: float, - steering_pressed: bool, lane_change: bool) -> float: - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - not MACH_E_LOW_SPEED_TURN_IN_START_SPEED <= v_ego < MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED or - steering_pressed or lane_change or desired * self.desired_curvature_last < 0.0 or - abs(desired) < abs(self.desired_curvature_last)): - self.turn_in_preview_hold_timer = 0.0 - return 0.0 - if abs(desired) > abs(self.desired_curvature_last): - self.turn_in_preview_hold_timer = MACH_E_TURN_IN_PREVIEW_HOLD_SECONDS - return 0.0 - self.turn_in_preview_hold_timer = max(0.0, self.turn_in_preview_hold_timer - STEER_DT) - if (self.turn_in_preview_hold_timer <= 1e-9 or - np.sign(desired) * (desired - current) <= MACH_E_TURN_IN_PREVIEW_HOLD_MIN_LAG): - return 0.0 - return float(np.interp(v_ego, [2.0, 3.0, 14.0, 15.0], [0.0, 1.0, 1.0, 0.0])) - - def _unwind_preview_plateau(self, desired: float, v_ego: float, steering_pressed: bool, lane_change: bool) -> bool: - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - not 5.0 < v_ego < 15.0 or steering_pressed or lane_change or - desired * self.desired_curvature_last <= 0.0 or - abs(desired) - abs(self.desired_curvature_last) > MACH_E_UNWIND_PREVIEW_RISE_TOLERANCE): - self.unwind_preview_hold_timer = 0.0 - return False - if abs(desired) < abs(self.desired_curvature_last): - self.unwind_preview_hold_timer = MACH_E_UNWIND_PREVIEW_HOLD_SECONDS - return False - self.unwind_preview_hold_timer = max(0.0, self.unwind_preview_hold_timer - STEER_DT) - return self.unwind_preview_hold_timer > 1e-9 - - def _unwind_request(self, desired: float, predicted: float, command_predicted: float, requested: float) -> float: - delta = command_predicted - predicted - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - not np.isfinite([desired, predicted, command_predicted, requested]).all() or - desired * command_predicted <= 0.0 or desired * delta >= 0.0): - return requested - release_weight = float(np.interp(abs(delta), [0.002, 0.006], [0.0, 1.0])) - blend = float(np.interp(abs(desired), [0.0, 0.001], [self.curvature_blend_low, self.curvature_blend_high])) - preview_authority = float(np.clip(blend / 0.4, 0.0, 1.0)) - return float(np.clip(requested + MACH_E_UNWIND_RELEASE_GAIN * preview_authority * release_weight * delta, - min(desired, command_predicted), max(desired, command_predicted))) - - def _reversal_followthrough_preview(self, desired: float, predicted: float, current: float, v_ego: float, - steering_pressed: bool, lane_change: bool) -> float: - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - steering_pressed or lane_change or desired * current >= 0.0): - return predicted - speed_weight = float(np.interp(v_ego, [8.0, 9.0, 14.0, 16.0], [0.0, 1.0, 1.0, 0.0])) - if speed_weight == 0.0: - return predicted - preview = self._predicted_curvature(v_ego, self._curvature_lookahead() + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - if not np.isfinite(preview) or desired * preview <= 0.0 or np.sign(desired) * (preview - predicted) <= 0.0: - return predicted - preview_weight = float(np.interp( - abs(preview), [MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE], - [0.0, 1.0])) - lag_weight = float(np.interp( - abs(current), [MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE], - [0.0, 1.0])) - return predicted + speed_weight * preview_weight * lag_weight * (preview - predicted) - - def _turn_in_preview_weight(self, desired: float, preview: float, current: float, - allow_plateau: float = 0.0) -> float: - if self.CP.carFingerprint not in FORD_CONSERVATIVE_PREVIEW_CARS: - return 0.0 - if desired * preview <= 0.0 or desired * self.desired_curvature_last < 0.0: - return 0.0 - if (abs(desired) < abs(self.desired_curvature_last) or - (abs(desired) == abs(self.desired_curvature_last) and not allow_plateau)): - return 0.0 - - target = max(abs(desired), abs(preview)) - curvature_weight = float(np.interp( - target, - [MACH_E_TURN_IN_MIN_CURVATURE, MACH_E_TURN_IN_FULL_CURVATURE], - [0.0, 1.0], - )) - direction = float(np.sign(desired)) - lag_weight = float(np.clip( - (target - direction * current) / MACH_E_TURN_IN_LAG_CURVATURE, - 0.0, 1.0, - )) - plateau_weight = allow_plateau if abs(desired) == abs(self.desired_curvature_last) else 1.0 - return curvature_weight * lag_weight * plateau_weight - - def _turn_in_curvature_rate(self, desired: float, current: float, curvature_rate: float, - v_ego: float, lookahead: float, steering_pressed: bool, lane_change: bool) -> float: - if (self.CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or not self.CP.flags & FordFlags.CANFD or - not MACH_E_TURN_IN_RATE_MIN_SPEED <= v_ego < MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED or - steering_pressed or lane_change or desired * self.desired_curvature_last <= 0.0 or - abs(desired) < abs(self.desired_curvature_last) or desired * curvature_rate >= 0.0 or - np.sign(desired) * (desired - current) <= MACH_E_TURN_IN_RATE_MIN_DEFICIT): - return curvature_rate - preview = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - if (desired * preview > 0.0 and abs(preview) >= abs(desired) and - np.sign(desired) * (preview - current) > MACH_E_TURN_IN_RATE_MIN_DEFICIT): - return 0.0 - return curvature_rate - - @staticmethod - def _turn_in_lookahead_extra(v_ego: float) -> float: - return float(np.interp( - v_ego, - [MACH_E_LOW_SPEED_TURN_IN_START_SPEED, MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED, - MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED, MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED], - [MACH_E_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA, - MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_TURN_IN_LOOKAHEAD_EXTRA], - )) - - @staticmethod - def _direction_change_lookahead_extra(v_ego: float) -> float: - return float(np.interp( - v_ego, - [MACH_E_DIRECTION_CHANGE_MIN_SPEED, MACH_E_DIRECTION_CHANGE_LOOKAHEAD_RAMP_SPEED, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FULL_SPEED, MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FADE_SPEED], - [MACH_E_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA, MACH_E_TURN_IN_LOOKAHEAD_EXTRA], - )) - - def _direction_change_preview_weight(self, desired: float, preview: float, current: float, - allow_rising_desired: bool = False, early_handoff_weight: float = 0.0, - sharp_handoff: bool = False) -> float: - if self.CP.carFingerprint not in FORD_CONSERVATIVE_PREVIEW_CARS: - return 0.0 - if desired * preview >= 0.0 or desired * self.desired_curvature_last <= 0.0 or desired * current <= 0.0: - return 0.0 - early_handoff_weight = float(np.clip(early_handoff_weight, 0.0, 1.0)) - lag = abs(current) - abs(desired) - if sharp_handoff: - lag_min = MACH_E_SHARP_DIRECTION_CHANGE_MIN_LAG_CURVATURE - lag_full = MACH_E_SHARP_DIRECTION_CHANGE_FULL_LAG_CURVATURE - else: - lag_min = float(np.interp( - early_handoff_weight, [0.0, 1.0], - [MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE, MACH_E_DIRECTION_CHANGE_EARLY_MIN_LAG_CURVATURE], - )) - lag_full = float(np.interp( - early_handoff_weight, [0.0, 1.0], - [MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE, MACH_E_DIRECTION_CHANGE_EARLY_FULL_LAG_CURVATURE], - )) - desired_rising = abs(desired) >= abs(self.desired_curvature_last) - rising_handoff = (allow_rising_desired and abs(desired) > abs(self.desired_curvature_last) and - abs(desired) <= MACH_E_LOW_SPEED_DIRECTION_CHANGE_MAX_CURVATURE) - early_rising_handoff = early_handoff_weight > 0.0 and lag > lag_min - if desired_rising and not rising_handoff and not early_rising_handoff: - return 0.0 - - preview_weight = float(np.interp( - abs(preview), - [MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE], - [0.0, 1.0], - )) - if sharp_handoff: - preview_weight *= float(np.interp( - abs(preview), - [MACH_E_SHARP_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_SHARP_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE], - [0.0, 1.0], - )) - lag_weight = float(np.interp( - lag, - [lag_min, lag_full], - [0.0, 1.0], - )) - return preview_weight * lag_weight - - @staticmethod - def _low_speed_direction_change_weight(v_ego: float, desired: float) -> float: - speed_weight = float(np.interp( - v_ego, - [MACH_E_LOW_SPEED_DIRECTION_CHANGE_START_SPEED, MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_SPEED, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_HOLD_SPEED, MACH_E_LOW_SPEED_DIRECTION_CHANGE_FADE_SPEED], - [0.0, 1.0, 1.0, 0.0], - )) - curvature_weight = float(np.interp( - abs(desired), - [MACH_E_LOW_SPEED_DIRECTION_CHANGE_MIN_CURVATURE, MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_CURVATURE], - [0.0, 1.0], - )) - return speed_weight * curvature_weight - - @staticmethod - def _sharp_direction_change_weight(v_ego: float, a_ego: float, desired: float, preview: float) -> float: - speed_weight = float(np.interp( - v_ego, - [MACH_E_SHARP_DIRECTION_CHANGE_START_SPEED, MACH_E_SHARP_DIRECTION_CHANGE_FULL_SPEED, - MACH_E_SHARP_DIRECTION_CHANGE_HOLD_SPEED, MACH_E_SHARP_DIRECTION_CHANGE_FADE_SPEED], - [0.0, 1.0, 1.0, 0.0], - )) - curvature_weight = float(np.interp( - abs(desired), - [MACH_E_SHARP_DIRECTION_CHANGE_MIN_CURVATURE, MACH_E_SHARP_DIRECTION_CHANGE_FULL_CURVATURE], - [0.0, 1.0], - )) - preview_weight = float(np.interp( - abs(preview), - [MACH_E_SHARP_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, MACH_E_SHARP_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE], - [0.0, 1.0], - )) - acceleration_weight = float(np.interp( - a_ego, - [MACH_E_SHARP_DIRECTION_CHANGE_MIN_ACCEL, MACH_E_SHARP_DIRECTION_CHANGE_FULL_ACCEL], - [0.0, 1.0], - )) - return speed_weight * curvature_weight * preview_weight * acceleration_weight - - def _manual_turn(self, CC, CS, desired: float, driver_assisting: bool = False) -> bool: - if not CC.latActive: - self.human_turn.reset() - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - detected = self.human_turn.update( - self.human_turn_enabled and not driver_assisting, CS.out.steeringPressed, CS.out.steeringAngleDeg) - if self.CP.carFingerprint not in FORD_MANUAL_TURN_LATCH_CARS: - return detected - - if not self.human_turn_enabled: - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - - blinker_direction = float(CS.out.rightBlinker) - float(CS.out.leftBlinker) - driver_turning_with_signal = ( - CS.out.steeringPressed and not driver_assisting and abs(CS.out.steeringAngleDeg) >= MANUAL_TURN_ENTRY_ANGLE_DEG and - blinker_direction != 0.0 and not self._lane_change()[0] and - CS.out.steeringTorque * blinker_direction < 0.0 - ) - if self.model is not None and (detected or driver_turning_with_signal): - self.manual_turn_latched = True - if blinker_direction != 0.0: - self.manual_turn_direction = blinker_direction - elif self.manual_turn_direction == 0.0: - self.manual_turn_direction = -float(np.sign(CS.out.steeringAngleDeg)) - - if not self.manual_turn_latched: - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - - following_next_curve = ( - driver_assisting and not CS.out.leftBlinker and not CS.out.rightBlinker and - CS.out.vEgoRaw >= MACH_E_DIRECTION_CHANGE_MIN_SPEED and self.manual_turn_direction * desired < 0.0 - ) - if not following_next_curve and (CS.out.steeringPressed or blinker_direction != 0.0 or - abs(CS.out.steeringAngleDeg) > MANUAL_TURN_RELEASE_ANGLE_DEG): - self.manual_turn_recovery_timer = 0.0 - else: - self.manual_turn_recovery_timer += STEER_DT - if self.manual_turn_recovery_timer + 1e-9 >= MANUAL_TURN_RECOVERY_SECONDS: - current = self._current_curvature(CS) - if (self.manual_turn_direction * desired > 0.0 and - self.manual_turn_direction * (desired - current) > CarControllerParams.CURVATURE_ERROR): - self.manual_turn_recovery_timer = MANUAL_TURN_RECOVERY_SECONDS - else: - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - - return self.manual_turn_latched - - def update(self, CC, CS, actuators) -> FordLateralResult: - current = self._current_curvature(CS) - if not CC.latActive: - self.human_turn.reset() - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - self.curvature_samples.clear() - self.curvature_last = 0.0 - self.path_angle_last = 0.0 - self.path_angle_driver_cooldown = 0.0 - self.desired_curvature_last = 0.0 - self.turn_in_preview_hold_timer = 0.0 - self.unwind_preview_hold_timer = 0.0 - return FordLateralResult() - - desired = float(actuators.curvature) - driver_assisting = self._driver_assisting_curve(CS, desired) - driver_override = bool(CS.out.steeringPressed) and not driver_assisting - manual_turn = self._manual_turn(CC, CS, desired, driver_assisting) - if manual_turn or CS.out.vEgoRaw < 0.1: - if CS.out.steeringPressed: - self.path_angle_driver_cooldown = MACH_E_PATH_ANGLE_DRIVER_COOLDOWN - self.curvature_samples.clear() - self.curvature_last = 0.0 - self.path_angle_last = 0.0 - self.desired_curvature_last = 0.0 - self.turn_in_preview_hold_timer = 0.0 - self.unwind_preview_hold_timer = 0.0 - return FordLateralResult(active=not ( - manual_turn and self.CP.carFingerprint in FORD_MANUAL_TURN_LATCH_CARS)) - - v_ego = float(CS.out.vEgoRaw) - lookahead = self._curvature_lookahead() - lookahead += self._high_speed_lookahead_extra(v_ego, bool(CS.out.steeringPressed), self._lane_change()[0]) - predicted = self._predicted_curvature(v_ego, lookahead) - allow_opposite_preview = False - if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS: - turn_in_plateau = self._turn_in_preview_plateau( - desired, current, v_ego, bool(CS.out.steeringPressed), self._lane_change()[0]) - turn_in_predicted = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA) - direction_change_predicted = turn_in_predicted - direction_change_weight = 0.0 - sharp_direction_change_weight = 0.0 - direction_change_speed_weight = float(v_ego > MACH_E_DIRECTION_CHANGE_MIN_SPEED) - low_speed_direction_change = direction_change_speed_weight == 0.0 - if direction_change_speed_weight == 0.0: - direction_change_speed_weight = self._low_speed_direction_change_weight(v_ego, desired) - if self.CP.carFingerprint in FORD_SHARP_DIRECTION_CHANGE_CARS: - sharp_direction_change_weight = self._sharp_direction_change_weight( - v_ego, float(CS.out.aEgo), desired, turn_in_predicted) - direction_change_speed_weight = max(direction_change_speed_weight, sharp_direction_change_weight) - if direction_change_speed_weight > 0.0 and not CS.out.steeringPressed and not self._lane_change()[0]: - direction_change_lookahead_extra = self._direction_change_lookahead_extra(v_ego) - early_handoff_weight = float(np.interp( - direction_change_lookahead_extra, - [MACH_E_TURN_IN_LOOKAHEAD_EXTRA, MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA], - [0.0, 1.0], - )) - early_handoff_weight *= float(np.interp( - abs(desired), - [MACH_E_DIRECTION_CHANGE_EARLY_MIN_CURVATURE, MACH_E_DIRECTION_CHANGE_EARLY_FULL_CURVATURE], - [0.0, 1.0], - )) - if direction_change_lookahead_extra > MACH_E_TURN_IN_LOOKAHEAD_EXTRA: - direction_change_predicted = self._predicted_curvature(v_ego, lookahead + direction_change_lookahead_extra) - direction_change_weight = self._direction_change_preview_weight( - desired, direction_change_predicted, current, allow_rising_desired=low_speed_direction_change, - early_handoff_weight=early_handoff_weight, sharp_handoff=sharp_direction_change_weight > 0.0) - direction_change_weight *= direction_change_speed_weight - if direction_change_weight > 0.0: - predicted = float(np.interp(direction_change_weight, [0.0, 1.0], [predicted, direction_change_predicted])) - allow_opposite_preview = True - else: - turn_in_lookahead_extra = self._turn_in_lookahead_extra(v_ego) - if (turn_in_lookahead_extra > MACH_E_TURN_IN_LOOKAHEAD_EXTRA and - desired * self.desired_curvature_last >= 0.0 and - (abs(desired) > abs(self.desired_curvature_last) or turn_in_plateau)): - low_speed_turn_in_predicted = self._predicted_curvature(v_ego, lookahead + turn_in_lookahead_extra) - if (desired * low_speed_turn_in_predicted > 0.0 and - abs(low_speed_turn_in_predicted) > abs(turn_in_predicted)): - turn_in_predicted = low_speed_turn_in_predicted - turn_in_weight = self._turn_in_preview_weight(desired, turn_in_predicted, current, turn_in_plateau) - if turn_in_weight > 0.0: - turn_in_target = float(np.copysign(max(abs(desired), abs(turn_in_predicted)), desired)) - predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_target])) - unwind_plateau = self._unwind_preview_plateau( - desired, v_ego, bool(CS.out.steeringPressed), self._lane_change()[0]) - command_predicted = predicted - canfd_mach_e = self.CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and self.CP.flags & FordFlags.CANFD - if (not allow_opposite_preview or canfd_mach_e) and not CS.out.steeringPressed and not self._lane_change()[0]: - command_predicted = self._unwind_preview(desired, predicted, current, v_ego, unwind_plateau) - unwind_selected = command_predicted != predicted - command_predicted = self._reversal_followthrough_preview( - desired, command_predicted, current, v_ego, bool(CS.out.steeringPressed), self._lane_change()[0]) - requested, precision = self._blend_and_scale(desired, command_predicted, v_ego, current, allow_opposite_preview) - if unwind_selected: - requested = self._unwind_request(desired, predicted, command_predicted, requested) - - if v_ego > 9.0: - error_limit = self._curvature_error_limit( - requested, desired, current, v_ego, driver_override, self._lane_change()[0], command_predicted) - requested = float(np.clip(requested, current - error_limit, current + error_limit)) - applied = float(apply_std_steer_angle_limits( - requested, self.curvature_last, v_ego, CS.out.steeringAngleDeg, True, FORD_CURVATURE_LIMITS)) - if self.CP.flags & FordFlags.CANFD: - max_curvature = MAX_LATERAL_ACCEL / max(v_ego, 1.0) ** 2 - applied = float(np.clip(applied, -max_curvature, max_curvature)) - path_angle = self._path_angle_assist( - requested, desired, applied, current, v_ego, driver_override, self._lane_change()[0]) - if path_angle != 0.0 and not self._path_angle_assist_permitted(CC, CS): - self.path_angle_last = 0.0 - path_angle = 0.0 - - self.curvature_samples.append(predicted) - curvature_rate = 0.0 - if len(self.curvature_samples) > 1: - sample_time = (len(self.curvature_samples) - 1) * STEER_DT - curvature_rate = (self.curvature_samples[-1] - self.curvature_samples[0]) / max(sample_time * v_ego, 0.01) - curvature_rate *= float(np.interp(abs(predicted), [0.0, 0.008, 0.01], [0.0, 0.0, 1.0])) - curvature_rate *= float(np.interp(v_ego, [0.0, 14.5, 15.5], [1.0, 1.0, 0.0])) - if self._lane_change()[0]: - curvature_rate = 0.0 - - if (self.CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and self.CP.flags & FordFlags.CANFD and - unwind_selected and command_predicted * curvature_rate > 0.0): - curvature_rate = 0.0 - - curvature_rate = self._turn_in_curvature_rate( - desired, current, curvature_rate, v_ego, lookahead, bool(CS.out.steeringPressed), self._lane_change()[0]) - self.desired_curvature_last = desired - - self.curvature_last = float(np.clip(applied, -0.02, 0.02)) - min_curvature_rate = -0.001024 - if self.CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and self.CP.flags & FordFlags.CANFD: - min_curvature_rate = -0.001023 - curvature_rate = float(np.clip(curvature_rate, min_curvature_rate, 0.001023)) - return FordLateralResult( - curvature=self.curvature_last, - curvature_rate=curvature_rate, - path_angle=path_angle, - ramp_type=2, - precision_type=precision, - active=True, - ) diff --git a/opendbc_repo/opendbc/car/ford/mache_can.py b/opendbc_repo/opendbc/car/ford/mache_can.py deleted file mode 100644 index be451d801c..0000000000 --- a/opendbc_repo/opendbc/car/ford/mache_can.py +++ /dev/null @@ -1,50 +0,0 @@ -"""Ford extended-lateral CAN constructors. - -Adapted from BluePilot's ``fordcan_ext.py`` and extended-lateral protocol at bp-7.0 commit -e1d051d7ba270261b4455068bd68f1a58db15a4a, including panda integration developed principally by -Alan Polk. See CREDITS.md and THIRD_PARTY_NOTICES.md for detailed provenance and terms. -""" - -from opendbc.car.ford.fordcan import CanBus - - -def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int: - curvature = (dat[2] << 3) | ((dat[3]) >> 5) - curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) - path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2) - path_offset = ((dat[4] & 0x3) << 8) | dat[5] - - checksum = mode + counter - for sig_val in (curvature, curvature_rate, path_angle, path_offset): - checksum += sig_val + (sig_val >> 8) - - return 0xFF - (checksum & 0xFF) - - - -def create_lka_msg(packer, CAN: CanBus): - addr, dat, bus = packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) - dat = bytearray(dat) - dat[4] |= 0x2 - return addr, bytes(dat), bus - - - - -def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, ramp_type: int, precision_type: int, - curvature: float, curvature_rate: float, counter: int, path_angle: float = 0.0): - values = { - "LatCtl_D2_Rq": mode, - "LatCtlRampType_D_Rq": ramp_type, - "LatCtlPrecision_D_Rq": precision_type, - "LatCtlPathOffst_L_Actl": 0.0, - "LatCtlPath_An_Actl": path_angle, - "LatCtlCurv_No_Actl": curvature, - "LatCtlCrv_NoRate2_Actl": curvature_rate, - "HandsOffCnfm_B_Rq": 0, - "LatCtlPath_No_Cnt": counter, - "LatCtlPath_No_Cs": 0, - } - dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1] - values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - return packer.make_can_msg("LateralMotionControl2", CAN.main, values) diff --git a/opendbc_repo/opendbc/car/ford/mache_lateral.py b/opendbc_repo/opendbc/car/ford/mache_lateral.py deleted file mode 100644 index 7fff75cac6..0000000000 --- a/opendbc_repo/opendbc/car/ford/mache_lateral.py +++ /dev/null @@ -1,155 +0,0 @@ -"""Ford lateral-control extensions. - -The extended curvature strategy, manual-turn detector, and related safety protocol are substantially -adapted from BluePilot's Ford work, principally by Alan Polk and additional contributors. The audited -bp-7.0 reference is e1d051d7ba270261b4455068bd68f1a58db15a4a; source attribution is retained in -CREDITS.md and THIRD_PARTY_NOTICES.md. StarPilot reorganized that work for its own architecture and has since -changed its tuning and lookahead behavior. - -See CREDITS.md for feature-level authorship and upstream commits, and THIRD_PARTY_NOTICES.md for the -published upstream license notices. Upstream contributors do not maintain this adaptation. - -Mach-E admission and modern command envelope; pure strategy is shared separately. -""" - -from dataclasses import replace - -import numpy as np - -from opendbc.car import structs -from opendbc.car.ford.aol import base_safety_param -from opendbc.car.ford.values import CAR, FordFlags, FordSafetyFlags -from opendbc.car.lateral import MAX_LATERAL_JERK -from opendbc.car.ford.lateral_strategy import ( - FordLateralController, - FORD_CURVATURE_LIMITS as FORD_CURVATURE_LIMITS, - MAX_LATERAL_ACCEL as MAX_LATERAL_ACCEL, - STEER_DT as STEER_DT, - CURVATURE_LOOKAHEAD_MIN as CURVATURE_LOOKAHEAD_MIN, - CURVATURE_LOOKAHEAD_MAX as CURVATURE_LOOKAHEAD_MAX, - MACH_E_TURN_IN_LOOKAHEAD_EXTRA as MACH_E_TURN_IN_LOOKAHEAD_EXTRA, - MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA as MACH_E_LOW_SPEED_TURN_IN_LOOKAHEAD_EXTRA, - MACH_E_LOW_SPEED_TURN_IN_START_SPEED as MACH_E_LOW_SPEED_TURN_IN_START_SPEED, - MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED as MACH_E_LOW_SPEED_TURN_IN_FULL_SPEED, - MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED as MACH_E_LOW_SPEED_TURN_IN_MAX_SPEED, - MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED as MACH_E_LOW_SPEED_TURN_IN_FADE_SPEED, - MACH_E_TURN_IN_MIN_CURVATURE as MACH_E_TURN_IN_MIN_CURVATURE, - MACH_E_TURN_IN_FULL_CURVATURE as MACH_E_TURN_IN_FULL_CURVATURE, - MACH_E_TURN_IN_LAG_CURVATURE as MACH_E_TURN_IN_LAG_CURVATURE, - MACH_E_UNWIND_LOOKAHEAD_EXTRA as MACH_E_UNWIND_LOOKAHEAD_EXTRA, - MACH_E_UNWIND_FULL_LAG_CURVATURE as MACH_E_UNWIND_FULL_LAG_CURVATURE, - MACH_E_UNWIND_PREVIEW_LAG_CURVATURE as MACH_E_UNWIND_PREVIEW_LAG_CURVATURE, - MACH_E_DIRECTION_CHANGE_MIN_SPEED as MACH_E_DIRECTION_CHANGE_MIN_SPEED, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_RAMP_SPEED as MACH_E_DIRECTION_CHANGE_LOOKAHEAD_RAMP_SPEED, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FULL_SPEED as MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FULL_SPEED, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FADE_SPEED as MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FADE_SPEED, - MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA as MACH_E_DIRECTION_CHANGE_LOOKAHEAD_EXTRA, - MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE as MACH_E_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, - MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE as MACH_E_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE, - MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE as MACH_E_DIRECTION_CHANGE_MIN_LAG_CURVATURE, - MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE as MACH_E_DIRECTION_CHANGE_FULL_LAG_CURVATURE, - MACH_E_DIRECTION_CHANGE_EARLY_MIN_LAG_CURVATURE as MACH_E_DIRECTION_CHANGE_EARLY_MIN_LAG_CURVATURE, - MACH_E_DIRECTION_CHANGE_EARLY_FULL_LAG_CURVATURE as MACH_E_DIRECTION_CHANGE_EARLY_FULL_LAG_CURVATURE, - MACH_E_DIRECTION_CHANGE_EARLY_MIN_CURVATURE as MACH_E_DIRECTION_CHANGE_EARLY_MIN_CURVATURE, - MACH_E_DIRECTION_CHANGE_EARLY_FULL_CURVATURE as MACH_E_DIRECTION_CHANGE_EARLY_FULL_CURVATURE, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_START_SPEED as MACH_E_LOW_SPEED_DIRECTION_CHANGE_START_SPEED, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_SPEED as MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_SPEED, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_HOLD_SPEED as MACH_E_LOW_SPEED_DIRECTION_CHANGE_HOLD_SPEED, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_FADE_SPEED as MACH_E_LOW_SPEED_DIRECTION_CHANGE_FADE_SPEED, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_MIN_CURVATURE as MACH_E_LOW_SPEED_DIRECTION_CHANGE_MIN_CURVATURE, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_CURVATURE as MACH_E_LOW_SPEED_DIRECTION_CHANGE_FULL_CURVATURE, - MACH_E_LOW_SPEED_DIRECTION_CHANGE_MAX_CURVATURE as MACH_E_LOW_SPEED_DIRECTION_CHANGE_MAX_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_START_SPEED as MACH_E_SHARP_DIRECTION_CHANGE_START_SPEED, - MACH_E_SHARP_DIRECTION_CHANGE_FULL_SPEED as MACH_E_SHARP_DIRECTION_CHANGE_FULL_SPEED, - MACH_E_SHARP_DIRECTION_CHANGE_HOLD_SPEED as MACH_E_SHARP_DIRECTION_CHANGE_HOLD_SPEED, - MACH_E_SHARP_DIRECTION_CHANGE_FADE_SPEED as MACH_E_SHARP_DIRECTION_CHANGE_FADE_SPEED, - MACH_E_SHARP_DIRECTION_CHANGE_MIN_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_MIN_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_FULL_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_FULL_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_MIN_PREVIEW_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_FULL_PREVIEW_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_MIN_ACCEL as MACH_E_SHARP_DIRECTION_CHANGE_MIN_ACCEL, - MACH_E_SHARP_DIRECTION_CHANGE_FULL_ACCEL as MACH_E_SHARP_DIRECTION_CHANGE_FULL_ACCEL, - MACH_E_SHARP_DIRECTION_CHANGE_MIN_LAG_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_MIN_LAG_CURVATURE, - MACH_E_SHARP_DIRECTION_CHANGE_FULL_LAG_CURVATURE as MACH_E_SHARP_DIRECTION_CHANGE_FULL_LAG_CURVATURE, - MACH_E_CURVATURE_ERROR_MAX as MACH_E_CURVATURE_ERROR_MAX, - MACH_E_UNDERSTEER_ERROR_MIN_DEFICIT as MACH_E_UNDERSTEER_ERROR_MIN_DEFICIT, - MACH_E_UNDERSTEER_ERROR_FULL_DEFICIT as MACH_E_UNDERSTEER_ERROR_FULL_DEFICIT, - MACH_E_PATH_ANGLE_MAX as MACH_E_PATH_ANGLE_MAX, - MACH_E_PATH_ANGLE_STEP as MACH_E_PATH_ANGLE_STEP, - MACH_E_PATH_ANGLE_FADE_START_SPEED as MACH_E_PATH_ANGLE_FADE_START_SPEED, - MACH_E_PATH_ANGLE_MAX_SPEED as MACH_E_PATH_ANGLE_MAX_SPEED, - MACH_E_PATH_ANGLE_TRACKING_FACTOR as MACH_E_PATH_ANGLE_TRACKING_FACTOR, - MACH_E_PATH_ANGLE_DRIVER_COOLDOWN as MACH_E_PATH_ANGLE_DRIVER_COOLDOWN, - MACH_E_DRIVER_ASSIST_MIN_SPEED as MACH_E_DRIVER_ASSIST_MIN_SPEED, - MACH_E_DRIVER_ASSIST_MAX_SPEED as MACH_E_DRIVER_ASSIST_MAX_SPEED, - MACH_E_DRIVER_ASSIST_MAX_TORQUE as MACH_E_DRIVER_ASSIST_MAX_TORQUE, - FORD_CURVATURE_LOOKAHEAD as FORD_CURVATURE_LOOKAHEAD, - FORD_CONSERVATIVE_PREVIEW_CARS as FORD_CONSERVATIVE_PREVIEW_CARS, - FORD_SHARP_DIRECTION_CHANGE_CARS as FORD_SHARP_DIRECTION_CHANGE_CARS, - FORD_MANUAL_TURN_LATCH_CARS as FORD_MANUAL_TURN_LATCH_CARS, - MANUAL_TURN_ENTRY_ANGLE_DEG as MANUAL_TURN_ENTRY_ANGLE_DEG, - MANUAL_TURN_RELEASE_ANGLE_DEG as MANUAL_TURN_RELEASE_ANGLE_DEG, - MANUAL_TURN_RECOVERY_SECONDS as MANUAL_TURN_RECOVERY_SECONDS, - FordLateralResult as FordLateralResult, - HumanTurnDetector as HumanTurnDetector, -) - - -class MachELateralController(FordLateralController): - """Compatibility owner for the exact admitted Mach-E profile.""" - - -def qualified(CP) -> bool: - if (CP.brand != "ford" or CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or - not CP.flags & FordFlags.CANFD or CP.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM) or - CP.passive or CP.dashcamOnly or CP.notCar or CP.alternativeExperience not in (0, 32) or - len(CP.safetyConfigs) not in (1, 2)): - return False - if len(CP.safetyConfigs) == 2 and (CP.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - CP.safetyConfigs[0].safetyParam != 0): - return False - safety = CP.safetyConfigs[-1] - return (safety.safetyModel == structs.CarParams.SafetyModel.ford and - base_safety_param(CP) == int(FordSafetyFlags.CANFD | FordSafetyFlags.MACH_E_EXTENDED | - (FordSafetyFlags.LONG_CONTROL if CP.openpilotLongitudinalControl else 0))) - - -def path_speed_window_supported(CP) -> bool: - return (qualified(CP) and CP.alternativeExperience == 32 and - len(CP.safetyConfigs) == 1 and CP.safetyConfigs[0].safetyParam == - int(FordSafetyFlags.CANFD | FordSafetyFlags.MACH_E_EXTENDED | FordSafetyFlags.LONG_CONTROL)) - - -def bounded_command(owner: MachELateralController, demanded: FordLateralResult, previous: float, speed: float, - previous_path_angle: float = 0.0, speed_window=None) -> FordLateralResult: - """Intersect original demand with modern transient limits and old absolute cap. - - A discontinuous speed change may leave no legal active interval. Withdraw the - request then, rather than clipping outside the jerk interval. Histories always - follow emitted fields; the original demand remains observable separately. - """ - cap = min(0.02, MAX_LATERAL_ACCEL / max(speed, 1.0) ** 2) - jerk_delta = MAX_LATERAL_JERK / max(speed, 1.0) ** 2 * STEER_DT - low, high = max(-cap, previous - jerk_delta), min(cap, previous + jerk_delta) - if not demanded.active or low > high: - command = FordLateralResult() - else: - curvature = float(np.clip(demanded.curvature, low, high)) - path_angle = 0.0 - # Native path assistance checks the maximum of six raw ABS speed samples. - # Do not emit an assist that only the newest (lower) speed sample permits. - path_speed = max(speed, speed_window[1]) if speed_window is not None else speed - if (3.0 <= speed and path_speed < MACH_E_PATH_ANGLE_MAX_SPEED and abs(curvature) >= 0.0195 and - curvature * demanded.path_angle > 0.0): - headroom = max(0.0, (MAX_LATERAL_ACCEL / path_speed ** 2 - abs(curvature)) * path_speed) - path_cap = min(MACH_E_PATH_ANGLE_MAX, headroom) - path_low = max(-path_cap, previous_path_angle - MACH_E_PATH_ANGLE_STEP) - path_high = min(path_cap, previous_path_angle + MACH_E_PATH_ANGLE_STEP) - if path_low <= path_high: - path_angle = float(np.clip(demanded.path_angle, path_low, path_high)) - if path_angle * curvature <= 0.0: - path_angle = 0.0 - command = replace(demanded, curvature=curvature, path_angle=path_angle) - owner.curvature_last = command.curvature - owner.path_angle_last = command.path_angle - return command diff --git a/opendbc_repo/opendbc/car/ford/manual_turn.py b/opendbc_repo/opendbc/car/ford/manual_turn.py deleted file mode 100644 index 3380c79212..0000000000 --- a/opendbc_repo/opendbc/car/ford/manual_turn.py +++ /dev/null @@ -1,101 +0,0 @@ -import numpy as np - -from opendbc.car import DT_CTRL -from opendbc.car.ford.values import CarControllerParams - -STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL -MANUAL_TURN_ENTRY_ANGLE_DEG = 12.0 -MANUAL_TURN_RELEASE_ANGLE_DEG = 12.0 -MANUAL_TURN_RECOVERY_SECONDS = 0.25 - - -class HumanTurnDetector: - ANGLE_DEG = 45.0 - HOLD_SECONDS = 1.5 - PRETURNED_HOLD_SECONDS = 3.0 - - def __init__(self): - self.timer = 0.0 - self.active = False - self._pressed_last = False - self._press_started_preturned = False - - def update(self, enabled: bool, steering_pressed: bool, steering_angle_deg: float) -> bool: - if steering_pressed and not self._pressed_last: - self._press_started_preturned = abs(steering_angle_deg) > self.ANGLE_DEG - self._pressed_last = steering_pressed - - if enabled and steering_pressed and abs(steering_angle_deg) > self.ANGLE_DEG: - self.timer += STEER_DT - else: - self.timer = 0.0 - - hold_time = self.PRETURNED_HOLD_SECONDS if self._press_started_preturned else self.HOLD_SECONDS - self.active = self.timer + 1e-9 >= hold_time - return self.active - - def reset(self): - self.timer = 0.0 - self.active = False - self._pressed_last = False - self._press_started_preturned = False - - -class ManualTurnLatch: - def __init__(self): - self.human_turn = HumanTurnDetector() - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - self.human_turn_enabled = True - - def update(self, CC, CS, desired: float, enabled: bool, lane_change: bool, entry_allowed: bool = True) -> bool: - if not CC.latActive: - self.human_turn.reset() - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - self.human_turn_enabled = enabled - detected = self.human_turn.update( - self.human_turn_enabled, CS.out.steeringPressed, CS.out.steeringAngleDeg) - if not self.human_turn_enabled: - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - - blinker_direction = float(CS.out.rightBlinker) - float(CS.out.leftBlinker) - driver_turning_with_signal = ( - CS.out.steeringPressed and abs(CS.out.steeringAngleDeg) >= MANUAL_TURN_ENTRY_ANGLE_DEG and - blinker_direction != 0.0 and not lane_change and - CS.out.steeringTorque * blinker_direction < 0.0 - ) - if entry_allowed and (detected or driver_turning_with_signal): - self.manual_turn_latched = True - if blinker_direction != 0.0: - self.manual_turn_direction = blinker_direction - elif self.manual_turn_direction == 0.0: - self.manual_turn_direction = -float(np.sign(CS.out.steeringAngleDeg)) - - if not self.manual_turn_latched: - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - return False - - if (CS.out.steeringPressed or blinker_direction != 0.0 or - abs(CS.out.steeringAngleDeg) > MANUAL_TURN_RELEASE_ANGLE_DEG): - self.manual_turn_recovery_timer = 0.0 - else: - self.manual_turn_recovery_timer += STEER_DT - if self.manual_turn_recovery_timer + 1e-9 >= MANUAL_TURN_RECOVERY_SECONDS: - current = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) - if (self.manual_turn_direction * desired > 0.0 and - self.manual_turn_direction * (desired - current) > CarControllerParams.CURVATURE_ERROR): - self.manual_turn_recovery_timer = MANUAL_TURN_RECOVERY_SECONDS - else: - self.manual_turn_latched = False - self.manual_turn_recovery_timer = 0.0 - self.manual_turn_direction = 0.0 - - return self.manual_turn_latched diff --git a/opendbc_repo/opendbc/car/ford/new_port_curvature.py b/opendbc_repo/opendbc/car/ford/new_port_curvature.py deleted file mode 100644 index 725438db7c..0000000000 --- a/opendbc_repo/opendbc/car/ford/new_port_curvature.py +++ /dev/null @@ -1,70 +0,0 @@ -"""Reuse the current Ford curvature strategy for exact Edge/Mondeo callers. - -Only scalar curvature crosses the existing native boundary; no protocol extension. -The reused strategy retains its required provenance and notices in lateral_strategy.py. -""" -from dataclasses import replace -import math - -from opendbc.car import structs -from opendbc.car.ford.aol import base_safety_param -from opendbc.car.ford.explorer_lateral import bounded_command as shared_bound -from opendbc.car.ford.lateral_strategy import FordLateralController, FordLateralResult -from opendbc.car.ford.values import CAR, FordFlags - -PROFILES = { - CAR.FORD_EDGE_MK2: (int(FordFlags.NEW_PORT | FordFlags.ALT_STEER_ANGLE), 8), - CAR.FORD_MONDEO_MK5: (int(FordFlags.NEW_PORT | FordFlags.CANFD), 10), -} - - -def qualified(cp): - profile = PROFILES.get(cp.carFingerprint) - if (profile is None or cp.brand != "ford" or cp.passive or cp.dashcamOnly or cp.notCar or - cp.alternativeExperience not in (0, 32) or not cp.pcmCruise or - cp.steerControlType != structs.CarParams.SteerControlType.angle or - len(cp.safetyConfigs) not in (1, 2)): - return False - flags, word = profile - if (int(cp.flags) & ~int(FordFlags.HAS_BSM)) != flags: - return False - if len(cp.safetyConfigs) == 2 and (cp.safetyConfigs[0].safetyModel != structs.CarParams.SafetyModel.noOutput or - cp.safetyConfigs[0].safetyParam != 0): - return False - safety = cp.safetyConfigs[-1] - return safety.safetyModel == structs.CarParams.SafetyModel.ford and base_safety_param(cp) == word + int(cp.openpilotLongitudinalControl) - - -class NewPortCurvatureController(FordLateralController): - def __init__(self, cp): - if not qualified(cp): - raise ValueError("Edge/Mondeo curvature requires its exact current native profile") - super().__init__(cp) - self.manual_turn_detected = False - - def _manual_turn(self, CC, CS, desired: float, driver_assisting: bool = False) -> bool: - self.manual_turn_detected = super()._manual_turn(CC, CS, desired, driver_assisting) - return self.manual_turn_detected - - def update(self, CC, CS, actuators): - out = CS.out - if (not CC.latActive or not out.canValid or out.canTimeout or out.steerFaultTemporary or - out.steerFaultPermanent or out.vehicleSensorsInvalid or - not all(math.isfinite(value) for value in (out.vEgoRaw, out.yawRate, out.steeringAngleDeg, actuators.curvature))): - self.human_turn.reset() - self.curvature_samples.clear() - self.curvature_last = self.path_angle_last = 0.0 - self.manual_turn_detected = False - return FordLateralResult() - return super().update(CC, CS, actuators) - - -def create_controller(cp): - return NewPortCurvatureController(cp) if qualified(cp) else None - - -def bounded_command(owner, demanded, previous, speed, measured): - cap = (3.0 - 9.81 * .06) / max(speed, 1.) ** 2 if owner.CP.flags & FordFlags.CANFD else None - command = shared_bound(owner, demanded, previous, speed, measured, absolute_cap=cap) - # These profiles keep their current curvature-only native/codec contract. - return replace(command, curvature_rate=0.0, path_angle=0.0, ramp_type=0, precision_type=1) diff --git a/opendbc_repo/opendbc/car/ford/pinion.py b/opendbc_repo/opendbc/car/ford/pinion.py deleted file mode 100644 index f6cac968ed..0000000000 --- a/opendbc_repo/opendbc/car/ford/pinion.py +++ /dev/null @@ -1,84 +0,0 @@ -"""Init-only pinion measurement selection adapted from BluePilot PR #145. - -See CREDITS.md and THIRD_PARTY_NOTICES.md for upstream attribution and license. -The geometry is carried in the existing exact Panda safety word, not live Params. -""" -from opendbc.car.ford.values import CAR - -KEY = "FordPrefSteerAngleCurvature" -ENABLE = 0x200 -SHIFT = 10 -MASK = 0x3E00 -GEOMETRY = { - CAR.FORD_BRONCO_SPORT_MK1: 1, CAR.FORD_ESCAPE_MK4: 2, CAR.FORD_ESCAPE_MK4_5: 3, - CAR.FORD_EXPEDITION_MK4: 4, CAR.FORD_EXPLORER_MK6: 5, CAR.FORD_FOCUS_MK4: 6, - CAR.FORD_F_150_LIGHTNING_MK1: 7, CAR.FORD_F_150_MK14: 8, CAR.FORD_MAVERICK_MK1: 9, - CAR.FORD_MONDEO_MK5: 10, CAR.FORD_MUSTANG_MACH_E_MK1: 11, CAR.FORD_RANGER_MK2: 12, -} -CLASSIC = frozenset((32, 33, 128, 129, 160, 161)) -GENERIC = frozenset((66, 67, 130, 131, 194, 195)) -MACH_E = frozenset((18, 19, 130, 131, 146, 147)) -PROFILES = {i: CLASSIC if i in (1, 2, 5, 6, 9) else MACH_E if i == 11 else frozenset((10, 11)) if i == 10 else GENERIC - for i in range(1, 13)} - - -def decode(word): - """Return (original profile, geometry), or None for malformed metadata.""" - if not word & MASK: - return word, 0 - index = (word >> SHIFT) & 15 - base = word & ~MASK - if not word & ENABLE or index not in PROFILES or (base & ~256) not in PROFILES[index]: - return None - return base, index - - -def base_word(word): - result = decode(int(word)) - return result[0] if result is not None else -1 - - -def configured(cp): - if cp.brand != "ford" or not cp.safetyConfigs: - return False - result = decode(int(cp.safetyConfigs[-1].safetyParam)) - return bool(result is not None and result[1] and result[1] == GEOMETRY.get(cp.carFingerprint)) - - -def select(cp, enabled): - if not enabled or cp.brand != "ford" or cp.passive or cp.dashcamOnly or cp.notCar: - return False - from opendbc.car.ford.aol import qualified - if not qualified(cp): - return False - index = GEOMETRY.get(cp.carFingerprint) - if index is None: - return False - cp.safetyConfigs[-1].safetyParam |= ENABLE | index << SHIFT - return True - - -class Measurement: - """Same init-time family as native; live model correction never changes the source.""" - def __init__(self, cp): - self.enabled = configured(cp) - self.offset = self.roll = 0.0 - self.model = None - if self.enabled: - from opendbc.car.vehicle_model import VehicleModel - self.model = VehicleModel(cp) - - def update_parameters(self, parameters): - import math - if self.model is None or parameters is None: - return - values = (parameters.angleOffsetDeg, parameters.roll, parameters.stiffnessFactor, parameters.steerRatio) - if parameters.valid and all(math.isfinite(v) for v in values): - self.offset, self.roll = values[:2] - self.model.update_params(max(values[2], 0.1), max(values[3], 0.1)) - - def curvature(self, state): - if not self.enabled: - return -state.yawRate / max(state.vEgoRaw, 0.1) - import math - return -self.model.calc_curvature(math.radians(state.steeringAngleDeg - self.offset), state.vEgoRaw, self.roll) diff --git a/opendbc_repo/opendbc/car/ford/radar_interface.py b/opendbc_repo/opendbc/car/ford/radar_interface.py index c87ea86d0c..c5da2ef7e0 100644 --- a/opendbc_repo/opendbc/car/ford/radar_interface.py +++ b/opendbc_repo/opendbc/car/ford/radar_interface.py @@ -7,9 +7,7 @@ from opendbc.can import CANParser from opendbc.car import Bus, structs from opendbc.car.common.conversions import Conversions as CV from opendbc.car.ford.fordcan import CanBus -from opendbc.car.ford.values import DBC, RADAR -from opendbc.car.ford.generic_canfd_lateral import qualified as generic_canfd_qualified -from opendbc.car.ford.mache_lateral import qualified as mache_qualified +from opendbc.car.ford.values import DBC, FORD_CANFD_CARS, FordFlags, RADAR from opendbc.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) @@ -102,7 +100,8 @@ class RadarInterface(RadarInterfaceBase): self.points: list[list[float]] = [] self.clusters: list[Cluster] = [] - self.generic_canfd_lead = generic_canfd_qualified(CP) or mache_qualified(CP) + self.generic_canfd_lead = (CP.carFingerprint in FORD_CANFD_CARS and bool(CP.flags & FordFlags.CANFD) and + not CP.flags & ~int(FordFlags.CANFD | FordFlags.HAS_BSM)) self.v_rel_history = deque(maxlen=20) self.updated_messages = set() diff --git a/opendbc_repo/opendbc/car/ford/stock_cruise.py b/opendbc_repo/opendbc/car/ford/stock_cruise.py index a04ae321ff..fc831efc20 100644 --- a/opendbc_repo/opendbc/car/ford/stock_cruise.py +++ b/opendbc_repo/opendbc/car/ford/stock_cruise.py @@ -3,8 +3,6 @@ from opendbc.car import structs from opendbc.car.ford.aol import base_safety_param from opendbc.car.ford.values import CAR, FordFlags, FordSafetyFlags -from opendbc.car.ford.classic_lateral import CLASSIC_EXTENDED_CARS -from opendbc.car.ford.generic_canfd_lateral import qualified as generic_canfd_qualified class FordStockCruiseButton: @@ -28,9 +26,6 @@ class FordStockCruiseButton: def qualified(CP) -> bool: - from opendbc.bluepilot_lateral.hosts.starpilot import qualified as angle_qualified - if angle_qualified(CP): - return not CP.openpilotLongitudinalControl """Existing stock profiles with the paired physical-driver button contract.""" if (CP.brand != "ford" or CP.carFingerprint not in tuple(CAR) or CP.openpilotLongitudinalControl or CP.alternativeExperience not in (0, 32) or CP.passive or CP.dashcamOnly or CP.notCar or len(CP.safetyConfigs) not in (1, 2) or @@ -40,17 +35,9 @@ def qualified(CP) -> bool: CP.safetyConfigs[0].safetyParam != 0): return False safety = CP.safetyConfigs[-1] - if safety.safetyModel != structs.CarParams.SafetyModel.ford or base_safety_param(CP) not in (2, 8, 10, 12, 18, 32, 66): + if safety.safetyModel != structs.CarParams.SafetyModel.ford or base_safety_param(CP) not in (0, 2, 8, 10, 12): return False - if safety.safetyModel == structs.CarParams.SafetyModel.ford and base_safety_param(CP) == 32: - return CP.carFingerprint in CLASSIC_EXTENDED_CARS and not CP.flags & ~int(FordFlags.HAS_BSM) - if base_safety_param(CP) == 66: - return generic_canfd_qualified(CP) expected = (int(FordSafetyFlags.CANFD) if CP.flags & FordFlags.CANFD else 0) expected |= int(FordSafetyFlags.NEW_PORT) if CP.flags & FordFlags.NEW_PORT else 0 expected |= int(FordSafetyFlags.LKA_STEERING) if CP.flags & FordFlags.LKA_STEERING else 0 - if base_safety_param(CP) == 18: - if CP.carFingerprint != CAR.FORD_MUSTANG_MACH_E_MK1 or expected != int(FordSafetyFlags.CANFD): - return False - expected |= int(FordSafetyFlags.MACH_E_EXTENDED) return base_safety_param(CP) == expected diff --git a/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py b/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py index 2911dc1e28..bf3d3094f2 100644 --- a/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py +++ b/opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py @@ -9,11 +9,11 @@ from opendbc.car.ford.values import CAR PROFILES = ( - (CAR.FORD_BRONCO_SPORT_MK1, 32), (CAR.FORD_ESCAPE_MK4, 32), (CAR.FORD_FOCUS_MK4, 32), - (CAR.FORD_MAVERICK_MK1, 32), (CAR.FORD_EXPLORER_MK6, 32), - (CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4_5, 66), - (CAR.FORD_EXPEDITION_MK4, 66), (CAR.FORD_F_150_MK14, 66), - (CAR.FORD_F_150_LIGHTNING_MK1, 66), (CAR.FORD_RANGER_MK2, 66), + (CAR.FORD_BRONCO_SPORT_MK1, 0), (CAR.FORD_ESCAPE_MK4, 0), (CAR.FORD_FOCUS_MK4, 0), + (CAR.FORD_MAVERICK_MK1, 0), (CAR.FORD_EXPLORER_MK6, 0), + (CAR.FORD_MUSTANG_MACH_E_MK1, 2), (CAR.FORD_ESCAPE_MK4_5, 2), + (CAR.FORD_EXPEDITION_MK4, 2), (CAR.FORD_F_150_MK14, 2), + (CAR.FORD_F_150_LIGHTNING_MK1, 2), (CAR.FORD_RANGER_MK2, 2), (CAR.FORD_EDGE_MK2, 8), (CAR.FORD_MONDEO_MK5, 10), (CAR.FORD_TRANSIT_MK5, 12), ) @@ -62,7 +62,6 @@ def run_startup(identity, base_word, alpha, release, topology, monkeypatch): from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.controls.controlsd import Controls from openpilot.starpilot.aol.vehicle import policy_for - from openpilot.starpilot.controller_extensions import ManualTurnInputs from openpilot.starpilot.lateral.tests.test_lane_runtime import feed monkeypatch.setenv("SIMULATION", "1") @@ -111,12 +110,6 @@ def run_startup(identity, base_word, alpha, release, topology, monkeypatch): assert policy.normal_runtime_supported == admitted assert ci.CP is card.CP assert ci.CC is not None - if base_word in (18, 32, 66): - owner = ci.CC.mache_lateral if base_word == 18 else ci.CC.classic_lateral - assert owner is not None - assert owner.CP is card.CP - assert isinstance(ci.CC.manual_turn_inputs, ManualTurnInputs) - assert not ci.CC.manual_turn_inputs.enabled if admitted: assert card.aol_card_intent is not None healthy = structs.CarState(canValid=True, canTimeout=False, gearShifter="drive", buttonEvents=[]) @@ -178,8 +171,6 @@ def run_startup(identity, base_word, alpha, release, topology, monkeypatch): assert active_command.enabled assert active_command.latActive == (acknowledged and not stale) assert not active_command.longActive - if base_word in (18, 32, 66): - assert not owner.human_turn_enabled finally: del controls, card, ci, subscriber gc.collect() diff --git a/opendbc_repo/opendbc/car/ford/tests/test_blend_settings.py b/opendbc_repo/opendbc/car/ford/tests/test_blend_settings.py deleted file mode 100644 index a039847775..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_blend_settings.py +++ /dev/null @@ -1,81 +0,0 @@ -from pathlib import Path -from types import SimpleNamespace - -import pytest - -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.lateral_strategy import FordLateralController -from opendbc.car.ford.values import CAR - - -@pytest.mark.parametrize("values,expected", ((None, (0.4, 0.4, 0.85)), - ((0.25, 0.65, 1.1), (0.25, 0.65, 1.1)), - ((-1.0, 2.0, 4.0), (0.0, 1.0, 1.25)), - ((2.0, -1.0, -4.0), (1.0, 0.0, 0.5)))) -def test_typed_saved_blends_reach_owner_without_model(values, expected, monkeypatch): - from openpilot.common.params import Params - from openpilot.common.prefix import OpenpilotPrefix - from openpilot.starpilot import controller_extensions - - model = SimpleNamespace(meta=SimpleNamespace(laneChangeState=0)) - sm = SimpleNamespace(update=lambda timeout: None, alive={"modelV2": False}, valid={"modelV2": False}) - - class Transport: - alive = sm.alive - valid = sm.valid - - def update(self, timeout): - return None - - def __getitem__(self, key): - return model - monkeypatch.setattr(controller_extensions.messaging, "SubMaster", lambda names: Transport()) - with OpenpilotPrefix(): - saved = Params() - keys = ("FordCurvatureBlendLow", "FordCurvatureBlendHigh", "FordCurvatureLaneChangeFactor") - if values is not None: - for key, value in zip(keys, values, strict=True): - saved.put(key, value, block=True) - inputs = controller_extensions.ManualTurnInputs(saved) - owner = FordLateralController(CarInterface.get_non_essential_params(CAR.FORD_RANGER_MK2)) - calls = [] - setter = owner.set_blend_settings - - def counted_setter(*values): - calls.append(values) - setter(*values) - monkeypatch.setattr(owner, "set_blend_settings", counted_setter) - controller = SimpleNamespace(classic_lateral=owner) - inputs.apply_blend_settings(controller) - assert (owner.curvature_blend_low, owner.curvature_blend_high, owner.curvature_lane_change_factor) == expected - inputs.update() - inputs.apply_blend_settings(controller) - assert inputs.blend_settings == expected - assert len(calls) == 1 - for key, raw in zip(keys, (b"nan", b"not-a-float", b"inf"), strict=True): - Path(saved.get_param_path(key)).write_bytes(raw) - for _ in range(99): - inputs.update() - assert inputs.blend_settings == expected - inputs.update() - inputs.apply_blend_settings(controller) - assert inputs.blend_settings == (0.4, 0.4, 0.85) - assert len(calls) == (1 if expected == (0.4, 0.4, 0.85) else 2) - assert (owner.curvature_blend_low, owner.curvature_blend_high, owner.curvature_lane_change_factor) == (0.4, 0.4, 0.85) - - -@pytest.mark.parametrize("desired,predicted,direction", ((-0.0005, -0.002, 1), (0.0005, 0.002, 2), - (-0.001, -0.003, 2), (0.001, 0.003, 1))) -def test_saved_blends_preserve_source_units_and_lane_direction(desired, predicted, direction): - owner = FordLateralController(CarInterface.get_non_essential_params(CAR.FORD_RANGER_MK2)) - owner.set_blend_settings(0.25, 0.65, 1.1) - owner.model = SimpleNamespace(meta=SimpleNamespace(laneChangeState=2, laneChangeDirection=direction)) - blend = 0.25 + min(abs(desired) / 0.001, 1.0) * 0.4 - expected = predicted * blend + desired * (1.0 - blend) - precision = 1 - if (direction == 1 and expected < 0.0) or (direction == 2 and expected > 0.0): - expected *= 0.95 + (20.0 - 4.4) / (40.23 - 4.4) * 0.15 - precision = 0 - result, actual_precision = owner._blend_and_scale(desired, predicted, v_ego=20.0, current=0.0) - assert result == pytest.approx(expected) - assert actual_precision == precision diff --git a/opendbc_repo/opendbc/car/ford/tests/test_blend_settings_startup.py b/opendbc_repo/opendbc/car/ford/tests/test_blend_settings_startup.py deleted file mode 100644 index db671c7139..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_blend_settings_startup.py +++ /dev/null @@ -1,91 +0,0 @@ -import gc -import time - -import pytest - -from opendbc.car import structs -from opendbc.car.ford.generic_canfd_lateral import GENERIC_CANFD_CARS -from opendbc.car.ford.tests.test_three_ports import params - - -@pytest.mark.parametrize("identity", sorted(GENERIC_CANFD_CARS)) -def test_generic_actual_card_publication_reaches_blend_settings(identity, monkeypatch): - alpha = release = disable = False - from opendbc.car import car_helpers, gen_empty_fingerprint - from opendbc.car.ford.generic_canfd_lateral import qualified as generic_qualified - from openpilot.selfdrive.car import card as card_module - from openpilot.cereal import messaging - from openpilot.common.params import Params - from openpilot.common.prefix import OpenpilotPrefix - from openpilot.selfdrive.car.card import Car - from openpilot.selfdrive.controls.controlsd import Controls - from openpilot.starpilot.controller_extensions import ManualTurnInputs - from openpilot.starpilot.lateral.tests.test_lane_runtime import feed - - monkeypatch.setenv('SIMULATION', '1') - monkeypatch.setenv('REPLAY', '1') - with OpenpilotPrefix(): - saved = Params() - saved.put_bool('OpenpilotEnabledToggle', True, block=True) - saved.put_bool('AlwaysOnLateral', False, block=True) - saved.put_bool('AlphaLongitudinalEnabled', alpha, block=True) - saved.put_bool('IsReleaseBranch', release, block=True) - saved.put_bool('DisableOpenpilotLongitudinal', disable, block=True) - saved.put_bool('FordHumanTurnDetection', False, block=True) - for key, value in (("FordCurvatureBlendLow", 0.25), ("FordCurvatureBlendHigh", 0.65), ("FordCurvatureLaneChangeFactor", 1.1)): - saved.put(key, value, block=True) - cp = params(identity, alpha, release) - cp.carVin = '0' * 17 - cp.carFw = [] - expected = cp.to_dict() - fingerprint = gen_empty_fingerprint() - fingerprint[0][0x5A] = 8 - fingerprint[2][0x3D6] = 8 - fingerprint[2][0x186] = 8 - observed = (identity, fingerprint, cp.carVin, [], cp.fingerprintSource, True) - subscriber = messaging.sub_sock('carParams', timeout=100, conflate=True) - ci = card = controls = None - try: - with monkeypatch.context() as discovery: - discovery.setattr(car_helpers, 'fingerprint', lambda *args: observed) - discovery.setattr(card_module, 'can_comm_callbacks', lambda *args: (lambda *args: [], lambda frames: None)) - initial_can = messaging.new_message('can', 1) - discovery.setattr(card_module.messaging, 'recv_one_retry', lambda socket: initial_can) - card = Car() - ci = card.CI - assert card.CP.to_dict() == expected - assert generic_qualified(card.CP) - owner = ci.CC.classic_lateral - assert owner is not None - assert (owner.curvature_blend_low, owner.curvature_blend_high, owner.curvature_lane_change_factor) == (0.25, 0.65, 1.1) - assert isinstance(ci.CC.manual_turn_inputs, ManualTurnInputs) - assert not ci.CC.manual_turn_inputs.enabled - assert not ci.CC.mache_extended_announced and not ci.CC.classic_extended_announced - with structs.CarParams.from_bytes(saved.get('CarParams')) as published: - assert published.to_dict() == expected - event = None - for _ in range(10): - card.car_params_published = False - card.state_publish(ci.update([]), None) - event = messaging.recv_one(subscriber) - if event is not None: - break - time.sleep(.01) - assert event is not None and event.valid and event.carParams.to_dict() == expected - controls = Controls() - assert controls.CP.to_dict() == expected - feed(controls, 1_000_000_000, 0, active=False, enabled=False, can_valid=False, can_timeout=True) - command, lateral_log = controls.state_control() - assert not command.enabled and not command.latActive and not command.longActive - controls.publish(command, lateral_log) - _, packets = ci.apply(command.as_reader(), 1_000_000_000) - assert packets - assert not ci.CC.classic_extended_announced - heartbeat = [data for address, data, _ in packets if address == 0x3CA] - assert heartbeat and all(not (data[4] & 2) for data in heartbeat) - assert all(((data[0] >> 4) & 7) == 0 for address, data, _ in packets if address == 0x3D6) - assert not owner.human_turn_enabled - assert (owner.curvature_blend_low, owner.curvature_blend_high, owner.curvature_lane_change_factor) == (0.25, 0.65, 1.1) - finally: - del controls, card, ci, subscriber - gc.collect() diff --git a/opendbc_repo/opendbc/car/ford/tests/test_classic_generic.py b/opendbc_repo/opendbc/car/ford/tests/test_classic_generic.py deleted file mode 100644 index e5db248e3a..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_classic_generic.py +++ /dev/null @@ -1,166 +0,0 @@ -"""One classic contract, distinct preview and equipment identities.""" -from types import SimpleNamespace - -import pytest - -from opendbc.car import gen_empty_fingerprint -from opendbc.car.ford.classic_lateral import GENERIC_CLASSIC_CARS, create_controller, qualified -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.values import CAR, FordFlags - - -@pytest.mark.parametrize("car", sorted(GENERIC_CLASSIC_CARS)) -@pytest.mark.parametrize("alpha,release", ((False, False), (True, False), (False, True), (True, True))) -def test_actual_classic_identity_and_explicit_long_owner(car, alpha, release): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(car, fp, [], alpha, release, False) - assert cp.alphaLongitudinalAvailable - assert cp.openpilotLongitudinalControl == alpha - assert cp.safetyConfigs[-1].safetyParam == (33 if alpha else 32) - assert cp.steerActuatorDelay == pytest.approx(.22) - assert qualified(cp) - from openpilot.selfdrive.controls.lib.longcontrol import LongControl - control = LongControl(cp) - assert control.pid.k_p == 0. - assert control.pid.k_i == .5 - - -@pytest.mark.parametrize("car", sorted(GENERIC_CLASSIC_CARS)) -@pytest.mark.parametrize("delay,expected", ((.1, .2), (.3, .3), (.8, .4))) -def test_generic_model_preview_remains_live_delay(car, delay, expected): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(car, fp, [], False, False, False) - owner = create_controller(cp) - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[i * .01 for i in range(33)])) - owner.set_inputs(model, tuple(i * .1 for i in range(33)), delay, True) - assert owner._curvature_lookahead() == expected - assert owner._predicted_curvature(10., expected) == pytest.approx(expected * .01) - - -def test_explorer_fixed_preview_is_not_generalized(): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [], False, False, False) - owner = create_controller(cp) - owner.set_inputs(None, (), .4, True) - assert owner._curvature_lookahead() == .2 - cp.flags = int(cp.flags) | int(FordFlags.CANFD) - assert not qualified(cp) - assert create_controller(cp) is None - - -@pytest.mark.parametrize("car", sorted(GENERIC_CLASSIC_CARS)) -@pytest.mark.parametrize("automatic,bsm", ((False, False), (True, False), (False, True), (True, True))) -def test_equipment_does_not_change_shared_profile(car, automatic, bsm): - from opendbc.car import structs - fp = gen_empty_fingerprint() - if automatic: - fp[0][0x5A] = 8 - if bsm: - fp[0][0x3A6] = fp[0][0x3A7] = 8 - cp = CarInterface.get_params(car, fp, [], False, False, False) - assert bool(cp.flags & FordFlags.HAS_BSM) == bsm - assert cp.transmissionType == (structs.CarParams.TransmissionType.automatic if automatic else structs.CarParams.TransmissionType.manual) - assert cp.minEnableSpeed == pytest.approx(-1. if automatic else 20. * .44704) - assert cp.safetyConfigs[-1].safetyParam == 32 - assert qualified(cp) - - -@pytest.mark.parametrize("car", sorted(GENERIC_CLASSIC_CARS)) -def test_namespace_and_topology_fail_closed(car): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(car, fp, [], False, False, False) - for word in (0, 1, 2, 18, 34, 35, 65535): - cp.safetyConfigs[-1].safetyParam = word - assert not qualified(cp) - cp.safetyConfigs[-1].safetyParam = 32 - cp.alternativeExperience = 32 - assert qualified(cp) - cp.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0]] - assert not qualified(cp) - cp.safetyConfigs = [cp.safetyConfigs[0]] - for experience in (1, 64, 96): - cp.alternativeExperience = experience - assert not qualified(cp) - cp.alternativeExperience = 0 - for flag in (FordFlags.CANFD, FordFlags.NEW_PORT, FordFlags.LKA_STEERING, FordFlags.ALT_STEER_ANGLE): - cp.flags = int(flag) - assert not qualified(cp) - cp.flags = 0 - cp.passive = True - assert create_controller(cp) is None - - -@pytest.mark.parametrize("car", sorted(GENERIC_CLASSIC_CARS)) -@pytest.mark.parametrize("valid", (False, True)) -def test_actual_eps_capability_gate(car, valid): - from opendbc.car import structs - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fw = structs.CarParams.CarFw.new_message() - fw.ecu = structs.CarParams.Ecu.eps - fw.request = [b"\x22\xde\x01"] - payload = bytearray(24) - payload[7] = payload[8] = 255 if valid else 0 - fw.fwVersion = bytes(payload) - cp = CarInterface.get_params(car, fp, [fw.as_reader()], False, False, False) - assert cp.dashcamOnly == (not valid) - assert qualified(cp) == valid - - -def test_actual_explorer_factory_provider_controller_keeps_fixed_preview(): - from unittest.mock import patch - from opendbc.car import structs - from opendbc.car.ford.explorer_lateral import ExplorerLateralController - from openpilot.cereal import messaging - from openpilot.common.params import Params - from openpilot.common.prefix import OpenpilotPrefix - from openpilot.selfdrive.modeld.constants import ModelConstants - from openpilot.starpilot.controller_extensions import configure_controller - with OpenpilotPrefix(): - params = Params() - params.put_bool("FordHumanTurnDetection", True, block=True) - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [], False, False, False) - ci = CarInterface(cp) - configure_controller(ci, params) - assert isinstance(ci.CC.classic_lateral, ExplorerLateralController) - import time - now = time.monotonic_ns() - ci.update([(now - 10_000_000, [])]) - assert not ci.CS.out.canValid # This is dispatch/transport, not healthy raw-CAN qualification. - from opendbc.can import CANPacker - from opendbc.car import Bus - from opendbc.car.ford.values import DBC - packer = CANPacker(DBC[cp.carFingerprint][Bus.pt]) - speed_frame = packer.make_can_msg("BrakeSysFeatures", 0, {"Veh_V_ActlBrk":36., "VehVActlBrk_D_Qf":3, "VehVActlBrk_No_Cnt":1}) - out = ci.update([(now, [speed_frame])]) - assert out.vEgoRaw == pytest.approx(10., abs=.03) - assert not out.canValid # The deliberately partial raw fixture makes no complete health claim. - model = messaging.new_message("modelV2") - model.valid = True - model.logMonoTime = now - model.modelV2.orientationRate.z = [float(t) * .1 for t in ModelConstants.T_IDXS] - delay = messaging.new_message("lateralDelay") - delay.valid = True - delay.logMonoTime = now - delay.lateralDelay.lateralDelay = .4 - owner = ci.CC.manual_turn_inputs - try: - with patch("openpilot.starpilot.controller_extensions.time.monotonic_ns", return_value=now), \ - patch.object(owner.sm, "update", side_effect=lambda timeout=0: owner.sm.update_msgs(now / 1e9, [model.as_reader(), delay.as_reader()])): - # An inactive actual controller tick must still transport inputs into the selected owner. - ci.apply(structs.CarControl().as_reader(), now) - assert ci.CC.classic_lateral._curvature_lookahead() == .2 - assert ci.CC.classic_lateral._predicted_curvature(10., .2) == pytest.approx(.002) - assert owner.lateral_snapshot(10.)[2] == pytest.approx(.4) - finally: - owner.sm.sock.clear() - owner.sm.poller = None - owner.sm = None - owner.params = None - params = None diff --git a/opendbc_repo/opendbc/car/ford/tests/test_curvature_preview.py b/opendbc_repo/opendbc/car/ford/tests/test_curvature_preview.py deleted file mode 100644 index 2c72081d94..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_curvature_preview.py +++ /dev/null @@ -1,69 +0,0 @@ -import unittest -from types import SimpleNamespace - -from opendbc.can import CANParser -from opendbc.car import Bus, structs -from opendbc.car.ford.curvature_preview import blend_curvature -from opendbc.car.ford.carcontroller import CarController -from opendbc.car.ford.carstate import CarState -from opendbc.car.ford.tests.test_three_ports import params -from opendbc.car.ford.values import CAR, DBC - - -class TestCurvaturePreview(unittest.TestCase): - def test_original_default_signed_preview_and_conservative_overshoot(self): - for sign in (-1, 1): - self.assertAlmostEqual(blend_curvature(sign * .001, sign * .002, 0.), sign * .0014) - self.assertAlmostEqual(blend_curvature(sign * .001, sign * .002, sign * .003), sign * .0012) - self.assertEqual(blend_curvature(sign * .001, -sign * .002, 0.), sign * .001) - self.assertEqual(blend_curvature(0., sign * .002, 0.), 0.) - for bad in (float('nan'), float('inf'), -float('inf')): - self.assertEqual(blend_curvature(.001, bad, 0.), .001) - - def test_actual_controller_blends_before_unchanged_envelope_and_yields(self): - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - cp.safetyConfigs[0].safetyParam = 3 if cp.openpilotLongitudinalControl else 2 - controller = CarController(DBC[cp.carFingerprint], cp) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - out = structs.CarState() - out.vEgoRaw = 20. - state.out = out.as_reader() - command = structs.CarControl() - command.latActive = True - command.actuators.curvature = .001 - preview = SimpleNamespace(update=lambda: (True, False, True), preview_curvature=lambda speed: .002) - controller.manual_turn_inputs = preview - controller.apply_curvature_last = .0014 - from opendbc.car.ford.values import CarControllerParams - expected = CarControllerParams.CURVATURE_LIMITS.apply_limits(.0014, .0014, 20., 0., True, CarControllerParams.STEER_STEP) - actual, frames = controller.update(command.as_reader(), state, 0) - self.assertAlmostEqual(actual.curvature, expected) - parser = CANParser(DBC[cp.carFingerprint][Bus.pt], [('LateralMotionControl2', 20)], controller.CAN.main) - parser.update([(50_000_000, frames)]) - self.assertAlmostEqual(parser.vl['LateralMotionControl2']['LatCtlCurv_No_Actl'], -.0014, places=5) - self.assertEqual(parser.vl['LateralMotionControl2']['LatCtl_D2_Rq'], 1) - controller.frame = 5 - out.steeringPressed = True - out.steeringAngleDeg = -12. - out.steeringTorque = -1. - out.rightBlinker = True - state.out = out.as_reader() - actual, _ = controller.update(command.as_reader(), state, 50_000_000) - self.assertEqual(actual.curvature, 0.) - - def test_neighbor_controller_does_not_query_preview(self): - cp = params(CAR.FORD_F_150_MK14) - controller = CarController(DBC[cp.carFingerprint], cp) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - state.out = structs.CarState(vEgoRaw=20.).as_reader() - command = structs.CarControl(latActive=True) - command.actuators.curvature = .001 - - def unexpected(speed): - raise AssertionError('neighbor queried Mach-E preview') - controller.manual_turn_inputs = SimpleNamespace(update=lambda: None, apply_blend_settings=lambda owner: None, - lateral_snapshot=lambda speed: None, enabled=True, - preview_curvature=unexpected) - controller.update(command.as_reader(), state, 0) diff --git a/opendbc_repo/opendbc/car/ford/tests/test_explorer_lateral.py b/opendbc_repo/opendbc/car/ford/tests/test_explorer_lateral.py deleted file mode 100644 index a71cf28a24..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_explorer_lateral.py +++ /dev/null @@ -1,185 +0,0 @@ -"""Explorer fixed preview must not broaden the admitted Mach-E strategy.""" -from types import SimpleNamespace -from opendbc.car.ford.interface import CarInterface - -import pytest - -from opendbc.car.ford.explorer_lateral import ExplorerLateralController -from opendbc.car.ford.mache_lateral import MachELateralController -from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags - -def controller_params(car, flags): - cp = CarInterface.get_non_essential_params(car) - return SimpleNamespace(brand=cp.brand, safetyConfigs=cp.safetyConfigs, carFingerprint=car, flags=flags) - - - -def model(): - return SimpleNamespace(orientationRate=SimpleNamespace(z=[i * 0.01 for i in range(33)])) - - -@pytest.mark.parametrize("delay", (0.20, 0.30, 0.40)) -def test_explorer_fixed_lookahead_selects_original_model_sample(delay): - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - owner.set_inputs(model(), tuple(i * 0.1 for i in range(33)), delay, True) - assert owner._curvature_lookahead() == 0.20 - assert owner._predicted_curvature(10.0, owner._curvature_lookahead()) == pytest.approx(0.002) - - -def test_mach_e_compatibility_keeps_current_provider_lookahead(): - owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD)) - owner.set_inputs(model(), tuple(i * 0.1 for i in range(33)), 0.40, True) - assert owner._curvature_lookahead() == 0.40 - assert owner._predicted_curvature(10.0, owner._curvature_lookahead()) == pytest.approx(0.004) - - -def test_explorer_strategy_rejects_unrelated_topology(): - for car, flags in ((CAR.FORD_EXPLORER_MK6, FordFlags.CANFD), - (CAR.FORD_EDGE_MK2, FordFlags.ALT_STEER_ANGLE | FordFlags.NEW_PORT)): - with pytest.raises(ValueError): - ExplorerLateralController(controller_params(car, flags)) - - -@pytest.mark.parametrize("alpha,release", ((False, False), (True, False), (False, True), (True, True))) -def test_actual_interface_restores_explicit_longitudinal_ownership(alpha, release): - from opendbc.car import gen_empty_fingerprint - from opendbc.car.ford.interface import CarInterface - from opendbc.car.ford.explorer_lateral import qualified - from opendbc.car.ford.stock_cruise import qualified as stock_switch_qualified - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [], alpha, release, False) - assert cp.alphaLongitudinalAvailable - assert cp.openpilotLongitudinalControl == alpha - assert cp.safetyConfigs[-1].safetyParam == (33 if alpha else 32) - assert cp.steerActuatorDelay == pytest.approx(.22) - from openpilot.selfdrive.controls.lib.longcontrol import LongControl - control = LongControl(cp) - assert control.pid.k_p == 0. - assert control.pid.k_i == .5 - assert list(cp.longitudinalTuning.kiV) == [.5] - assert qualified(cp) - assert stock_switch_qualified(cp) == (not alpha) - - -def test_classic_modern_envelope_withdraws_infeasible_speed_transition(): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - result = bounded_command(owner, FordLateralResult(curvature=.02, active=True), .02, 20., .02) - assert not result.active - assert result.curvature == owner.curvature_last == 0. - assert result.path_angle == owner.path_angle_last == 0. - - -def test_manual_turn_withdraws_without_mach_e_latch_or_gain_compensation(): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - owner.manual_turn_detected = True - result = bounded_command(owner, FordLateralResult(active=True), .002, 10., .002) - assert not result.active - assert result.curvature == 0. - assert not owner.manual_turn_latched - - -def test_speed_change_cap_cannot_escape_original_rate_interval(): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - # At26m/s modernjerk admits~.000265, originalnative lookup only.000180. - # Modern bank-tolerant cap~.005309 requires.000211 fromprevious.005520. - result = bounded_command(owner, FordLateralResult(curvature=.00552, active=True), .00552, 26., .00552) - assert not result.active - assert result.curvature == owner.curvature_last == 0. - - -def test_actual_long_control_uses_original_zero_p_half_i_and_physical_units(): - from opendbc.car import gen_empty_fingerprint - from opendbc.car.ford.interface import CarInterface - from openpilot.selfdrive.controls.lib.longcontrol import LongControl - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [], True, False, False) - owner = LongControl(cp) - assert owner.extension is None - assert owner.pid.k_p == 0. - assert owner.pid.k_i == .5 - limits = CarInterface.get_pid_accel_limits(cp, 10., 20.) - assert limits == pytest.approx((-3.5, 2.)) - assert owner.pid.update(0., speed=10., feedforward=.2) == pytest.approx(.2) - - -def test_typed_offset_eps_and_namespace_guards(): - from opendbc.car import gen_empty_fingerprint, structs - from opendbc.car.ford.interface import CarInterface - from opendbc.car.ford.explorer_lateral import qualified - fp = gen_empty_fingerprint() - fp[4][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [], False, False, False) - assert len(cp.safetyConfigs) == 2 - assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput - assert cp.safetyConfigs[-1].safetyParam == 32 - assert qualified(cp) - cp.alternativeExperience = 1 - assert not qualified(cp) - cp.alternativeExperience = 0 - cp.safetyConfigs[0].safetyParam = 1 - assert not qualified(cp) - invalid = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, request=[b"\x22\xde\x01"], fwVersion=b"bad") - bad = CarInterface.get_params(CAR.FORD_EXPLORER_MK6, fp, [invalid], False, False, False) - assert bad.dashcamOnly - assert bad.safetyConfigs[-1].safetyParam == 0 - assert not qualified(bad) - - -@pytest.mark.parametrize("sign", (-1., 1.)) -def test_final_intersection_preserves_source_rise_and_unwind(sign): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - rise = bounded_command(owner, FordLateralResult(curvature=sign*.0015, active=True), sign*.001, 26., sign*.001) - assert rise.curvature == pytest.approx(sign*.00108) - fall = bounded_command(owner, FordLateralResult(curvature=0., active=True), sign*.001, 26., sign*.001) - assert fall.curvature == pytest.approx(sign*.00082) - - -@pytest.mark.parametrize("rate,expected", ((.001024, .00102375), (-.001024, -.001024), - (.00102375, .00102375), (-.00102425, -.001024))) -def test_classic_rate_endpoint_has_correct_decoded_sign(rate, expected): - from opendbc.can import CANPacker, CANParser - from opendbc.car import Bus - from opendbc.car.ford.values import DBC - from opendbc.car.ford.extended_classic_can import create_extended_classic_lat_ctl_msg - dbc = DBC[CAR.FORD_EXPLORER_MK6][Bus.pt] - frame = create_extended_classic_lat_ctl_msg(CANPacker(dbc), SimpleNamespace(main=0), True, 2, 1, 0., rate) - parser = CANParser(dbc, [("LateralMotionControl", 20)], 0) - parser.update([(50_000_000, [frame])]) - actual = parser.vl["LateralMotionControl"]["LatCtlCurv_NoRate_Actl"] - assert actual == pytest.approx(expected, abs=1e-10) - assert actual * rate > 0. - - -@pytest.mark.parametrize("sign", (-1., 1.)) -def test_measured_recovery_with_empty_source_interval_withdraws(sign): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - command = bounded_command(owner, FordLateralResult(curvature=sign*.008, active=True), 0., 35., sign*.008) - assert not command.active and command.curvature == 0. - assert owner.curvature_last == owner.path_angle_last == 0. - - -@pytest.mark.parametrize("sign", (-1., 1.)) -def test_measured_window_requires_recovery_and_bounds_unwind(sign): - from opendbc.car.ford.explorer_lateral import bounded_command - from opendbc.car.ford.lateral_strategy import FordLateralResult - owner = ExplorerLateralController(controller_params(CAR.FORD_EXPLORER_MK6, 0)) - # Recovery outside the error window may proceed when source fall permits it. - recovery = bounded_command(owner, FordLateralResult(curvature=sign*.001, active=True), sign*.003, 35., 0.) - delta = CarControllerParams.CURVATURE_LIMITS.MAX_LATERAL_JERK / 35.**2 * .05 - assert recovery.active - assert recovery.curvature == pytest.approx(sign*(.003-delta)) - # Once inside, even an unwind demand cannot leave the measured error window. - unwind = bounded_command(owner, FordLateralResult(curvature=0., active=True), sign*.00195, 20., sign*.00395) - assert unwind.active and unwind.curvature == pytest.approx(sign*.00195) diff --git a/opendbc_repo/opendbc/car/ford/tests/test_generic_canfd.py b/opendbc_repo/opendbc/car/ford/tests/test_generic_canfd.py deleted file mode 100644 index 8b77995aff..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_generic_canfd.py +++ /dev/null @@ -1,219 +0,0 @@ -"""Exact source-owned CAN FD identity/release and physical wire contracts.""" -from types import SimpleNamespace -import pytest -from opendbc.car import gen_empty_fingerprint -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.generic_canfd_lateral import GENERIC_CANFD_CARS, qualified, bounded_command, SOURCE_ACCEL_CAP -from opendbc.car.ford.lateral_strategy import FordLateralResult -from opendbc.car.ford.values import CAR, FordFlags - - -@pytest.mark.parametrize("car", sorted(GENERIC_CANFD_CARS)) -@pytest.mark.parametrize("alpha,release", ((False,False),(True,False),(False,True),(True,True))) -def test_actual_profile_and_release_long_support(car, alpha, release): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fp[2].update({0x3D6:8,0x186:8}) - cp = CarInterface.get_params(car, fp, [], alpha, release, False) - assert cp.alphaLongitudinalAvailable - assert cp.openpilotLongitudinalControl == alpha - assert cp.safetyConfigs[-1].safetyParam == (67 if alpha else 66) - assert cp.steerActuatorDelay == pytest.approx(.22) - assert qualified(cp) - - -def test_unknown_identity_flags_and_secoctopology_denied(): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fp[2].update({0x3D6:8,0x186:8}) - cp = CarInterface.get_params(CAR.FORD_RANGER_MK2, fp, [], False, False, False) - for flag in (FordFlags.NEW_PORT, FordFlags.LKA_STEERING, FordFlags.ALT_STEER_ANGLE): - bad = cp.as_reader().as_builder() - bad.flags = int(bad.flags) | int(flag) - assert not qualified(bad) - bad = cp.as_reader().as_builder() - bad.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - assert not qualified(bad) - fp[2][0x3D6] = 16 - bad = CarInterface.get_params(CAR.FORD_RANGER_MK2, fp, [], False, False, False) - assert bad.dashcamOnly and not qualified(bad) - - -def test_old_canfd_cap_intersection_withdraws_without_history_leak(): - owner = SimpleNamespace(manual_turn_detected=False, curvature_last=.006, path_angle_last=0.) - command = bounded_command(owner, FordLateralResult(active=True,curvature=.006), .006, 25., 0.) - assert not command.active and owner.curvature_last == 0. and owner.path_angle_last == 0. - owner = SimpleNamespace(manual_turn_detected=False, curvature_last=0., path_angle_last=0.) - command = bounded_command(owner, FordLateralResult(active=True,curvature=.001), 0., 5., 0.) - assert command.active and abs(command.curvature) <= SOURCE_ACCEL_CAP / 25. - - -def test_f150_source_metadata_reaches_dynamic_consumers(): - from opendbc.car import STD_CARGO_KG - from opendbc.car.interfaces import scale_rot_inertia, scale_tire_stiffness - from opendbc.car.vehicle_model import VehicleModel - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_F_150_MK14, fp, [], False, False, False) - assert cp.mass == pytest.approx(3334 + STD_CARGO_KG) - assert cp.wheelbase == pytest.approx(3.99) - assert cp.rotationalInertia == pytest.approx(scale_rot_inertia(cp.mass, cp.wheelbase)) - front,rear = scale_tire_stiffness(cp.mass, cp.wheelbase, cp.centerToFront, cp.tireStiffnessFactor) - assert cp.tireStiffnessFront == pytest.approx(front) - assert cp.tireStiffnessRear == pytest.approx(rear) - vm = VehicleModel(cp) - assert vm.m == cp.mass and vm.l == cp.wheelbase - - -@pytest.mark.parametrize("delay,expected", ((.1,.2),(.3,.3),(.8,.4))) -def test_live_preview_is_not_mache_or_explorer_override(delay, expected): - from opendbc.car.ford.generic_canfd_lateral import GenericCanfdLateralController - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_RANGER_MK2, fp, [], False, False, False) - owner = GenericCanfdLateralController(cp) - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[i*.01 for i in range(33)])) - owner.set_inputs(model, tuple(i*.1 for i in range(33)), delay, True) - assert owner._curvature_lookahead() == expected - assert owner._predicted_curvature(10.,expected) == pytest.approx(expected*.01) - - -def test_wire_rate_endpoint_does_not_wrap_sign(): - from opendbc.can import CANPacker - from opendbc.car import Bus - from opendbc.car.ford.values import DBC - from opendbc.car.ford.fordcan import CanBus - from opendbc.car.ford.generic_canfd_can import create_extended_canfd_msg - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_RANGER_MK2, fp, [], False, False, False) - packer = CANPacker(DBC[cp.carFingerprint][Bus.pt]) - for rate,raw in ((-.001024,0),(.001023,2047),(.001024,2047)): - address,data,bus = create_extended_canfd_msg(packer,CanBus(cp),True,2,1,0.,rate,3) - assert address == 0x3D6 and bus == 0 - assert ((data[6] << 3) | (data[7] >> 5)) == raw - # Independent field-based checksum includes actual packed endpoint. - mode = (data[0] >> 4) & 7 - counter = (data[7] >> 1) & 15 - fields = ((data[2] << 3) | (data[3] >> 5), raw, - ((data[3] & 31) << 6) | (data[4] >> 2), ((data[4] & 3) << 8) | data[5]) - assert data[1] == 255-((mode+counter+sum(v+(v >> 8) for v in fields)) & 255) - - -@pytest.mark.parametrize("car", sorted(GENERIC_CANFD_CARS) + [CAR.FORD_MUSTANG_MACH_E_MK1]) -def test_actual_camera_lead_parser_and_source_window(car): - from opendbc.can import CANPacker - from opendbc.car import Bus - from opendbc.car.ford.values import DBC, RADAR - from opendbc.car.ford.radar_interface import RadarInterface - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(car, fp, [], False, False, False) - assert not cp.radarUnavailable and DBC[car][Bus.radar] == RADAR.STEER_ASSIST_DATA - radar = RadarInterface(cp) - assert radar.rcp is not None and radar.rcp.bus == 2 - packer = CANPacker(RADAR.STEER_ASSIST_DATA) - tick = 0 - - def feed(distance=40., velocity=-1., confidence=3): - nonlocal tick - tick += 1 - msg = packer.make_can_msg("Steer_Assist_Data",2,{ - "CmbbObjConfdnc_D_Stat":confidence,"CmbbObjDistLong_L_Actl":distance, - "CmbbObjRelLong_V_Actl":velocity,"CmbbObjDistLat_L_Actl":1.2}) - return radar.update([(1_000_000_000+tick*50_000_000,[msg])]) - - for _ in range(30): - result = feed() - assert radar.rcp.can_valid and len(result.points) == 1 - point = result.points[0] - assert point.dRel == pytest.approx(40.) and point.yRel == pytest.approx(1.2) - assert point.vRel == pytest.approx(-1.) - # Exercise the real radard point consumer and typed radarState lead carrier. - from openpilot.selfdrive.controls.radard import Track, KalmanParams, get_lead, RADAR_TO_CAMERA - from openpilot.cereal import messaging - model = messaging.new_message('modelV2') - model.modelV2.init('leadsV3', 2) - vision = model.modelV2.leadsV3[0] - vision.x = [point.dRel + RADAR_TO_CAMERA] - vision.y = [-point.yRel] - vision.v = [10. + point.vRel] - vision.xStd = [1.] - vision.yStd = [1.] - vision.vStd = [1.] - consumer = Track(point.trackId, 10.+point.vRel, KalmanParams(.05)) - consumer.update(point.dRel, point.yRel, point.vRel, 10.+point.vRel) - lead = get_lead(10., True, {point.trackId:consumer}, vision.as_reader(), 10., .9) - state = messaging.new_message('radarState') - state.radarState.leadOne = lead - decoded = state.as_reader().radarState.leadOne - assert decoded.present and decoded.radar and decoded.radarTrackId == point.trackId - assert decoded.dRel == pytest.approx(point.dRel) and decoded.yRel == pytest.approx(point.yRel) - assert decoded.vRel == pytest.approx(point.vRel) - track = point.trackId - expected_window = [] - previous = 40. - for i in range(1,24): - distance = 40.-i*.1 - result = feed(distance,0.) - expected_window.append(distance-previous) - expected_window = expected_window[-20:] - assert result.points[0].vRel == pytest.approx(sum(expected_window),abs=1e-5) - assert result.points[0].trackId == track - previous = distance - result = feed(30.,-4.) - assert result.points[0].trackId != track and not radar.v_rel_history - assert not feed(confidence=0).points and not radar.v_rel_history - assert feed(20.,-2.).points[0].vRel == pytest.approx(-2.) - assert not feed(distance=0).points - from opendbc.can.parser import CAN_INVALID_CNT - for tick in range(CAN_INVALID_CNT): - radar.rcp.update([(10_000_000_000 + tick * 50_000_000, [])]) - radar._update_steer_assist() - assert not radar.rcp.can_valid and not radar.pts and not radar.v_rel_history - - -def test_camera_mapping_is_explicit_for_mache(): - from opendbc.car import Bus - from opendbc.car.ford.values import DBC - assert DBC[CAR.FORD_MUSTANG_MACH_E_MK1][Bus.radar] == "ford_lincoln_base_pt" - - -def test_f150_original_wheelbase_changes_real_plant_and_turn_gate(): - from opendbc.car import STD_CARGO_KG - from opendbc.car.vehicle_model import VehicleModel - from openpilot.selfdrive.controls.lib.longitudinal_planner import get_cruise_accel - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - cp = CarInterface.get_params(CAR.FORD_F_150_MK14, fp, [], False, False, False) - assert cp.mass == pytest.approx(3334 + STD_CARGO_KG) - assert cp.wheelbase == pytest.approx(3.99) - vm = VehicleModel(cp) - assert vm.calc_curvature(.1, 0., 0.) == pytest.approx(.1 / (17. * 3.99)) - assert vm.get_steer_from_curvature(.001, 0., 0.) == pytest.approx(.001 * 17. * 3.99) - # Compare the actual reached turn gate to the prior upstream wheelbase, - # not a speculative trim or a tuned controller gain. Only this consumer's - # wheelbase is changed; no alternate source/plant is imported. - prior = cp.as_reader().as_builder() - prior.wheelbase = 3.69 - restored = get_cruise_accel(False, 35., 25., 0., 12.4, cp, 1., 0., True) - upstream = get_cruise_accel(False, 35., 25., 0., 12.4, prior, 1., 0., True) - assert upstream == pytest.approx(0.) - assert 0. < restored <= .8 - - -@pytest.mark.parametrize("alpha,release", ((False, False), (True, False), (False, True), (True, True))) -@pytest.mark.parametrize("bsm", (False, True)) -def test_mache_camera_source_preserves_exact_factory_words(alpha, release, bsm): - from opendbc.car.ford.radar_interface import RadarInterface - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fp[2].update({0x3D6: 8, 0x186: 8}) - if bsm: - fp[0].update({0x3A6: 8, 0x3A7: 8}) - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fp, [], alpha, release, False) - assert cp.safetyConfigs[-1].safetyParam == (19 if alpha else 18) - assert cp.openpilotLongitudinalControl == alpha - assert not cp.radarUnavailable - radar = RadarInterface(cp) - assert radar.rcp.bus == 2 and radar.generic_canfd_lead diff --git a/opendbc_repo/opendbc/car/ford/tests/test_mach_e_profile.py b/opendbc_repo/opendbc/car/ford/tests/test_mach_e_profile.py deleted file mode 100644 index 6f16abfa0c..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_mach_e_profile.py +++ /dev/null @@ -1,52 +0,0 @@ -import unittest - -from opendbc.car import gen_empty_fingerprint, structs -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.values import CAR, FordSafetyFlags - - -def fingerprint(offset=0, secoc=False): - fp = gen_empty_fingerprint() - fp[offset][0x5A] = 8 - fp[offset + 2][0x3D6] = 16 if secoc else 8 - fp[offset + 2][0x186] = 16 if secoc else 8 - return fp - - -class TestMachEProfile(unittest.TestCase): - def test_actual_params_stock_debug_long_and_release_long(self): - for alpha, release, word in ((False, False, 18), (True, False, 19), (False, True, 18), (True, True, 19)): - with self.subTest(alpha=alpha, release=release): - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint(), [], alpha, release, False) - self.assertEqual(cp.safetyConfigs[-1].safetyParam, word) - self.assertEqual(cp.openpilotLongitudinalControl, word == 19) - self.assertEqual(cp.alternativeExperience, 0) - if release: - self.assertTrue(cp.alphaLongitudinalAvailable) - - def test_secoc_unrelated_flags_and_ae_do_not_select_extension(self): - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint(secoc=True), [], False, False, False) - self.assertTrue(cp.dashcamOnly) - self.assertFalse(cp.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_EXTENDED) - for added_flag, ae in ((4, 0), (8, 0), (16, 0), (0, 32)): - with self.subTest(added_flag=added_flag, ae=ae): - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint(), [], False, False, False) - cp.flags |= added_flag - cp.alternativeExperience = ae - cp = CarInterface._get_params(cp, CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint(), [], False, False, False) - self.assertFalse(cp.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_EXTENDED) - - def test_sibling_canfd_uses_separate_generic_profile(self): - for candidate in (CAR.FORD_F_150_MK14, CAR.FORD_ESCAPE_MK4_5, CAR.FORD_F_150_LIGHTNING_MK1): - for alpha, word in ((False, 66), (True, 67)): - with self.subTest(candidate=candidate, alpha=alpha): - cp = CarInterface.get_params(candidate, fingerprint(), [], alpha, False, False) - self.assertEqual(cp.safetyConfigs[-1].safetyParam, word) - self.assertFalse(cp.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_EXTENDED) - - def test_bus_offset_keeps_no_output_first(self): - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint(offset=4), [], False, False, False) - self.assertEqual(len(cp.safetyConfigs), 2) - self.assertEqual(cp.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.noOutput) - self.assertEqual(cp.safetyConfigs[0].safetyParam, 0) - self.assertEqual(cp.safetyConfigs[1].safetyParam, 18) diff --git a/opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py b/opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py deleted file mode 100644 index 776aa67d37..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py +++ /dev/null @@ -1,184 +0,0 @@ -"""Recorded Mach-E turn inputs retain Dom display state across steering handoff.""" -from pathlib import Path -from types import SimpleNamespace - -import pytest - -from opendbc.can import CANParser -from opendbc.car import gen_empty_fingerprint, structs -from opendbc.car.ford.carcontroller import CarController -from opendbc.car.ford.carstate import CarState -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.values import CAR, DBC -from opendbc.safety.tests.libsafety import libsafety_py -from opendbc.safety.tests import test_ford_aol -from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.modeld.constants import ModelConstants -from openpilot.starpilot.car.ford.cluster_preferences import FordClusterPreference, KEY - - -class RecordedPreview: - def __init__(self): - self.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - - def update(self): - pass - - def apply_blend_settings(self, controller): - lateral = controller.mache_lateral or controller.classic_lateral - lateral.set_blend_settings(.4, .4, .85) - - def lateral_snapshot(self, speed): - return self.model, ModelConstants.T_IDXS, .2, True - - def assist_permission(self): - return (), False - - -def run_turn(*, hands_free, angle, torque, desired, speed, yaw, identity=CAR.FORD_MUSTANG_MACH_E_MK1): - native = test_ford_aol.TestFordAolDriverIntent() - native.setUp() - native.reset(18 if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else 66) - native.arm() - with OpenpilotPrefix(): - saved = Params() - Path(saved.get_param_path(KEY)).write_bytes(b"1" if hands_free else b"0") - fingerprint = gen_empty_fingerprint() - fingerprint[0].update({0x5A: 8, 0x3A6: 8, 0x3A7: 8}) - fingerprint[2].update({0x3D6: 8, 0x186: 8}) - cp = CarInterface.get_params(identity, fingerprint, [], False, False, False) - cp.alternativeExperience = 32 - assert cp.safetyConfigs[-1].safetyParam == (18 if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else 66) - assert cp.flags == 3 - controller = CarController(DBC[cp.carFingerprint], cp) - controller.hands_free_cluster_input = FordClusterPreference(saved) - controller.manual_turn_inputs = RecordedPreview() - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - cs = structs.CarState(canValid=True, vEgo=speed, vEgoRaw=speed, yawRate=yaw, - gearShifter=structs.CarState.GearShifter.drive) - cs.cruiseState.available = True - command = structs.CarControl(latActive=False) - command.actuators.curvature = desired - state.acc_tja_status_stock_values['FcwVisblWarn_B_Rq'] = 1 - state.acc_tja_status_stock_values['FcwAudioWarn_B_Rq'] = 1 - parser = CANParser('ford_lincoln_base_pt', [('ACCDATA_3', 5)], 0) - steering = [] - displays = [] - - def step(): - native.pump(1, mask=int(command.latActive), speed=speed, curvature=yaw / speed) - state.out = cs.as_reader() - _, frames = controller.update(command.as_reader(), state, (1_000_000 + native.tick * 10_000) * 1000) - if identity != CAR.FORD_MUSTANG_MACH_E_MK1: - lateral_frames = [(index, data) for index, (address, data, _) in enumerate(frames) if address == 0x3D6] - announcements = [(index, data) for index, (address, data, _) in enumerate(frames) if address == 0x3CA] - assert len(announcements) <= 1 - for index, data in lateral_frames: - active = ((data[0] >> 4) & 7) != 0 - previous_active = bool(steering and ((steering[-1][0] >> 4) & 7)) - if active != previous_active: - assert announcements and announcements[0][0] < index - assert bool(announcements[0][1][4] & 2) == active - if not command.latActive: - assert all(not (data[4] & 2) for _, data in announcements) - for address, data, bus in frames: - assert native.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)) - if address == 0x3D6: - steering.append(bytes(data)) - if address == 0x18A: - parser.update([(native.tick * 10_000_000, [(address, data, bus)])]) - displays.append(dict(parser.vl['ACCDATA_3'])) - return frames - - # Startup remains stock until an active replacement is actually accepted. - for _ in range(25): - assert not {address for address, _, _ in step()} & {0x18A, 0x3D8} - assert native.safety.safety_fwd_hook(2, 0x18A) == 0 - native.arm() - command.latActive = True - for _ in range(60): - step() - assert displays and displays[-1]['Tja_D_Stat'] == (7 if hands_free else 2) - assert native.safety.aol_get_permission_mask() == 1 - assert native.safety.safety_fwd_hook(2, 0x18A) == -1 - - # Both original onset tuples have driver input, a right signal and >12deg. - cs.steeringPressed = True - cs.steeringAngleDeg = angle - cs.steeringTorque = torque - cs.rightBlinker = True - if identity != CAR.FORD_MUSTANG_MACH_E_MK1: - # Generic curvature retains its existing 45deg/3s preturned detector. - for _ in range(310): - step() - count = len(displays) - for _ in range(40): - frames = step() - if any(address == 0x3D6 for address, _, _ in frames): - assert ((steering[-1][0] >> 4) & 7) == 0 - assert native.safety.safety_fwd_hook(2, 0x3D6) == 0 - assert native.safety.safety_fwd_hook(2, 0x18A) == -1 - assert native.safety.safety_fwd_hook(2, 0x3D8) == -1 - assert native.safety.aol_get_permission_mask() == 1 - assert len(displays) > count - for display in displays[count:]: - assert display['Tja_D_Stat'] == (7 if hands_free else 2) - assert display['FcwVisblWarn_B_Rq'] == 1 - assert display['FcwAudioWarn_B_Rq'] == 1 - - cs.steeringPressed = False - cs.steeringAngleDeg = 0. - cs.steeringTorque = 0. - cs.rightBlinker = False - for _ in range(50): - step() - assert ((steering[-1][0] >> 4) & 7) == 1 - assert displays[-1]['Tja_D_Stat'] == (7 if hands_free else 2) - command.latActive = False - for _ in range(25): - assert not {address for address, _, _ in step()} & {0x18A, 0x3D8} - assert native.safety.safety_fwd_hook(2, 0x18A) == 0 - assert native.safety.safety_fwd_hook(2, 0x3D8) == 0 - assert native.safety.aol_get_permission_mask() == 0 - return steering - - -@pytest.mark.parametrize('angle,torque,desired,speed,yaw', [ - (-12.2, -1.6875, .000041086183, 2.55, -.006), - (-38.7, -2., -.000324735534, 2.563888788, -.033), -]) -def test_recorded_turn_keeps_dom_display_and_hands_free_does_not_change_steering(angle, torque, desired, speed, yaw): - hands_free = run_turn(hands_free=True, angle=angle, torque=torque, desired=desired, speed=speed, yaw=yaw) - plain = run_turn(hands_free=False, angle=angle, torque=torque, desired=desired, speed=speed, yaw=yaw) - assert plain == hands_free - - -@pytest.mark.parametrize('saved', [False, True]) -@pytest.mark.parametrize('flag', [ParamKeyFlag.CLEAR_ON_MANAGER_START, ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION, - ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION, ParamKeyFlag.CLEAR_ON_IGNITION_ON]) -def test_cluster_preference_survives_native_cleanup(tmp_path, saved, flag): - params = Params(str(tmp_path)) - key = 'FordHandsFreeCluster' - assert params.check_key(key) and params.get_type(key) == ParamKeyType.BOOL - params.put(key, saved, block=True) - sentinel = Path(params.get_param_path('FordUnregisteredSentinel')) - sentinel.write_bytes(b'1') - params.clear_all(flag) - assert params.get(key) == saved and not sentinel.exists() - reopened = Params(str(tmp_path)) - assert reopened.get(key) == saved - assert Path(reopened.get_param_path(key)).read_bytes() == (b'1' if saved else b'0') - assert FordClusterPreference(reopened).enabled == saved - - -@pytest.mark.parametrize('identity', [CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, CAR.FORD_F_150_MK14, - CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2]) -def test_generic_curvature_native_display_handoff_retains_hands_free_during_manual_turn(identity): - # Nonzero demand exercises the bounded first-active command, not just UI. - inputs = dict(identity=identity, angle=-55., torque=-2., desired=.000041086183, speed=2.55, yaw=-.006) - hands_free = run_turn(hands_free=True, **inputs) - plain = run_turn(hands_free=False, **inputs) - assert plain == hands_free diff --git a/opendbc_repo/opendbc/car/ford/tests/test_mache_lateral.py b/opendbc_repo/opendbc/car/ford/tests/test_mache_lateral.py deleted file mode 100644 index b2506851ea..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_mache_lateral.py +++ /dev/null @@ -1,893 +0,0 @@ -"""Original-derived Mach-E demand and driver handoff regressions.""" -from types import SimpleNamespace -from opendbc.car.ford.interface import CarInterface -import pytest -from opendbc.car import Bus, structs -from opendbc.car.lateral import MAX_LATERAL_JERK -from opendbc.can import CANParser -from opendbc.car.ford.values import CAR, DBC, FordFlags, FordSafetyFlags -from opendbc.car.ford.mache_lateral import MachELateralController, FordLateralResult, bounded_command, STEER_DT, MAX_LATERAL_ACCEL, qualified -from opendbc.car.ford import mache_can as fordcan -from opendbc.car.ford.tests.test_three_ports import params -from opendbc.car.ford.carcontroller import CarController -from opendbc.car.ford.carstate import CarState - -def controller_params(car, flags): - cp = CarInterface.get_non_essential_params(car) - return SimpleNamespace(brand=cp.brand, safetyConfigs=cp.safetyConfigs, carFingerprint=car, flags=flags) - - - -@pytest.fixture -def controller(): - owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD)) - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.]*33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - owner.set_inputs(model, tuple(i*.1 for i in range(33)), .2, True) - return owner - - -def car_state(speed=15.0, accel=0.0, curvature=0.0, steering_pressed=False, steering_angle=0.0, - steering_torque=0.0, left_blinker=False, right_blinker=False, gas_pressed=False, brake_pressed=False, - cruise_enabled=False): - return SimpleNamespace(out=SimpleNamespace(vEgoRaw=speed, aEgo=accel, yawRate=-curvature*speed, - steeringPressed=steering_pressed, steeringAngleDeg=steering_angle, steeringTorque=steering_torque, - leftBlinker=left_blinker, rightBlinker=right_blinker, gasPressed=gas_pressed, brakePressed=brake_pressed, - cruiseState=SimpleNamespace(enabled=cruise_enabled))) - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("speed,weight", ((4.0, 0.0), (5.0, 0.0), (6.0, 0.5), (7.0, 1.0), - (12.0, 1.0), (13.5, 0.5), (15.0, 0.0), (20.0, 0.0))) -def test_mach_e_unwind_preview_speed_and_direction(controller, monkeypatch, sign, speed, weight): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.desired_curvature_last = sign * 0.011 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.004) - result = controller._unwind_preview(sign * 0.010, sign * 0.009, sign * 0.011, speed) - assert result == pytest.approx(sign * (0.009 - 0.005 * weight)) - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_turn_in_preview_holds_one_repeated_sample(controller, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = sign * 0.003 - assert not controller._turn_in_preview_plateau(sign * 0.004, sign * 0.001, 6.0, False, False) - controller.desired_curvature_last = sign * 0.004 - assert controller._turn_in_preview_plateau(sign * 0.004, sign * 0.001, 6.0, False, False) - assert controller._turn_in_preview_weight(sign * 0.004, sign * 0.03, sign * 0.001, True) == 1.0 - assert not controller._turn_in_preview_plateau(sign * 0.004, sign * 0.001, 6.0, False, False) - assert controller._turn_in_preview_weight(sign * 0.004, sign * 0.03, sign * 0.001) == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("current", (0.0036, 0.004, 0.005)) -def test_mach_e_turn_in_plateau_requires_tracking_lag(controller, sign, current): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = sign * 0.004 - controller.turn_in_preview_hold_timer = 0.1 - assert not controller._turn_in_preview_plateau(sign * 0.004, sign * current, 6.0, False, False) - - -@pytest.mark.parametrize("desired", (0.003, -0.004, 0.0)) -def test_mach_e_turn_in_plateau_resets_on_unwind_and_reversal(controller, desired): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = 0.004 - controller.turn_in_preview_hold_timer = 0.1 - assert not controller._turn_in_preview_plateau(desired, 0.001, 6.0, False, False) - assert controller.turn_in_preview_hold_timer == 0.0 - - -@pytest.mark.parametrize("fingerprint,flags,speed,driver,lane_change", ( - (CAR.FORD_EDGE_MK2, FordFlags.CANFD, 6.0, False, False), - (CAR.FORD_EXPLORER_MK6, FordFlags.CANFD, 6.0, False, False), - (CAR.FORD_F_150_MK14, FordFlags.CANFD, 6.0, False, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, 0, 6.0, False, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, 1.99, False, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, 15.0, False, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, 6.0, True, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, 6.0, False, True), -)) -def test_turn_in_plateau_preserves_other_fords_and_handoffs(controller, fingerprint, flags, speed, driver, lane_change): - controller.CP.carFingerprint = fingerprint - controller.CP.flags = flags - controller.desired_curvature_last = 0.004 - controller.turn_in_preview_hold_timer = 0.1 - assert not controller._turn_in_preview_plateau(0.004, 0.001, speed, driver, lane_change) - assert controller.turn_in_preview_hold_timer == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_repeated_turn_in_sample_preserves_extended_preview(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.set_inputs(controller.model, controller.time_indices, .4, True) - controller.desired_curvature_last = sign * 0.003 - controller.curvature_last = sign * 0.012 - monkeypatch.setattr(controller, "_predicted_curvature", - lambda _v, t: sign * (0.002 if t < 1.0 else 0.01 if t < 1.5 else 0.03)) - state = car_state(speed=6.0, curvature=sign * 0.001) - cc = SimpleNamespace(latActive=True, enabled=False) - actuators = SimpleNamespace(curvature=sign * 0.004) - first = controller.update(cc, state, actuators) - repeated = controller.update(cc, state, actuators) - assert sign * repeated.curvature >= sign * first.curvature - assert sign * repeated.curvature == pytest.approx(0.0144) - expired = controller.update(cc, state, actuators) - assert sign * expired.curvature < sign * repeated.curvature - assert repeated.path_angle == 0.0 - controller.update(SimpleNamespace(latActive=False), state, actuators) - assert controller.turn_in_preview_hold_timer == 0.0 - controller.update(cc, state, actuators) - assert controller.turn_in_preview_hold_timer > 0.0 - controller.update(cc, car_state(speed=0.0), actuators) - assert controller.turn_in_preview_hold_timer == 0.0 - - -@pytest.mark.parametrize("speed,weight", ((1.99, 0.0), (2.0, 0.0), (2.5, 0.5), (3.0, 1.0), - (14.0, 1.0), (14.5, 0.5), (15.0, 0.0), (16.0, 0.0))) -def test_mach_e_turn_in_plateau_speed_boundaries_are_continuous(controller, speed, weight): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = 0.004 - controller.turn_in_preview_hold_timer = 0.1 - actual_weight = controller._turn_in_preview_plateau(0.004, 0.001, speed, False, False) - assert actual_weight == pytest.approx(weight) - assert controller._turn_in_preview_weight(0.004, 0.03, 0.001, actual_weight) == pytest.approx(weight) - - -@pytest.mark.parametrize("speed,desired,requested,current,driver,lane_change,expected", ( - (12.0, 0.012, 0.012, 0.004, False, False, 0.006), - (12.0, -0.012, -0.012, 0.004, False, False, 0.006), - (12.0, 0.012, 0.012, 0.010, False, False, 0.002), - (12.0, 0.012, 0.012, 0.014, False, False, 0.002), - (9.5, 0.012, 0.012, 0.004, False, False, 0.006), - (15.0, 0.012, 0.012, 0.004, False, False, 0.004), - (16.0, 0.012, 0.012, 0.004, False, False, 0.002), - (12.0, 0.012, 0.012, 0.004, True, False, 0.002), - (12.0, 0.012, 0.012, 0.004, False, True, 0.002), - (12.0, 0.012, -0.004, 0.004, False, False, 0.002), -)) -def test_mach_e_understeer_error_scope(controller, speed, desired, requested, current, - driver, lane_change, expected): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - assert controller._curvature_error_limit( - requested, desired, current, speed, driver, lane_change) == pytest.approx(expected) - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("speed,expected", ((8.0, 0.002), (8.5, 0.004), (9.0, 0.006), (12.0, 0.006), - (14.0, 0.006), (15.0, 0.004), (16.0, 0.002))) -def test_mach_e_unwind_error_tracks_opening_path_before_direction_changes(controller, sign, speed, expected): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33)) - assert controller._curvature_error_limit( - sign * 0.001, sign * 0.002, sign * 0.005, speed, False, False, sign * 0.001) == pytest.approx(expected) - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("requested,preview,expected", ((0.003, 0.001, 0.002), (0.002, 0.001, 0.004), - (0.001, 0.001, 0.006), (0.001, 0.004, 0.002), - (0.001, 0.003, 0.002), (0.001, 0.002, 0.004), - (0.001, -0.0002, 0.006), (0.001, 0.0, 0.006), - (0.0, 0.0, 0.006))) -def test_mach_e_unwind_error_requires_measured_lag_and_opening_preview(controller, sign, requested, preview, expected): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33)) - assert controller._curvature_error_limit( - sign * requested, sign * 0.002, sign * 0.005, 12.0, False, False, sign * preview) == pytest.approx(expected) - - -@pytest.mark.parametrize("fingerprint,flags,driver,lane_change", ( - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, True, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, False, True), - (CAR.FORD_MUSTANG_MACH_E_MK1, 0, False, False), - (CAR.FORD_EDGE_MK2, FordFlags.CANFD, False, False), - (CAR.FORD_EXPLORER_MK6, FordFlags.CANFD, False, False), - (CAR.FORD_F_150_MK14, FordFlags.CANFD, False, False), -)) -def test_unwind_error_preserves_takeover_lane_changes_and_other_fords(controller, fingerprint, flags, driver, lane_change): - controller.CP.carFingerprint = fingerprint - controller.CP.flags = flags - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33)) - assert controller._curvature_error_limit(0.001, 0.002, 0.005, 12.0, driver, lane_change, 0.001) == 0.002 - - -@pytest.mark.parametrize("model", (None, SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 16)))) -def test_mach_e_unwind_error_requires_model_preview(controller, model): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = model - assert controller._curvature_error_limit(0.001, 0.002, 0.005, 12.0, False, False, 0.001) == 0.002 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_curve_exit_releases_without_waiting_for_left_right_reversal(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - controller.curvature_last = sign * 0.004 - controller.desired_curvature_last = sign * 0.003 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.001) - commands = [] - for _ in range(4): - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=12.0, curvature=sign * 0.005), - SimpleNamespace(curvature=sign * 0.002)) - assert result.active - assert result.path_angle == 0.0 - commands.append(sign * result.curvature) - assert commands[0] == pytest.approx(0.004 - 0.0018) - assert commands[-1] == pytest.approx(0.0016) - assert commands[-1] < 0.005 - 0.002 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_reversal_does_not_reapply_old_direction_at_desired_zero_crossing(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.set_inputs(controller.model, controller.time_indices, 0.4, True) - controller.desired_curvature_last = sign * 0.00155 - controller.curvature_last = -sign * 0.00065 - monkeypatch.setattr(controller, "_predicted_curvature", - lambda _v, t: sign * 0.0007 if t < 1.0 else -sign * 0.005) - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=12.0, curvature=sign * 0.00462), - SimpleNamespace(curvature=-sign * 0.00034)) - assert result.active - # Reversal followthrough selects -sign*.005; the existing .006 error - # envelope around sign*.00462 bounds the opposite demand to -sign*.00138. - assert result.curvature == pytest.approx(-sign * 0.00138) - assert result.path_angle == 0.0 - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_path_angle_assist_starts_at_saturation_and_releases_after_driver(controller, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - request = (sign * 0.0205, sign * 0.019, sign * 0.02, sign * 0.007, 7.0) - assert controller._path_angle_assist(*request, False, False) == pytest.approx(sign * 0.055) - assert controller._path_angle_assist(*request, True, False) == 0.0 - for _ in range(round(0.75 / STEER_DT) - 1): - assert controller._path_angle_assist(*request, False, False) == 0.0 - assert controller._path_angle_assist(*request, False, False) == pytest.approx(sign * 0.055) - assert controller._path_angle_assist( - sign * 0.0205, sign * 0.019, sign * 0.02, sign * 0.021, 7.0, False, False) == 0.0 - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_driver_assistance_handoff_and_takeover(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.curvature_last = sign * 0.020 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.030) - CC = SimpleNamespace(latActive=True, enabled=True) - actuators = SimpleNamespace(curvature=sign * 0.022) - helping = car_state(speed=7.0, curvature=sign * 0.008, steering_pressed=True, - steering_angle=-sign * 50.0, steering_torque=-sign * 2.0, - left_blinker=sign < 0, right_blinker=sign > 0) - for _ in range(round(3.5 / STEER_DT)): - result = controller.update(CC, helping, actuators) - assert result.active - assert result.curvature == pytest.approx(sign * 0.020) - assert sign * result.path_angle > 0.0 - assert not controller.manual_turn_latched - - helping.out.steeringPressed = False - helping.out.steeringTorque = 0.0 - result = controller.update(CC, helping, actuators) - assert result.active - assert sign * result.path_angle > 0.0 - assert controller.path_angle_driver_cooldown == 0.0 - - helping.out.steeringPressed = True - helping.out.steeringTorque = sign * 2.0 - result = controller.update(CC, helping, actuators) - assert result.path_angle == 0.0 - assert controller.path_angle_driver_cooldown > 0.0 - - helping.out.steeringTorque = -sign * 3.6 - result = controller.update(CC, helping, actuators) - assert not result.active - assert result.curvature == result.path_angle == 0.0 - assert controller.manual_turn_latched - helping.out.steeringTorque = -sign * 2.0 - assert not controller.update(CC, helping, actuators).active - - controller.update(SimpleNamespace(latActive=False), helping, actuators) - helping.out.steeringTorque = -sign * 2.0 - helping.out.yawRate = -sign * 0.025 * helping.out.vEgoRaw - result = controller.update(CC, helping, actuators) - assert not result.active - assert result.curvature == result.path_angle == 0.0 - assert controller.manual_turn_latched - - controller.update(SimpleNamespace(latActive=False), helping, actuators) - assert not controller.manual_turn_latched - assert controller.path_angle_driver_cooldown == 0.0 - -@pytest.mark.parametrize("speed,expected", ( - (1.0, 0.80), - (2.0, 0.80), - (2.5, 1.20), - (3.0, 1.60), - (8.0, 1.60), - (9.0, 1.60), - (10.5, 1.60), - (11.0, 1.60), - (12.0, 1.60), - (13.0, 4.0 / 3.0), - (14.0, 16.0 / 15.0), - (15.0, 0.80), - (16.0, 0.80), -)) -def test_mach_e_turn_in_lookahead_extra_fades_by_speed(controller, speed, expected): - assert controller._turn_in_lookahead_extra(speed) == pytest.approx(expected) - - -def test_exact_profile_rejects_collision_and_siblings(): - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - for word in (18, 19): - cp.openpilotLongitudinalControl = word == 19 - cp.safetyConfigs[0].safetyParam = word - assert qualified(cp) - for word in (2, 3, 10, 11, 22, 26, 34): - cp.safetyConfigs[0].safetyParam = word - assert not qualified(cp) - cp.safetyConfigs[0].safetyParam = 19 - cp.passive = True - assert not qualified(cp) - neighbor = params(CAR.FORD_F_150_MK14) - neighbor.safetyConfigs[0].safetyParam = 18 - assert not qualified(neighbor) - - -def test_actual_controller_announces_before_full_physical_frame_and_resets_off(): - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - cp.openpilotLongitudinalControl = False - cp.safetyConfigs[0].safetyParam = 18 - cc = CarController(DBC[cp.carFingerprint], cp) - cs = CarState(cp) - cs.update(cs.get_can_parsers(cp)) - cs.out = structs.CarState(vEgoRaw=7.).as_reader() - command = structs.CarControl(latActive=True) - command.actuators.curvature = .008 - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[.07]*33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - times = tuple(i*.1 for i in range(33)) - cc.manual_turn_inputs = SimpleNamespace(update=lambda: None, apply_blend_settings=lambda owner: None, enabled=True, - lateral_snapshot=lambda speed: (model, times, .2, True)) - _, frames = cc.update(command.as_reader(), cs, 0) - first = next(data for addr, data, _ in frames if addr == 0x3d6) - assert (first[0] >> 4) & 7 == 0 - announcement = next(data for addr, data, _ in frames if addr == 0x3ca) - assert announcement[4] & 2 - cc.frame = 5 - actual, frames = cc.update(command.as_reader(), cs, 50_000_000) - frame = next(data for addr, data, _ in frames if addr == 0x3d6) - assert (frame[0] >> 4) & 7 == 1 - assert frame[1] == fordcan.calculate_lat_ctl2_checksum(1, 1, frame) - parser = CANParser(DBC[cp.carFingerprint][Bus.pt], [('LateralMotionControl2', 20)], cc.CAN.main) - parser.update([(50_000_000, frames)]) - assert parser.vl['LateralMotionControl2']['LatCtlCurv_No_Actl'] == pytest.approx(-actual.curvature, abs=1.01e-5) - command.latActive = False - cc.frame = 10 - actual, frames = cc.update(command.as_reader(), cs, 100_000_000) - assert actual.curvature == 0 - assert cc.mache_lateral.path_angle_last == 0 - assert cc.mache_lateral.desired_curvature_last == 0 - - -def test_modern_transient_bound_updates_emitted_history_without_hidden_windup(): - owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD)) - raw = FordLateralResult(curvature=.006, path_angle=.16, active=True) - command = bounded_command(owner, raw, .001, 15.) - assert command.curvature < raw.curvature - assert abs(command.curvature-.001) <= MAX_LATERAL_JERK / 15.**2 * STEER_DT + 1e-12 - assert command.path_angle == 0. - assert owner.curvature_last == command.curvature - assert owner.path_angle_last == command.path_angle - assert raw.curvature == .006 and raw.path_angle == .16 - slow = bounded_command(owner, FordLateralResult(curvature=.02, active=True), .02, 15.) - assert not slow.active and slow.curvature == slow.path_angle == slow.curvature_rate == 0. - assert owner.curvature_last == 0. - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_speed_changes_intersect_bounds_or_withdraw_and_preserve_path_headroom(sign): - owner = MachELateralController(controller_params(CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD)) - previous, path = sign * .0198, sign * .055 - for speed in (5., 5.1, 5.2, 5.3, 8., 15., 5.): - demand = FordLateralResult(curvature=sign*.02, path_angle=sign*.16, active=True) - emitted = bounded_command(owner, demand, previous, speed, path) - if emitted.active: - assert abs(emitted.curvature-previous) <= MAX_LATERAL_JERK / speed**2 * STEER_DT + 1e-12 - assert abs(emitted.curvature) <= MAX_LATERAL_ACCEL / speed**2 + 1e-12 - if emitted.path_angle: - assert abs(emitted.path_angle-path) <= .055+1e-12 - assert (abs(emitted.curvature)+abs(emitted.path_angle)/speed)*speed**2 <= MAX_LATERAL_ACCEL+1e-12 - else: - assert emitted.curvature == emitted.path_angle == emitted.curvature_rate == 0. - previous, path = emitted.curvature, emitted.path_angle - - -def test_final_typed_cp_binds_real_provider_and_freshness(): - import tempfile - from unittest.mock import patch - import openpilot.cereal.messaging as messaging - from openpilot.common.params import Params - from openpilot.common.prefix import OpenpilotPrefix - from openpilot.starpilot.controller_extensions import configure_controller, ManualTurnInputs - from openpilot.selfdrive.modeld.constants import ModelConstants - from opendbc.car.ford.interface import CarInterface - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - assert cp.safetyConfigs[0].safetyParam == (19 if cp.openpilotLongitudinalControl else 18) - ci = CarInterface(cp) - # Native qualification may run with an unwritable home. Keep the real - # messaging prefix and its filesystem lifecycle inside this fixture. - with tempfile.TemporaryDirectory() as directory, \ - patch("openpilot.common.prefix.Paths.comma_home", return_value=directory + "/comma"), \ - patch("openpilot.common.prefix.Paths.log_root", return_value=directory + "/logs"), OpenpilotPrefix(): - preferences = Params(directory) - preferences.put_bool('FordHumanTurnDetection', True, block=True) - configure_controller(ci, preferences) - provider = ci.CC.manual_turn_inputs - assert isinstance(provider, ManualTurnInputs) - try: - event = messaging.new_message('modelV2') - event.valid = True - event.logMonoTime = 1_000_000_000 - event.modelV2.orientationRate.z = [.07] * len(ModelConstants.T_IDXS) - event.modelV2.meta.laneChangeState = 0 - event.modelV2.meta.laneChangeDirection = 0 - provider.sm.update_msgs(1., [event.as_reader()]) - with patch('openpilot.starpilot.controller_extensions.time.monotonic_ns', return_value=1_000_000_000): - sample = provider.lateral_snapshot(7.) - assert sample is not None - assert sample[0].orientationRate.z[0] == pytest.approx(.07) - with patch('openpilot.starpilot.controller_extensions.time.monotonic_ns', return_value=1_200_000_000): - assert provider.lateral_snapshot(7.) is None - finally: - ci.CC.manual_turn_inputs = None - del provider - - -def test_real_offset_cp_keeps_owner_and_invalid_extended_cp_never_falls_back_active(): - from opendbc.car import gen_empty_fingerprint - from opendbc.car.ford.interface import CarInterface - fingerprint = gen_empty_fingerprint() - fingerprint[4][0x5a] = 8 - fingerprint[6][0x3d6] = 8 - fingerprint[6][0x186] = 8 - cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint, [], False, False, False) - assert len(cp.safetyConfigs) == 2 - assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput - assert cp.safetyConfigs[-1].safetyParam == 18 - assert qualified(cp) - controller = CarController(DBC[cp.carFingerprint], cp) - assert controller.mache_lateral is not None and controller.CAN.main == 4 - cp.passive = True - controller = CarController(DBC[cp.carFingerprint], cp) - assert controller.mache_lateral is None - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - state.out = structs.CarState(vEgoRaw=10.).as_reader() - command = structs.CarControl(latActive=True) - command.actuators.curvature = .008 - actual, frames = controller.update(command.as_reader(), state, 0) - frame = next(data for addr, data, _ in frames if addr == 0x3d6) - assert frame[0] >> 4 & 7 == 0 - assert actual.curvature == 0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_real_controller_gas_permission_loss_withdraws_path_only(sign): - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - owner = CarController(DBC[cp.carFingerprint], cp) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - control = structs.CarControl(latActive=True, enabled=True) - control.actuators.curvature = sign * .03 - states, healthy = [SimpleNamespace(safetyModel=structs.CarParams.SafetyModel.ford, controlsAllowed=True, - safetyParam=FordSafetyFlags.CANFD | FordSafetyFlags.MACH_E_EXTENDED)], True - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[sign * .28] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - owner.manual_turn_inputs = SimpleNamespace(update=lambda: None, apply_blend_settings=lambda _: None, enabled=True, - lateral_snapshot=lambda _: (model, tuple(i*.1 for i in range(33)), .2, True), - assist_permission=lambda: (states, healthy)) - parser = CANParser(DBC[cp.carFingerprint][Bus.pt], [('LateralMotionControl2', 20)], owner.CAN.main) - out = structs.CarState(vEgoRaw=7., yawRate=-sign * .049) - out.cruiseState.enabled = True - state.out = out.as_reader() - # First production frame announces the extension; subsequent commands run the actual demand and envelope. - owner.update(control.as_reader(), state, 0) - assert owner.mache_lateral is not None - owner.mache_lateral.curvature_last = sign * .02 - for tick, (gas, allowed, valid, enabled, brake, cruise) in enumerate(( - (False, True, True, True, False, True), (True, True, True, True, False, True), - (False, True, True, True, False, True), (True, False, True, True, False, True), - (True, True, True, True, False, True), (True, True, False, True, False, True), - (True, True, True, True, False, False), - (False, True, True, False, False, True), (False, True, True, True, True, True), - ), 1): - out.gasPressed, out.brakePressed = gas, brake - out.cruiseState.enabled = cruise - state.out = out.as_reader() - control.enabled = enabled - states[0].controlsAllowed, healthy = allowed, valid - owner.frame = tick * 5 - _, frames = owner.update(control.as_reader(), state, tick * 50_000_000) - parser.update([(tick * 50_000_000, frames)]) - fields = parser.vl['LateralMotionControl2'] - permitted = enabled and not brake and (not gas or (cruise and allowed and valid)) - assert fields['LatCtl_D2_Rq'] == 1 - assert fields['LatCtlCurv_No_Actl'] == pytest.approx(-sign * .02, abs=1.01e-5) - assert (fields['LatCtlPath_An_Actl'] != 0.) == permitted - assert (owner.mache_lateral.path_angle_last != 0.) == permitted - owner.manual_turn_inputs = None - out.gasPressed, out.brakePressed, control.enabled = True, False, True - state.out = out.as_reader() - owner.frame = 50 - owner.update(control.as_reader(), state, 500_000_000) - assert not owner.mache_lateral.assist_engagement_retained - assert owner.mache_lateral.path_angle_last == 0. - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_real_controller_recovers_opposite_curve_after_continuous_agreement(sign): - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - owner = CarController(DBC[cp.carFingerprint], cp) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - control = structs.CarControl(latActive=True, enabled=True) - control.actuators.curvature = sign * .006 - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - owner.manual_turn_inputs = SimpleNamespace(update=lambda: None, apply_blend_settings=lambda _: None, enabled=True, - lateral_snapshot=lambda _: (model, tuple(i*.1 for i in range(33)), .2, True)) - out = structs.CarState(vEgoRaw=9.5, yawRate=-sign * .038, steeringPressed=True, - steeringAngleDeg=-sign * 30., steeringTorque=-sign * 2., - leftBlinker=sign < 0, rightBlinker=sign > 0) - state.out = out.as_reader() - owner.update(control.as_reader(), state, 0) - owner.frame = 5 - owner.update(control.as_reader(), state, 50_000_000) - assert owner.mache_lateral.manual_turn_latched - out.yawRate, out.steeringAngleDeg, out.steeringTorque = sign * .038, sign * 20., sign * 2. - out.leftBlinker = out.rightBlinker = False - state.out = out.as_reader() - control.actuators.curvature = -sign * .006 - model.orientationRate.z = [-sign * .095] * 33 - # An opposing driver torque after four agreeing frames must restart the full dwell. - for tick, (torque, recovered) in enumerate([(2., False)] * 4 + [(-2., False)] + [(2., False)] * 4 + [(2., True)], 1): - out.steeringTorque = sign * torque - state.out = out.as_reader() - owner.frame = (tick + 1) * 5 - actual, frames = owner.update(control.as_reader(), state, (tick + 1) * 50_000_000) - active = next(data for address, data, _ in frames if address == 0x3d6)[0] >> 4 & 7 - assert bool(active) == recovered - assert owner.mache_lateral.path_angle_last == 0. - if recovered: - assert -sign * actual.curvature > 0. - assert not owner.mache_lateral.manual_turn_latched - - -@pytest.mark.parametrize("speed,expected", ((0.0, 0.0), (15.0, 0.0), (16.0, 0.0), (19.5, 0.2), - (23.0, 0.4), (30.0, 0.4), (40.0, 0.4))) -def test_mach_e_high_speed_preview_ramps_continuously(controller, speed, expected): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - assert controller._high_speed_lookahead_extra(speed, False, False) == pytest.approx(expected) - - -@pytest.mark.parametrize("fingerprint,flags,driver,lane_change", ( - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, True, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, False, True), - (CAR.FORD_MUSTANG_MACH_E_MK1, 0, False, False), - (CAR.FORD_EXPLORER_MK6, FordFlags.CANFD, False, False), - (CAR.FORD_F_150_MK14, FordFlags.CANFD, False, False), - (CAR.FORD_EDGE_MK2, 0, False, False), -)) -def test_high_speed_preview_preserves_takeover_lane_changes_and_other_fords(controller, fingerprint, flags, driver, lane_change): - controller.CP.carFingerprint = fingerprint - controller.CP.flags = flags - assert controller._high_speed_lookahead_extra(30.0, driver, lane_change) == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("speed", (16.0, 19.5, 23.0, 30.0)) -def test_mach_e_high_speed_preview_preserves_constant_curve_authority(controller, monkeypatch, sign, speed): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - curvature = sign * 0.001 - controller.curvature_last = curvature - controller.desired_curvature_last = curvature - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: curvature) - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=speed, curvature=curvature), - SimpleNamespace(curvature=curvature)) - assert result.curvature == pytest.approx(curvature) - assert result.curvature_rate == 0.0 - assert result.path_angle == 0.0 - - -@pytest.mark.parametrize("driver,lane_change", ((False, False), (True, False), (False, True))) -def test_mach_e_high_speed_preview_update_uses_bounded_horizon(controller, monkeypatch, driver, lane_change): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.set_inputs(controller.model, controller.time_indices, 0.38, True) - monkeypatch.setattr(controller, "_lane_change", lambda: (lane_change, 0)) - lookaheads = [] - monkeypatch.setattr(controller, "_predicted_curvature", lambda v, t: lookaheads.append(t) or 0.0) - controller.update(SimpleNamespace(latActive=True), car_state(speed=30.0, steering_pressed=driver), - SimpleNamespace(curvature=0.0001)) - assert lookaheads[0] == pytest.approx(0.38 if driver or lane_change else 0.78) - assert controller._curvature_lookahead() == pytest.approx(0.38) - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("conflicting_rate", (False, True)) -@pytest.mark.parametrize("fingerprint,flags,driver,lane_change", ( - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, False, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, True, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, False, True), - (CAR.FORD_MUSTANG_MACH_E_MK1, 0, False, False), - (CAR.FORD_EXPLORER_MK6, FordFlags.CANFD, False, False), - (CAR.FORD_EDGE_MK2, 0, False, False), -)) -def test_mach_e_unwind_rate_does_not_fight_selected_release(controller, monkeypatch, sign, conflicting_rate, - fingerprint, flags, driver, lane_change): - controller.CP.carFingerprint = fingerprint - controller.CP.flags = flags - controller.desired_curvature_last = sign * 0.013 - controller.curvature_last = sign * 0.012 - predicted = sign * 0.011 - rate = sign * 0.0002 * (1 if conflicting_rate else -1) - controller.curvature_samples.append(predicted - rate * STEER_DT * 8.0) - monkeypatch.setattr(controller, "_predicted_curvature", lambda v, t: predicted if t < 0.5 else sign * 0.006) - monkeypatch.setattr(controller, "_lane_change", lambda: (lane_change, 0)) - result = controller.update(SimpleNamespace(latActive=True), - car_state(speed=8.0, curvature=sign * 0.012, steering_pressed=driver), - SimpleNamespace(curvature=sign * 0.012)) - suppress = fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and flags & FordFlags.CANFD and not driver and not lane_change - assert result.curvature_rate == pytest.approx(0.0 if lane_change or suppress and conflicting_rate else rate) - assert result.path_angle == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -@pytest.mark.parametrize("last,desired,current,preview,rate,suppress", ( - (0.011, 0.012, 0.004, 0.014, -0.001023, True), - (0.012, 0.012, 0.004, 0.014, -0.001023, True), - (0.011, 0.012, -0.004, 0.014, -0.001023, True), - (0.013, 0.012, 0.004, 0.014, -0.001023, False), - (-0.011, 0.012, 0.004, 0.014, -0.001023, False), - (0.011, 0.012, 0.011, 0.014, -0.001023, False), - (0.011, 0.012, 0.004, 0.005, -0.001023, False), - (0.011, 0.012, 0.004, 0.010, -0.001023, False), - (0.011, 0.012, 0.004, -0.014, -0.001023, False), - (0.011, 0.012, 0.004, 0.000, -0.001023, False), - (0.011, 0.012, 0.004, 0.014, 0.001023, False), - (0.011, 0.012, 0.004, 0.014, 0.000000, False), -)) -def test_mach_e_turn_in_rate_preserves_entry_and_opening_phases(controller, monkeypatch, sign, - last, desired, current, preview, rate, suppress): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = sign * last - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * preview) - result = controller._turn_in_curvature_rate(sign * desired, sign * current, sign * rate, 8.0, 0.4, False, False) - assert result == pytest.approx(0.0 if suppress else sign * rate) - - -@pytest.mark.parametrize("fingerprint,flags,driver,lane_change", ( - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, True, False), - (CAR.FORD_MUSTANG_MACH_E_MK1, FordFlags.CANFD, False, True), - (CAR.FORD_MUSTANG_MACH_E_MK1, 0, False, False), - (CAR.FORD_EXPLORER_MK6, FordFlags.CANFD, False, False), - (CAR.FORD_EDGE_MK2, 0, False, False), -)) -@pytest.mark.parametrize("sign", (-1, 1)) -def test_turn_in_rate_preserves_driver_lane_change_and_other_fords(controller, monkeypatch, sign, - fingerprint, flags, driver, lane_change): - controller.CP.carFingerprint = fingerprint - controller.CP.flags = flags - controller.desired_curvature_last = sign * 0.011 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.014) - rate = -sign * 0.001023 - assert controller._turn_in_curvature_rate(sign * 0.012, sign * 0.004, rate, 8.0, 0.4, driver, lane_change) == rate - - -@pytest.mark.parametrize("speed,suppress", ((0.3, False), (2.9, False), (3.0, True), (14.9, True), (15.0, False), (25.0, False))) -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_turn_in_rate_does_not_use_near_zero_speed_yaw_or_change_highway_behavior(controller, monkeypatch, - sign, speed, suppress): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = sign * 0.011 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.014) - rate = -sign * 0.001023 - result = controller._turn_in_curvature_rate(sign * 0.012, sign * 0.004, rate, speed, 0.4, False, False) - assert result == pytest.approx(0.0 if suppress else rate) - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_turn_in_rate_update_uses_previous_desired_and_preserves_unwind(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.desired_curvature_last = sign * 0.011 - controller.curvature_last = sign * 0.012 - monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.014) - rate = -sign * 0.0002 - for desired in (0.012, 0.012, 0.011): - controller.curvature_samples.clear() - controller.curvature_samples.append(sign * 0.014 - rate * STEER_DT * 8.0) - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=8.0, curvature=sign * 0.004), - SimpleNamespace(curvature=sign * desired)) - assert result.curvature_rate == pytest.approx(rate if desired == 0.011 else 0.0) - assert controller.desired_curvature_last == sign * desired - assert result.active and result.path_angle == 0.0 - - -def test_mach_e_mild_braking_actual_wire_and_driver_override(): - from opendbc.car.ford.interface import CarInterface - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1, alpha=True) - assert list(cp.longitudinalTuning.kiV) == pytest.approx([0.3]) - assert cp.longitudinalActuatorDelay == pytest.approx(0.15) - assert CarInterface.get_pid_accel_limits(cp, 11., 20.)[0] == -3.5 - cc = CarController(DBC[cp.carFingerprint], cp) - cs = CarState(cp) - cs.update(cs.get_can_parsers(cp)) - cs.out = structs.CarState(vEgo=11., vEgoRaw=11.).as_reader() - command = structs.CarControl(enabled=True) - command.actuators.longControlState = structs.CarControl.Actuators.LongControlState.pid - parser = CANParser(DBC[cp.carFingerprint][Bus.pt], [('ACCDATA', 50)], 0) - for frame, active, request, expected in ((2, True, -.5, -.04), (4, False, 0., 0.), - (8, True, -.5, -.04), (14, True, -3.5, -.11)): - cc.frame = frame - command.longActive = active - command.actuators.accel = request - actual, frames = cc.update(command.as_reader(), cs, frame * 10_000_000) - parser.update([(frame * 10_000_000, [msg for msg in frames if msg[0] == 0x186])]) - values = parser.vl['ACCDATA'] - assert actual.accel == pytest.approx(expected) - assert values['AccBrkTot_A_Rq'] == pytest.approx(expected, abs=.01) - assert values['AccPrpl_A_Rq'] == pytest.approx(expected if active and request > -1. else -5., abs=.01) - assert values['Cmbb_B_Enbl'] == int(active) - assert values['AccResumEnbl_B_Rq'] == int(active) - - -# Dom Green Garden / Sea Turtles / Waffles actual demand update regressions. -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_unwind_plateau_sequence_and_reset(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - monkeypatch.setattr(controller, "_predicted_curvature", lambda v, t: sign * (0.009 if t < 0.5 else 0.004)) - controller.desired_curvature_last = sign * 0.012 - controller.curvature_last = sign * 0.009 - state = car_state(speed=10.0, curvature=sign * 0.009) - CC = SimpleNamespace(latActive=True) - commands = [controller.update(CC, state, SimpleNamespace(curvature=sign * x)).curvature for x in (0.011, 0.011)] - assert commands[1] == pytest.approx(commands[0]) - for _ in range(6): - result = controller.update(CC, state, SimpleNamespace(curvature=sign * 0.011)) - assert sign * result.curvature > sign * commands[0] - assert controller.unwind_preview_hold_timer == 0.0 - controller.unwind_preview_hold_timer = 0.10 - state.out.steeringPressed = True - controller.update(CC, state, SimpleNamespace(curvature=sign * 0.011)) - assert controller.unwind_preview_hold_timer == 0.0 - controller.unwind_preview_hold_timer = 0.10 - assert not controller.update(SimpleNamespace(latActive=False), state, SimpleNamespace(curvature=0.0)).active - assert controller.unwind_preview_hold_timer == 0.0 - state.out.steeringPressed = False - controller.update(CC, state, SimpleNamespace(curvature=sign * 0.011)) - assert controller.unwind_preview_hold_timer == 0.0 - - -@pytest.mark.parametrize("rate_sign", (-1, 1)) -def test_mach_e_unwind_plateau_rate_consistency(controller, monkeypatch, rate_sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - controller.desired_curvature_last = 0.010 - controller.curvature_last = 0.010 - controller.unwind_preview_hold_timer = 0.10 - rate = rate_sign * 0.0001 - controller.curvature_samples.append(0.010 - rate * STEER_DT * 10.0) - monkeypatch.setattr(controller, "_predicted_curvature", lambda v, t: 0.010 if t < 0.5 else 0.004) - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=10.0, curvature=0.011), - SimpleNamespace(curvature=0.010)) - assert result.curvature_rate == pytest.approx(0.0 if rate_sign > 0 else rate) - - -@pytest.mark.parametrize("manual_turn", (False, True)) -def test_mach_e_unwind_plateau_resets_when_stopped_or_manual_turn_latched(controller, manual_turn): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.unwind_preview_hold_timer = 0.10 - controller.manual_turn_latched = manual_turn - state = car_state(speed=10.0 if manual_turn else 0.0, steering_angle=20.0 if manual_turn else 0.0) - controller.update(SimpleNamespace(latActive=True), state, SimpleNamespace(curvature=0.010)) - assert controller.unwind_preview_hold_timer == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_unwind_release_update_yields_and_reverses(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.model = SimpleNamespace(orientationRate=SimpleNamespace(z=[0.0] * 33), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - monkeypatch.setattr(controller, "_predicted_curvature", lambda v, t: sign * (0.014 if t < 0.5 else 0.004)) - controller.desired_curvature_last = sign * 0.016 - controller.curvature_last = sign * 0.012 - CC = SimpleNamespace(latActive=True) - state = car_state(speed=10.0, curvature=sign * 0.010) - result = controller.update(CC, state, SimpleNamespace(curvature=sign * 0.012)) - assert result.curvature == pytest.approx(sign * 0.010) - assert result.path_angle == 0.0 - state.out.steeringPressed = True - controller.update(CC, state, SimpleNamespace(curvature=sign * 0.012)) - assert controller.unwind_preview_hold_timer == 0.0 - state.out.steeringPressed = False - state.out.yawRate = -sign * 0.004 * state.out.vEgoRaw - for _ in range(20): - result = controller.update(CC, state, SimpleNamespace(curvature=-sign * 0.008)) - assert sign * result.curvature < 0.0 - assert controller.unwind_preview_hold_timer == 0.0 - assert not controller.update(SimpleNamespace(latActive=False), state, SimpleNamespace(curvature=0.0)).active - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_mach_e_reversal_zero_crossing_after_preview_sequence(controller, monkeypatch, sign): - controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 - controller.CP.flags = FordFlags.CANFD - controller.lookahead = 0.4 - controller.desired_curvature_last = sign * 0.00155 - controller.curvature_last = -sign * 0.00065 - monkeypatch.setattr(controller, "_predicted_curvature", - lambda _v, t: sign * 0.0007 if t < 1.0 else -sign * 0.005) - result = controller.update(SimpleNamespace(latActive=True), car_state(speed=12.0, curvature=sign * 0.00462), - SimpleNamespace(curvature=-sign * 0.00034)) - assert result.active - assert result.curvature == pytest.approx(-sign * 0.00138) - assert result.path_angle == 0.0 - - -@pytest.mark.parametrize("sign", (-1, 1)) -def test_dom_unwind_release_actual_caller_keeps_modern_envelope_and_wire(sign): - import struct - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - cc = CarController(DBC[cp.carFingerprint], cp) - cs = CarState(cp) - cs.update(cs.get_can_parsers(cp)) - cs.out = structs.CarState(vEgoRaw=10., yawRate=-sign * .10).as_reader() - control = structs.CarControl(latActive=True, enabled=True) - control.actuators.curvature = sign * .012 - model = SimpleNamespace(orientationRate=SimpleNamespace(z=[sign * (.14 if i < 5 else .04) for i in range(33)]), - meta=SimpleNamespace(laneChangeState=0, laneChangeDirection=0)) - cc.manual_turn_inputs = SimpleNamespace(update=lambda: None, apply_blend_settings=lambda _: None, enabled=True, - lateral_snapshot=lambda _: (model, tuple(i*.1 for i in range(33)), .2, True)) - cc.update(control.as_reader(), cs, 0) - cc.mache_lateral.desired_curvature_last = sign * .016 - cc.mache_lateral.curvature_last = sign * .012 - cc.frame = 5 - actual, frames = cc.update(control.as_reader(), cs, 50_000_000) - assert cc.mache_lateral_demand.curvature == pytest.approx(sign * .010) - assert abs(actual.curvature - sign * .012) <= MAX_LATERAL_JERK / 100. * STEER_DT + 1e-12 - assert abs(actual.curvature) <= min(.02, MAX_LATERAL_ACCEL / 100.) - assert cc.mache_lateral.curvature_last == cc.apply_curvature_last - # Actuators.curvature is Float32; internal emitted histories are doubles. - assert actual.curvature == struct.unpack("f", struct.pack("f", cc.apply_curvature_last))[0] - parser = CANParser(DBC[cp.carFingerprint][Bus.pt], [('LateralMotionControl2', 20)], cc.CAN.main) - parser.update([(50_000_000, frames)]) - fields = parser.vl['LateralMotionControl2'] - assert fields['LatCtl_D2_Rq'] == 1 - assert fields['LatCtlCurv_No_Actl'] == pytest.approx(-actual.curvature, abs=1.01e-5) - assert fields['LatCtlPath_An_Actl'] == 0. - control.latActive = False - cc.frame = 10 - actual, _ = cc.update(control.as_reader(), cs, 100_000_000) - assert actual.curvature == 0. - assert cc.mache_lateral.unwind_preview_hold_timer == 0. diff --git a/opendbc_repo/opendbc/car/ford/tests/test_mache_speed_window.py b/opendbc_repo/opendbc/car/ford/tests/test_mache_speed_window.py deleted file mode 100644 index 074b5392eb..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_mache_speed_window.py +++ /dev/null @@ -1,140 +0,0 @@ -import pytest -from opendbc.car.ford import mache_lateral as original -from opendbc.car import Bus -from opendbc.can import CANPacker - -candidate = original - - -def cp(): - from opendbc.car import gen_empty_fingerprint - from opendbc.car.ford.interface import CarInterface - from opendbc.car.ford.values import CAR - - fingerprint = gen_empty_fingerprint() - fingerprint[0] = {0x5A: 8, 0x3A6: 8, 0x3A7: 8} - result = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint, [], True, False, False) - result.alternativeExperience = 32 - assert result.safetyConfigs[-1].safetyParam == 19 and result.flags == 3 - return result - - -@pytest.mark.parametrize("sign", [-1, 1]) -def test_recorded_native_window_prevents_first_rejection_and_cascade(sign): - from opendbc.safety.tests.test_ford_mach_e_extended import TestFordMachEExtended - from opendbc.safety.tests.test_ford_aol import TestFordAolDriverIntent - - f = TestFordMachEExtended() - f.SAFETY_PARAM = 19 - f.setUp() - a = TestFordAolDriverIntent() - a.setUp() - - def setup(): - a.reset(19) - a.arm() - a.pump(12, mask=3, speed=8.805556, curvature=sign * 0.02) - f._rx(f._pcm_status_msg(True)) - a.safety.aol_set_host_request(3) - assert a.safety.aol_get_permission_mask() == 3 - assert f.announce() - a.pump(2, mask=3, main=4, speed=8.775, curvature=sign * 0.02) - f._set_prev_desired_angle(sign * 0.02) - - demand = original.FordLateralResult(active=True, curvature=sign * 0.02, path_angle=sign * 0.0035, curvature_rate=-0.001023) - setup() - old = original.bounded_command(candidate.MachELateralController(cp()), demand, sign * 0.02, 8.775) - assert not f._tx(f.command(curvature=old.curvature, angle=old.path_angle, rate=old.curvature_rate, increment_timer=False)) - assert not f._tx(f.command(curvature=sign * 0.02, angle=0, rate=0, increment_timer=False)) - setup() - new = candidate.bounded_command(candidate.MachELateralController(cp()), demand, sign * 0.02, 8.775, speed_window=(8.775, 8.806, 0.031)) - assert new.curvature == old.curvature and new.path_angle == 0 - assert f._tx(f.command(curvature=new.curvature, angle=new.path_angle, rate=new.curvature_rate, increment_timer=False)) - assert f._tx(f.command(curvature=sign * 0.02, angle=0, rate=0, increment_timer=False)) - a.tearDown() - - -@pytest.mark.parametrize("speed", [0, 2.99, 3, 5, 8.7, 8.8, 12, 30]) -@pytest.mark.parametrize("active", [False, True]) -def test_zero_span_window_preserves_default_command(speed, active): - d = original.FordLateralResult(active=active, curvature=0.02, path_angle=0.1) - assert candidate.bounded_command(candidate.MachELateralController(cp()), d, 0.019, speed) == candidate.bounded_command( - candidate.MachELateralController(cp()), d, 0.019, speed, speed_window=(speed, speed, 0.0) - ) - - -@pytest.mark.parametrize("param,ae,supported", [(19, 32, True), (18, 32, False), (19, 0, False), (147, 32, False), (67, 32, False)]) -def test_exact_profile(param, ae, supported): - c = cp() - c.safetyConfigs[0].safetyParam = param - c.alternativeExperience = ae - assert candidate.path_speed_window_supported(c) == supported - - -def test_actual_carstate_tracks_six_raw_samples(): - from opendbc.car.ford.carstate import CarState - - c = cp() - cs = CarState(c) - parsers = cs.get_can_parsers(c) - p = CANPacker("ford_lincoln_base_pt") - values = [8.7, 8.805556, 8.79, 8.78, 8.775, 8.77, 8.76] - for i, v in enumerate(values): - parsers[Bus.pt].update( - [[(i + 1) * 20_000_000, [p.make_can_msg("BrakeSysFeatures", 0, {"Veh_V_ActlBrk": v * 3.6, "VehVActlBrk_D_Qf": 3, "VehVActlBrk_No_Cnt": i + 1})]]] - ) - cs.update(parsers) - assert cs.bluepilot_speed_window is not None - assert cs.bluepilot_speed_samples is not None - assert cs.bluepilot_speed_window[1] >= 8.8 - assert len(cs.bluepilot_speed_samples) == 6 - - for i in range(7, 13): - parsers[Bus.pt].update( - [[(i + 1) * 20_000_000, [p.make_can_msg("BrakeSysFeatures", 0, {"Veh_V_ActlBrk": 8.7 * 3.6, "VehVActlBrk_D_Qf": 3, "VehVActlBrk_No_Cnt": i + 1})]]] - ) - cs.update(parsers) - assert cs.bluepilot_speed_window is not None - assert cs.bluepilot_speed_window[1] < 8.8 - - -@pytest.mark.parametrize("high", [8.79, 8.8, 8.81, 9.0]) -def test_rising_window_previous_nonzero_path(high): - demand = original.FordLateralResult(active=True, curvature=0.02, path_angle=0.05) - out = candidate.bounded_command(candidate.MachELateralController(cp()), demand, 0.02, 8.775, 0.05, speed_window=(8.7, high, 0.1)) - if high >= 8.8: - assert out.path_angle == 0 - else: - assert 0 <= out.path_angle <= 0.05 - assert out.curvature == 0.02 - - -def test_controller_uses_native_speed_window(): - from opendbc.can import CANParser - from opendbc.car import structs - from opendbc.car.ford.carcontroller import CarController - from opendbc.car.ford.carstate import CarState - from opendbc.car.ford.values import DBC - from openpilot.common.prefix import OpenpilotPrefix - - with OpenpilotPrefix(): - c = cp() - controller = CarController(DBC[c.carFingerprint], c) - controller.manual_turn_inputs = None - controller.mache_extended_announced = True - assert controller.mache_lateral is not None - controller.mache_lateral.curvature_last = 0.02 - controller.mache_lateral.update = lambda *_: candidate.FordLateralResult(active=True, curvature=0.02, path_angle=0.0035) - state = CarState(c) - state.update(state.get_can_parsers(c)) - state.bluepilot_speed_window = (8.775, 8.806, 0.031) - cs = structs.CarState(canValid=True, vEgo=8.775, vEgoRaw=8.775, gearShifter=structs.CarState.GearShifter.drive) - cs.cruiseState.available = True - state.out = cs.as_reader() - command = structs.CarControl(latActive=True, longActive=True) - _, frames = controller.update(command.as_reader(), state, 1_000_000_000) - parser = CANParser("ford_lincoln_base_pt", [("LateralMotionControl2", 50)], 0) - parser.update([[1_000_000_000, frames]]) - assert any(address == 0x3D6 for address, _, _ in frames) - assert abs(parser.vl["LateralMotionControl2"]["LatCtlPath_An_Actl"]) < 0.00001 - assert abs(abs(parser.vl["LateralMotionControl2"]["LatCtlCurv_No_Actl"]) - 0.02) < 0.00001 diff --git a/opendbc_repo/opendbc/car/ford/tests/test_manual_turn.py b/opendbc_repo/opendbc/car/ford/tests/test_manual_turn.py deleted file mode 100644 index 5ddc95aaf6..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_manual_turn.py +++ /dev/null @@ -1,144 +0,0 @@ -import unittest -from types import SimpleNamespace - -from opendbc.can import CANParser -from opendbc.car import Bus, structs -from opendbc.car.ford import fordcan -from opendbc.car.ford.carcontroller import CarController -from opendbc.car.ford.carstate import CarState -from opendbc.car.ford.manual_turn import HumanTurnDetector, ManualTurnLatch -from opendbc.car.ford.tests.test_three_ports import params as _params -from opendbc.car.ford.values import CAR, DBC - - -def turn_state(direction=1): - return SimpleNamespace(out=SimpleNamespace(steeringPressed=True, steeringAngleDeg=-direction * 12., - steeringTorque=-direction, rightBlinker=direction == 1, - leftBlinker=direction == -1, yawRate=0., vEgoRaw=20.)) - - -def params(candidate): - cp = _params(candidate) - if candidate == CAR.FORD_MUSTANG_MACH_E_MK1: - cp.safetyConfigs[0].safetyParam = 3 if cp.openpilotLongitudinalControl else 2 - return cp - - -class TestManualTurn(unittest.TestCase): - def test_detector_preturned_and_new_turn_hold(self): - for preturned, frames in ((True, 60), (False, 30)): - detector = HumanTurnDetector() - if not preturned: - self.assertFalse(detector.update(True, True, 0.)) - for _ in range(frames - 1): - self.assertFalse(detector.update(True, True, 46.)) - self.assertTrue(detector.update(True, True, 46.)) - self.assertFalse(detector.update(True, False, 46.)) - self.assertFalse(detector.update(False, True, 46.)) - - def test_signed_directional_recovery_and_resets(self): - command = SimpleNamespace(latActive=True) - for direction in (-1, 1): - for desired, current, release in ((.006, .003, False), (.005, .003, True), (0., .003, True), (-.006, .003, True)): - with self.subTest(direction=direction, desired=desired): - latch = ManualTurnLatch() - state = turn_state(direction) - self.assertTrue(latch.update(command, state, direction * desired, True, False)) - state.out.steeringPressed = False - state.out.steeringAngleDeg = 0. - state.out.rightBlinker = state.out.leftBlinker = False - state.out.yawRate = -direction * current * 20. - for _ in range(4): - self.assertTrue(latch.update(command, state, direction * desired, True, False)) - self.assertEqual(latch.update(command, state, direction * desired, True, False), not release) - self.assertFalse(latch.update(command, state, direction * desired, False, False)) - self.assertEqual(latch.manual_turn_direction, 0.) - state = turn_state(direction) - self.assertFalse(latch.update(command, state, .006, True, True)) - self.assertTrue(latch.update(command, state, .006, True, False)) - command.latActive = False - self.assertFalse(latch.update(command, state, .006, True, False)) - command.latActive = True - - def test_no_signal_direction_and_recovery_interruptions(self): - latch = ManualTurnLatch() - command = SimpleNamespace(latActive=True) - state = turn_state(-1) - state.out.leftBlinker = False - state.out.steeringAngleDeg = 46. - for _ in range(60): - latched = latch.update(command, state, -.006, True, False) - self.assertTrue(latched) - self.assertEqual(latch.manual_turn_direction, -1.) - for attribute, value in (('steeringPressed', True), ('rightBlinker', True), ('steeringAngleDeg', 13.)): - state.out.steeringPressed = False - state.out.rightBlinker = False - state.out.steeringAngleDeg = 0. - latch.update(command, state, -.006, True, False) - setattr(state.out, attribute, value) - self.assertTrue(latch.update(command, state, -.006, True, False)) - self.assertEqual(latch.manual_turn_recovery_timer, 0.) - - def test_missing_model_blocks_entry_but_preserves_recovery(self): - command = SimpleNamespace(latActive=True) - state = turn_state() - latch = ManualTurnLatch() - self.assertFalse(latch.update(command, state, .006, True, False, False)) - self.assertTrue(latch.update(command, state, .006, True, False, True)) - state.out.steeringPressed = False - state.out.rightBlinker = False - state.out.steeringAngleDeg = 0. - for _ in range(4): - self.assertTrue(latch.update(command, state, 0., True, False, False)) - self.assertFalse(latch.update(command, state, 0., True, False, False)) - - def test_controller_real_can_yield_counter_and_recovery(self): - candidate = CAR.FORD_MUSTANG_MACH_E_MK1 - cp = params(candidate) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - out = structs.CarState() - out.vEgoRaw = 20. - out.steeringPressed = True - out.steeringAngleDeg = -12. - out.steeringTorque = -1. - out.rightBlinker = True - state.out = out.as_reader() - command = structs.CarControl() - command.latActive = True - command.actuators.curvature = .006 - controller = CarController(DBC[candidate], cp) - controller.manual_turn_inputs = SimpleNamespace(update=lambda: (True, False, True)) - parser = CANParser(DBC[candidate][Bus.pt], [('LateralMotionControl2', 20)], controller.CAN.main) - for index in range(10): - controller.frame = index * 5 - if index == 1: - out.steeringPressed = False - out.steeringAngleDeg = 0. - out.rightBlinker = False - if index == 7: - command.actuators.curvature = -.001 - state.out = out.as_reader() - _, messages = controller.update(command.as_reader(), state, (index + 1) * 50_000_000) - wire = next(message for message in messages if message[0] == 0x3D6) - expected = fordcan.create_lat_ctl2_msg(controller.packer, controller.CAN, int(index >= 7), 0., 0., - -controller.apply_curvature_last, 0., index) - self.assertEqual(wire, expected) - parser.update([((index + 1) * 50_000_000, messages)]) - values = parser.vl['LateralMotionControl2'] - self.assertEqual(values['LatCtlPath_No_Cnt'], index) - self.assertEqual(values['LatCtl_D2_Rq'], int(index >= 7)) - if index < 7: - self.assertAlmostEqual(values['LatCtlCurv_No_Actl'], 0., places=5) - self.assertEqual(controller.apply_curvature_last, 0.) - self.assertTrue(parser.can_valid) - - def test_other_platform_and_lka_do_not_create_inputs(self): - for candidate in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_TRANSIT_MK5): - cp = params(candidate) - controller = CarController(DBC[candidate], cp) - self.assertIsNone(controller.manual_turn) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - state.out = structs.CarState().as_reader() - controller.update(structs.CarControl().as_reader(), state, 0) diff --git a/opendbc_repo/opendbc/car/ford/tests/test_new_port_curvature.py b/opendbc_repo/opendbc/car/ford/tests/test_new_port_curvature.py deleted file mode 100644 index e8ad2d290a..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_new_port_curvature.py +++ /dev/null @@ -1,207 +0,0 @@ -"""Current-strategy Edge/Mondeo wiring and current native scalar-curvature proof. - -Source-only authored cases; runtime must bind actual DEBUG/RELEASE libraries. -""" -import os -from pathlib import Path -import unittest -from unittest.mock import patch - -from openpilot.cereal import messaging -from openpilot.common.params import Params -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.starpilot.tests import test_vehicle_preferences as startup -from openpilot.starpilot.lateral.tests import test_lane_runtime as lane -from opendbc.car import gen_empty_fingerprint, structs -from opendbc.car.ford.new_port_curvature import qualified, create_controller -from opendbc.car.ford.tests.test_three_ports import params as factory -from opendbc.car.ford.values import CAR, FordFlags -from opendbc.safety.tests import test_ford_aol as physical -from opendbc.safety.tests.libsafety import libsafety_py - -PROFILES = (CAR.FORD_EDGE_MK2, CAR.FORD_MONDEO_MK5) - - -class TestNewPortCurvature(unittest.TestCase): - def test_exact_existing_factory_profiles_and_no_namespace_or_topology_inference(self): - for identity in PROFILES: - for alpha, release in ((False, False), (True, False), (False, True), (True, True)): - cp = factory(identity, alpha, release) - expected_long = bool(alpha) - self.assertTrue(cp.pcmCruise) - self.assertEqual(cp.openpilotLongitudinalControl, expected_long) - self.assertEqual(cp.safetyConfigs[-1].safetyParam, (8 if identity == CAR.FORD_EDGE_MK2 else 10) + int(expected_long)) - self.assertTrue(qualified(cp)) - self.assertIsNotNone(create_controller(cp)) - original = cp.to_bytes() - cp.clear_write_flag() - create_controller(cp) - self.assertEqual(cp.to_bytes(), original) - cp.clear_write_flag() - for field, value in (("passive", True), ("dashcamOnly", True), ("notCar", True), ("alternativeExperience", 64), - ("pcmCruise", False), ("openpilotLongitudinalControl", not expected_long)): - with structs.CarParams.from_bytes(original) as prior: - changed = prior.as_builder() - setattr(changed, field, value) - self.assertFalse(qualified(changed)) - for word in (0, 2, 12, 18, 32, 66, 128, 130, 65535): - with structs.CarParams.from_bytes(original) as prior: - changed = prior.as_builder() - changed.safetyConfigs[-1].safetyParam = word - self.assertIsNone(create_controller(changed)) - cp.alternativeExperience = 32 - self.assertTrue(qualified(cp)) - cp.safetyConfigs = [cp.safetyConfigs[-1], cp.safetyConfigs[-1]] - self.assertFalse(qualified(cp)) - self.assertIsNone(create_controller(factory(CAR.FORD_TRANSIT_MK5))) - self.assertIsNone(create_controller(factory(CAR.FORD_BRONCO_SPORT_MK1))) - - def test_saved_card_controls_actual_parser_provider_sender_and_native_both_signs(self): - safety = libsafety_py.libsafety - for identity in PROFILES: - for direction in (-1, 1): - with self.subTest(identity=identity, direction=direction), OpenpilotPrefix(), \ - patch.dict(os.environ, {"REPLAY": "1", "SIMULATION": "1"}), \ - patch("openpilot.selfdrive.controls.controlsd.messaging.PubMaster"): - saved = Params() - helper = startup.TestVehicleStartupPreferences() - helper.setUp() - helper.params = saved - native = physical.TestFordAolDriverIntent() - try: - for key, value in (("OpenpilotEnabledToggle", True), ("SafeMode", False), ("AlwaysOnLateral", False), - ("AlphaLongitudinalEnabled", False), ("IsReleaseBranch", False)): - saved.put_bool(key, value, block=True) - observed = gen_empty_fingerprint() - observed[0][0x5A] = 8 - observed[2].update({0x3D6: 8, 0x186: 8}) - host, constructed, cp = helper.start(identity, key="FordHumanTurnDetection", observed=observed, - capture=lambda ci: (ci.CP.safetyConfigs[-1].safetyParam, ci.CC.new_port_curvature is not None)) - self.assertEqual(constructed, [(8 if identity == CAR.FORD_EDGE_MK2 else 10, True)]) - self.assertEqual(host.CI.CP.to_dict(), cp.to_dict()) - self.assertTrue(qualified(cp)) - owner = host.CI.CC.new_port_curvature - inputs = host.CI.CC.manual_turn_inputs - self.assertIsNotNone(inputs) - inputs.sm = messaging.SubMaster(["modelV2", "lateralDelay"]) - host.sm = messaging.SubMaster(["carControl"]) - controls = Controls() - native.setUp() - native.word, native.tick = cp.safetyConfigs[-1].safetyParam, 0 - safety.set_alternative_experience(0) - self.assertEqual(safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, native.word), 0) - safety.init_tests() - received, sent, active_curvatures = [], [], [] - - def rx(name, values, *, native=native, received=received): - self.assertLessEqual(set(values), set(native.packer.dbc.name_to_msg[name].sigs)) - frame = native.packer.make_can_msg(name, 0, values) - addr, data, bus = frame - self.assertTrue(safety.safety_rx_hook(libsafety_py.make_CANPacket(addr, bus, data))) - received.append(frame) - - host.publish_sendcan = lambda frames, valid=True, sent=sent: sent.extend(frames) if valid else self.fail("Invalid Card trace") - host.ci_initialized = True - host.CI.update([]) - saw_human_zero = saw_fault_zero = saw_stale_model = saw_rate_neutral = False - for tick in range(600): - received.clear() - with patch.object(native, "rx", rx): - native.pump(1, main=0 if tick < 30 else 4, speed=15.) - now = (1_000_000 + native.tick * 10_000) * 1000 - pressed = 100 <= tick < 430 - fault = 460 <= tick < 480 - extra: list[tuple[str, int, dict[str, float]]] = [("Cluster_Info1_FD1", 0, {"AccEnbl_B_RqDrv": 1}), - ("BodyInfo_3_FD1", 0, {}), ("RCMStatusMessage2_FD1", 0, {"FirstRowBuckleDriver": 1}), - ("INSTRUMENT_PANEL", 0, {}), ("IPMA_Data", 2, {}), ("ACCDATA", 2, {}), - ("ACCDATA_2", 2, {}), ("ACCDATA_3", 2, {}), - ("EPAS_INFO", 0, {"SteeringColumnTorque": 2 if pressed else 0, "EPAS_Failure": 2 if fault else 0})] - if cp.flags & FordFlags.ALT_STEER_ANGLE: - extra += [("ParkAid_Data", 0, {"ExtSteeringAngleReq2": 60 if pressed else 0, "EPASExtAngleStatReq": 0, "ApaSys_D_Stat": 0}), - ("SteeringPinion_Data_Alt", 0, {"StePinRelInit_An_Sns": 60 if pressed else 0})] - else: - extra += [("SteeringPinion_Data", 0, {"StePinComp_An_Est": 60 if pressed else 0, "StePinCompAnEst_D_Qf": 3})] - host_sources = [native.packer.make_can_msg(name, bus, values) for name, bus, values in extra] - for addr, data, bus in host_sources: - self.assertTrue(safety.safety_rx_hook(libsafety_py.make_CANPacket(addr, bus, data))) - received.extend(host_sources) - state = host.CI.update([(now, list(received))]) - if tick < 40: - continue - self.assertTrue(state.canValid) - self.assertFalse(state.canTimeout) - self.assertTrue(safety.get_controls_allowed()) - with patch("openpilot.starpilot.controller_extensions.time.monotonic_ns", return_value=now), \ - patch("openpilot.selfdrive.car.card.time.monotonic", return_value=now / 1e9), \ - patch.object(inputs.sm, "update", return_value=None): - feed_events = [] - with patch.object(controls.sm, "update_msgs", side_effect=lambda _, events, collector=feed_events: collector.extend(events)): - lane.feed(controls, now, tick, speed=15.) - car_state = messaging.new_message("carState", valid=True, logMonoTime=now) - car_state.carState = state - - preview = messaging.new_message("modelV2", valid=True, logMonoTime=now) - preview.modelV2 = lane.model() - preview.modelV2.action.desiredCurvature = direction * .0002 - predicted = .012 + (tick - 430) * .0002 if 430 <= tick < 460 else .0012 - preview.modelV2.orientationRate.z = [direction * predicted * 15.] * 33 - delay = messaging.new_message("lateralDelay", valid=True, logMonoTime=now) - delay.lateralDelay.lateralDelay = .38 - replacements = {"carState": car_state.as_reader(), "modelV2": preview.as_reader(), "lateralDelay": delay.as_reader()} - controls.sm.update_msgs(now / 1e9, [event for event in feed_events - if event.which() not in replacements] + list(replacements.values())) - if tick < 490: - inputs.sm.update_msgs(now / 1e9, [preview.as_reader(), delay.as_reader()]) - command, controller_log = controls.state_control() - self.assertTrue(command.enabled) - control_events = [] - - def capture_control(service, event, collector=control_events): - if service == "carControl": - collector.append(messaging.log_from_bytes(event.to_bytes())) - with patch.object(controls.pm, "send", side_effect=capture_control): - controls.publish(command, controller_log) - self.assertEqual(len(control_events), 1) - self.assertEqual(control_events[0].carControl.to_dict(), command.to_dict()) - self.assertEqual(control_events[0].valid, state.canValid) - host.sm.update_msgs(now / 1e9, control_events) - command = host.sm["carControl"] - host.can_log_mono_time = now - sent.clear() - host.controls_update(state, command) - if tick > 510: - self.assertIsNone(owner.model) - saw_stale_model = True - for addr, data, bus in sent: - if addr not in (0x3CA, 0x3D3, 0x3D6): - continue - self.assertTrue(safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus, data)), (identity, tick, hex(addr))) - if addr == 0x3CA: - self.assertEqual(data[4] & 3, 0) # Existing neutral body, no extension announcement. - elif addr in (0x3D3, 0x3D6): - fd = addr == 0x3D6 - mode = (data[0] >> 4) & 7 if fd else (data[4] >> 2) & 7 - curvature = ((data[2] << 3) | (data[3] >> 5)) - 1000 if fd else ((data[0] << 3) | (data[1] >> 5)) - 1000 - rate = (data[6] << 3) | (data[7] >> 5) if fd else ((data[1] & 31) << 8) | data[2] - self.assertEqual(rate, 1024 if fd else 4096) - if 430 <= tick < 460 and host.CI.CC.new_port_curvature_demand.curvature_rate != 0: - saw_rate_neutral = True - if 400 <= tick < 425: - self.assertEqual((mode, curvature), (0, 0)) - saw_human_zero = True - if fault: - self.assertEqual((mode, curvature), (0, 0)) - saw_fault_zero = True - if 70 <= tick < 100 and mode and curvature: - active_curvatures.append(curvature) - self.assertAlmostEqual(owner._curvature_lookahead(), .38, places=6) - self.assertGreater(direction * host.CI.CC.new_port_curvature_demand.curvature, .0002) - self.assertTrue(active_curvatures) - self.assertTrue(all(value * direction < 0 for value in active_curvatures)) - self.assertTrue(saw_human_zero and saw_fault_zero and saw_stale_model and saw_rate_neutral) - self.assertEqual(Path(saved.get_param_path("FordHumanTurnDetection")).read_bytes(), b"1") - finally: - helper.doCleanups() - safety.set_alternative_experience(0) - safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) diff --git a/opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py b/opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py deleted file mode 100644 index 43ed71e242..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py +++ /dev/null @@ -1,177 +0,0 @@ -"""Closed, init-only measurement selection; disabled behavior stays unchanged.""" -from types import SimpleNamespace - -import pytest -from opendbc.car import gen_empty_fingerprint, structs -from opendbc.car.ford.interface import CarInterface -from opendbc.car.ford.pinion import GEOMETRY, ENABLE, SHIFT, MASK, decode, select, configured, Measurement -from opendbc.car.ford.aol import qualified -from opendbc.car.vehicle_model import VehicleModel, calc_slip_factor -from opendbc.can.packer import CANPacker -from opendbc.safety.tests.libsafety import libsafety_py - - -def params(car, long=False): - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fp[2].update({0x3D6: 8, 0x186: 8}) - return CarInterface.get_params(car, fp, [], long, False, False) - - -def test_closed_decoder_matches_native_exhaustively(): - n = libsafety_py.libsafety - for word in range(65536): - decoded = decode(word) - assert n.get_ford_pinion_base(word) == (decoded[0] if decoded is not None else 65535) - - -@pytest.mark.parametrize('car', list(GEOMETRY)) -@pytest.mark.parametrize('long', [False, True]) -def test_default_off_and_exact_geometry_selection(car, long): - cp = params(car, long) - before = cp.to_dict() - assert not select(cp, False) - assert cp.to_dict() == before - assert select(cp, True) - assert configured(cp) and qualified(cp) - assert decode(cp.safetyConfigs[-1].safetyParam)[1] == GEOMETRY[car] - # Cross-family/identity corruption is not accepted by the host. - cp.safetyConfigs[-1].safetyParam = (cp.safetyConfigs[-1].safetyParam & ~MASK) | ENABLE | ((GEOMETRY[car] % 12 + 1) << SHIFT) - assert not configured(cp) and not qualified(cp) - - -@pytest.mark.parametrize('car', list(GEOMETRY)) -def test_geometry_matches_actual_vehicle_model_and_native_sign(car): - cp = params(car) - index = GEOMETRY[car] - n = libsafety_py.libsafety - vm = VehicleModel(cp) - assert n.get_ford_pinion_slip(index) == pytest.approx(calc_slip_factor(vm), abs=2e-10) - assert n.get_ford_pinion_ratio(index) == pytest.approx(cp.steerRatio) - assert n.get_ford_pinion_wheelbase(index) == pytest.approx(cp.wheelbase) - assert select(cp, True) - host = Measurement(cp) - packer = CANPacker('ford_lincoln_base_pt') - for speed in (0., 5., 15., 30.): - for angle in (-100., -10., 0., 10., 100.): - n.set_alternative_experience(0) - n.set_safety_hooks(structs.CarParams.SafetyModel.ford, cp.safetyConfigs[-1].safetyParam) - assert n.get_ford_pinion_enabled() - for counter in range(6): - a, d, b = packer.make_can_msg('BrakeSysFeatures', 0, {'Veh_V_ActlBrk': speed * 3.6, 'VehVActlBrk_D_Qf': 3}) - assert n.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)) - a, d, b = packer.make_can_msg('SteeringPinion_Data', 0, {'StePinComp_An_Est': angle, 'StePinCompAnEst_D_Qf': 3, 'StePinAn_No_Cnt': counter}) - assert n.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)) - state = SimpleNamespace(vEgoRaw=max(speed, .1), yawRate=99., steeringAngleDeg=angle) - expected = -host.curvature(state) * 50000 - assert n.get_curvature_meas_min() == pytest.approx(expected, abs=1.) - assert n.get_curvature_meas_max() == pytest.approx(expected, abs=1.) - # A valid but contradictory yaw packet never changes selected pinion measurement. - a, d, b = packer.make_can_msg('Yaw_Data_FD1', 0, {'VehYaw_W_Actl': 1., 'VehYawWActl_D_Qf': 3}) - assert n.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)) - assert n.get_curvature_meas_min() == pytest.approx(expected, abs=1.) - - -def test_default_measurement_is_yaw_even_with_conflicting_pinion(): - cp = params(next(iter(GEOMETRY))) - m = Measurement(cp) - state = SimpleNamespace(vEgoRaw=15., yawRate=.3, steeringAngleDeg=100.) - assert m.curvature(state) == -.3 / 15. - assert not m.enabled - - -@pytest.mark.parametrize('index,base', [(1, 32), (3, 66), (10, 10), (11, 18)]) -@pytest.mark.parametrize('long', [False, True]) -@pytest.mark.parametrize('manual', [False, True]) -def test_pinion_inventory_and_invalid_quality_withdraw_authority(index, base, long, manual): - from opendbc.safety.tests.test_ford_aol import TestFordAolDriverIntent - n = TestFordAolDriverIntent() - n.setUp() - base |= int(long) | (256 if manual else 0) - n.reset(base) - count = n.safety.get_ford_pinion_rx_count() - n.safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, base | ENABLE | index << SHIFT) - n.safety.set_aol_test_heartbeat(True) - assert n.safety.get_ford_pinion_rx_count() == count + 1 - original_rx = n.rx - - def rx(name, values): - if name == 'Yaw_Data_FD1': - original_rx('SteeringPinion_Data', {'StePinComp_An_Est': 0., 'StePinCompAnEst_D_Qf': 3, 'StePinAn_No_Cnt': n.tick % 16}) - original_rx(name, values) - n.rx = rx - try: - n.arm() - assert n.safety.aol_get_permission_mask() == 1 - a, d, b = n.packer.make_can_msg('SteeringPinion_Data', 0, - {'StePinComp_An_Est': 100., 'StePinCompAnEst_D_Qf': 0, 'StePinAn_No_Cnt': (n.tick + 1) % 16}) - assert not n.safety.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)) - assert n.safety.aol_get_permission_mask() == 0 - assert n.safety.get_curvature_meas_max() == 0 - finally: - n.tearDown() - - -@pytest.mark.parametrize('failure', ['missing', 'wrong_bus', 'short', 'counter']) -def test_pinion_integrity_is_required_not_substituted_by_healthy_yaw(failure): - from opendbc.safety.tests.test_ford_aol import TestFordAolDriverIntent - n = TestFordAolDriverIntent() - n.setUp() - n.reset(66) - n.safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, 66 | ENABLE | 7 << SHIFT) - n.safety.set_aol_test_heartbeat(True) - original_rx = n.rx - inject = True - - def rx(name, values): - if name == 'Yaw_Data_FD1': - if inject: - original_rx('SteeringPinion_Data', {'StePinComp_An_Est': 0., 'StePinCompAnEst_D_Qf': 3, 'StePinAn_No_Cnt': n.tick % 16}) - elif failure != 'missing': - a, d, b = n.packer.make_can_msg('SteeringPinion_Data', 0, - {'StePinComp_An_Est': 100., 'StePinCompAnEst_D_Qf': 3, 'StePinAn_No_Cnt': 2}) - n.safety.safety_rx_hook(libsafety_py.make_CANPacket(a, 1 if failure == 'wrong_bus' else b, d[:7] if failure == 'short' else d)) - original_rx(name, values) - n.rx = rx - try: - n.arm() - inject = False - n.pump(120, mask=1) - assert n.safety.aol_get_permission_mask() == 0 - finally: - n.tearDown() - - -@pytest.mark.parametrize('car', [c for c in GEOMETRY if 'MONDEO' not in c]) -@pytest.mark.parametrize('long', [False, True]) -def test_angle_selection_preserves_pinion_and_aol_exact_profile(car, long): - from opendbc.bluepilot_lateral.hosts.starpilot import select as angle_select, qualified as angle_qualified - from opendbc.car.ford.aol import base_safety_param, AOL_WORDS - cp = params(car, long) - assert select(cp, True) - assert angle_select(cp, 1) - assert configured(cp) and angle_qualified(cp) - cp.safetyConfigs[-1].safetyParam |= base_safety_param(cp) - cp.alternativeExperience = 32 - assert cp.safetyConfigs[-1].safetyParam in AOL_WORDS - assert configured(cp) and angle_qualified(cp) and qualified(cp, marked_only=True) - - -@pytest.mark.parametrize('word', [32 | ENABLE, 32 | (1 << SHIFT), 32 | ENABLE | (13 << SHIFT), - 66 | ENABLE | (1 << SHIFT), 32 | ENABLE | (1 << SHIFT) | 0x4000, - 32 | ENABLE | (1 << SHIFT) | 0x8000]) -def test_invalid_pinion_native_profile_denies_all_commands(word): - n = libsafety_py.libsafety - n.set_alternative_experience(32) - n.set_safety_hooks(structs.CarParams.SafetyModel.ford, word) - n.set_controls_allowed(True) - assert not n.get_ford_pinion_enabled() - for address in (0x3D3, 0x3D6, 0x3CA, 0x186, 0x18A, 0x3D8): - assert not n.safety_tx_hook(libsafety_py.make_CANPacket(address, 0, bytes(8))) - - -def test_pinion_rx_capacity_guard_withdraws_authority_without_overwrite(): - n = libsafety_py.libsafety - n.set_alternative_experience(32) - n.set_safety_hooks(structs.CarParams.SafetyModel.ford, 66 | ENABLE | (7 << SHIFT)) - assert n.test_ford_pinion_rx_overflow() diff --git a/opendbc_repo/opendbc/car/ford/tests/test_production_extensions.py b/opendbc_repo/opendbc/car/ford/tests/test_production_extensions.py deleted file mode 100644 index b1fcfeaf0b..0000000000 --- a/opendbc_repo/opendbc/car/ford/tests/test_production_extensions.py +++ /dev/null @@ -1,121 +0,0 @@ -import gc -import time - -import pytest - -from opendbc.car import structs -from opendbc.car.ford.classic_lateral import CLASSIC_EXTENDED_CARS -from opendbc.car.ford.tests.test_three_ports import params -from opendbc.car.ford.values import CAR, CarControllerParams - - -@pytest.mark.parametrize('identity', sorted(CLASSIC_EXTENDED_CARS | {CAR.FORD_MUSTANG_MACH_E_MK1})) -@pytest.mark.parametrize('disable', (False, True)) -@pytest.mark.parametrize('alpha,release', ((False, False), (True, False), (False, True), (True, True))) -def test_actual_card_publication_reaches_ford_extensions(identity, alpha, release, disable, monkeypatch): - from opendbc.car import car_helpers, gen_empty_fingerprint - from opendbc.car.ford.classic_lateral import qualified as classic_qualified - from opendbc.car.ford.mache_lateral import qualified as mache_qualified - from openpilot.selfdrive.car import card as card_module - from openpilot.cereal import messaging - from openpilot.common.params import Params - from openpilot.common.prefix import OpenpilotPrefix - from openpilot.selfdrive.car.card import Car - from openpilot.selfdrive.controls.controlsd import Controls - from openpilot.starpilot.controller_extensions import ManualTurnInputs - from openpilot.starpilot.lateral.tests.test_lane_runtime import feed - - monkeypatch.setenv('SIMULATION', '1') - monkeypatch.setenv('REPLAY', '1') - monkeypatch.setenv('AOL_REPLAY_RUNTIME', '0') - with OpenpilotPrefix(): - saved = Params() - saved.put_bool('OpenpilotEnabledToggle', True, block=True) - saved.put_bool('AlwaysOnLateral', False, block=True) - saved.put_bool('AlphaLongitudinalEnabled', alpha, block=True) - saved.put_bool('IsReleaseBranch', release, block=True) - saved.put_bool('DisableOpenpilotLongitudinal', disable, block=True) - saved.put_bool('FordHumanTurnDetection', False, block=True) - cp = params(identity, alpha, release) - cp.carVin = '0' * 17 - cp.carFw = [] - expected = cp.to_dict() - fingerprint = gen_empty_fingerprint() - fingerprint[0][0x5A] = 8 - fingerprint[2][0x3D6] = 8 - fingerprint[2][0x186] = 8 - observed = (identity, fingerprint, cp.carVin, [], cp.fingerprintSource, True) - subscriber = messaging.sub_sock('carParams', timeout=100, conflate=True) - ci = card = controls = None - try: - with monkeypatch.context() as discovery: - discovery.setattr(car_helpers, 'fingerprint', lambda *args: observed) - discovery.setattr(card_module, 'can_comm_callbacks', lambda *args: (lambda *args: [], lambda frames: None)) - initial_can = messaging.new_message('can', 1) - discovery.setattr(card_module.messaging, 'recv_one_retry', lambda socket: initial_can) - card = Car() - ci = card.CI - assert card.CP.to_dict() == expected - assert mache_qualified(card.CP) if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else classic_qualified(card.CP) - owner = ci.CC.mache_lateral if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else ci.CC.classic_lateral - assert owner is not None - assert isinstance(ci.CC.manual_turn_inputs, ManualTurnInputs) - assert not ci.CC.manual_turn_inputs.enabled - assert not ci.CC.mache_extended_announced and not ci.CC.classic_extended_announced - with structs.CarParams.from_bytes(saved.get('CarParams')) as published: - assert published.to_dict() == expected - event = None - for _ in range(10): - card.car_params_published = False - card.state_publish(ci.update([]), None) - event = messaging.recv_one(subscriber) - if event is not None: - break - time.sleep(.01) - assert event is not None and event.valid and event.carParams.to_dict() == expected - controls = Controls() - assert controls.CP.to_dict() == expected - assert not controls.aol_replay and not controls.ordinary_axis_ack_required - feed(controls, 1_000_000_000, 0, active=False, enabled=False, can_valid=False, can_timeout=True) - command, lateral_log = controls.state_control() - assert not command.enabled and not command.latActive and not command.longActive - controls.publish(command, lateral_log) - _, packets = ci.apply(command.as_reader(), 1_000_000_000) - assert packets - assert ci.CC.mache_extended_announced if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else ci.CC.classic_extended_announced - assert not owner.human_turn_enabled - feed(controls, 1_010_000_000, 1, active=True, enabled=True, can_valid=True, can_timeout=False) - command, _ = controls.state_control() - assert command.enabled and command.latActive - if identity == CAR.FORD_BRONCO_SPORT_MK1 and not release and not disable: - from opendbc.safety.tests.test_ford_explorer_extended import TestFordExplorerExtended - from opendbc.safety.tests.libsafety import libsafety_py - - native = TestFordExplorerExtended() - native.setUp() - try: - native.select(card.CP.safetyConfigs[-1].safetyParam, card.CP.alternativeExperience) - for address, data, bus in packets: - if address == 0x3CA: - assert native.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)) - native._reset_curvature_measurement(0., 20.) - assert native._rx(native._pcm_status_msg(True)) - assert native.safety.get_controls_allowed() - ci.CS.out = controls.sm['carState'] - active_packets = 0 - for frame in range(CarControllerParams.STEER_STEP): - _, outgoing = ci.apply(command.as_reader(), 1_020_000_000 + frame * 10_000_000) - for address, data, bus in outgoing: - if address == 0x3D3: - active_packets += 1 - packet = libsafety_py.make_CANPacket(address, bus, data) - assert native.safety.safety_tx_hook(packet) - assert native._rx(native._pcm_status_msg(False)) - assert not native.safety.get_controls_allowed() - assert not native.safety.safety_tx_hook(packet) - assert active_packets > 0 - finally: - native.tearDown() - finally: - del controls, card, ci, subscriber - gc.collect() diff --git a/opendbc_repo/opendbc/car/ford/tests/test_stock_cruise.py b/opendbc_repo/opendbc/car/ford/tests/test_stock_cruise.py index 5ece387295..45b70886b2 100644 --- a/opendbc_repo/opendbc/car/ford/tests/test_stock_cruise.py +++ b/opendbc_repo/opendbc/car/ford/tests/test_stock_cruise.py @@ -91,13 +91,13 @@ def test_reached_controller_preserves_precedence_cadence_and_stock_bits(): def test_unknown_ae_longitudinal_and_unpaired_profiles_deny_translation(): - # Actual factory results, not fabricated safety words. Classic stock0 is unreached. + # Actual factory results, not fabricated safety words. fingerprint = gen_empty_fingerprint() fingerprint[0][0x5a] = 8 fingerprint[2][0x3d6] = fingerprint[2][0x186] = 8 - matrix = ((CAR.FORD_F_150_MK14, 66), (CAR.FORD_EDGE_MK2, 8), + matrix = ((CAR.FORD_F_150_MK14, 2), (CAR.FORD_EDGE_MK2, 8), (CAR.FORD_MONDEO_MK5, 10), (CAR.FORD_TRANSIT_MK5, 12), - (CAR.FORD_MUSTANG_MACH_E_MK1, 18)) + (CAR.FORD_MUSTANG_MACH_E_MK1, 2), (CAR.FORD_BRONCO_SPORT_MK1, 0)) for vehicle, word in matrix: actual = CarInterface.get_params(vehicle, fingerprint, [], False, False, False) assert actual.safetyConfigs[-1].safetyParam == word, vehicle @@ -119,7 +119,7 @@ def test_unknown_ae_longitudinal_and_unpaired_profiles_deny_translation(): cp.openpilotLongitudinalControl = True assert not qualified(cp) cp.openpilotLongitudinalControl = False - cp.safetyConfigs[-1].safetyParam = 19 + cp.safetyConfigs[-1].safetyParam = 3 assert not qualified(cp) for word in (0, 4, 34): cp.safetyConfigs[-1].safetyParam = word diff --git a/opendbc_repo/opendbc/car/ford/values.py b/opendbc_repo/opendbc/car/ford/values.py index 60d1f0b447..9f1d629531 100644 --- a/opendbc_repo/opendbc/car/ford/values.py +++ b/opendbc_repo/opendbc/car/ford/values.py @@ -45,12 +45,7 @@ class FordSafetyFlags(IntFlag): CANFD = 2 LKA_STEERING = 4 NEW_PORT = 8 - MACH_E_EXTENDED = 16 - CLASSIC_EXTENDED = 32 - EXPLORER_EXTENDED = CLASSIC_EXTENDED # Existing public profile spelling. MANUAL = 256 - BLUEPILOT_ANGLE = 128 - GENERIC_CANFD_EXTENDED = 64 class FordFlags(IntFlag): @@ -354,3 +349,10 @@ FW_QUERY_CONFIG = FwQueryConfig( ) DBC = CAR.create_dbc_map() + +# StarPilot's Ford families: openpilot longitudinal is an explicit choice on these, and AOL, the stock +# cruise switch and the cluster/radar handling key off the family rather than a safety-param profile +FORD_CLASSIC_CARS = frozenset({CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_ESCAPE_MK4, CAR.FORD_FOCUS_MK4, + CAR.FORD_MAVERICK_MK1, CAR.FORD_EXPLORER_MK6}) +FORD_CANFD_CARS = frozenset({CAR.FORD_ESCAPE_MK4_5, CAR.FORD_EXPEDITION_MK4, CAR.FORD_F_150_MK14, + CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_RANGER_MK2, CAR.FORD_MUSTANG_MACH_E_MK1}) diff --git a/opendbc_repo/opendbc/safety/modes/ford.h b/opendbc_repo/opendbc/safety/modes/ford.h index f3db6bdb41..6b7a4fd1f0 100644 --- a/opendbc_repo/opendbc/safety/modes/ford.h +++ b/opendbc_repo/opendbc/safety/modes/ford.h @@ -1,14 +1,8 @@ #pragma once #include "opendbc/safety/declarations.h" +#include "opendbc/safety/modes/ford_param.h" #include "opendbc/safety/modes/ford_aol.h" -#include "opendbc/safety/modes/ford_pinion_measurement.h" -#include "opendbc/bluepilot_lateral/safety/ford_bp.h" - -// StarPilot's extended Ford curvature enforcement below is substantially adapted from -// BluePilot bp-7.0 panda work, principally Alan Polk's 8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d -// See /CREDITS.md and /THIRD_PARTY_NOTICES.md. This comment does not attribute the surrounding -// upstream openpilot code. // Safety-relevant CAN messages for Ford vehicles. @@ -17,7 +11,6 @@ #define FORD_DesiredTorqBrk 0x213U // RX from ABS, for standstill state #define FORD_BrakeSysFeatures 0x415U // RX from ABS, for vehicle speed #define FORD_EngVehicleSpThrottle2 0x202U // RX from PCM, for second vehicle speed -#define FORD_SteeringPinion_Data 0x7EU #define FORD_Yaw_Data_FD1 0x91U // RX from RCM, for yaw rate #define FORD_Steering_Data_FD1 0x083U // TX by OP, various driver switches and LKAS/CC buttons #define FORD_ACCDATA 0x186U // TX by OP, ACC controls @@ -42,9 +35,6 @@ static uint8_t ford_get_counter(const CANPacket_t *msg) { // Signal: VehRollYaw_No_Cnt cnt = msg->data[5]; } - if (msg->addr == FORD_SteeringPinion_Data) { - cnt = (msg->data[5] >> 4) & 0xFU; - } return cnt; } @@ -91,9 +81,6 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *msg) { if (msg->addr == FORD_Yaw_Data_FD1) { valid = ((msg->data[6] >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf } - if (msg->addr == FORD_SteeringPinion_Data) { - valid = ((msg->data[5] >> 2) & 0x3U) == 0x3U; - } return valid; } @@ -113,18 +100,6 @@ static const CurvatureSteeringLimits FORD_STEERING_LIMITS = { .max_steer_power = 0, // disabled, Ford has no steed power signal }; -static CurvatureSteeringLimits ford_measurement_limits(CurvatureSteeringLimits limits) { - const int max_curvature_error = (ford_pinion_enabled && (limits.max_curvature_error < 150)) ? 150 : limits.max_curvature_error; - return (CurvatureSteeringLimits){ - .max_curvature = limits.max_curvature, - .curvature_to_can = limits.curvature_to_can, - .frequency = limits.frequency, - .max_curvature_error = max_curvature_error, - .curvature_error_min_speed = limits.curvature_error_min_speed, - .max_steer_power = limits.max_steer_power, - }; -} - // Transit 0x3CA has 0.000005 rad/m per raw step and runs at 33 Hz. Keep its // command history separate from the inactive 0x3D3 heartbeat at 20 Hz. static const CurvatureSteeringLimits FORD_LKA_STEERING_LIMITS = { @@ -136,18 +111,10 @@ static const CurvatureSteeringLimits FORD_LKA_STEERING_LIMITS = { .max_steer_power = 0, }; +// The physical cancel/resume switch passes through on stock-ACC profiles +static bool ford_stock_switch = false; static bool ford_cancel_resume_button = false; -static bool ford_generic_canfd_extended = false; -static bool ford_generic_canfd_announced = false; - -static bool ford_explorer_extended = false; -static bool ford_explorer_announced = false; - -static bool ford_mach_e_extended = false; -static bool ford_mach_e_announced = false; -static int ford_mach_e_path_angle_last = 0; - static bool ford_lka_steering = false; static bool ford_lka_available = false; static uint32_t ford_lka_last_us = 0U; @@ -198,7 +165,7 @@ static void ford_rx_hook(const CANPacket_t *msg) { } // Update vehicle yaw rate - if (msg_matches(msg, FORD_Yaw_Data_FD1, FORD_MAIN_BUS) && !ford_pinion_enabled) { + if (msg_matches(msg, FORD_Yaw_Data_FD1, FORD_MAIN_BUS)) { // FIXME: safety can receive yaw before new vehicle speed, it should recompute meas on either received // Signal: VehYaw_W_Actl // TODO: we should use the speed which results in the closest angle measurement to the desired angle @@ -213,14 +180,6 @@ static void ford_rx_hook(const CANPacket_t *msg) { } } - if (ford_pinion_enabled && msg_matches(msg, FORD_SteeringPinion_Data, FORD_MAIN_BUS)) { - const int raw = ((msg->data[2] & 0x7FU) << 8) | msg->data[3]; - const float radians = (((float)raw * 0.1F) - 1600.0F) * 0.017453292519943295F; - const float speed = SAFETY_MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1F); - const float measured = radians * get_curvature_factor(speed, *ford_pinion_params) / ford_pinion_params->steer_ratio; - update_sample(&curvature_state.meas, ROUND(measured * FORD_STEERING_LIMITS.curvature_to_can)); - } - // Update gas pedal if (msg_matches(msg, FORD_EngVehicleSpThrottle, FORD_MAIN_BUS)) { // Pedal position: (0.1 * val) in percent @@ -247,7 +206,6 @@ static void ford_rx_hook(const CANPacket_t *msg) { // Physical combined cancel/resume switch, not the outgoing resume signal. ford_cancel_resume_button = (msg->data[2] & 0x20U) != 0U; } - ford_bp_rx(msg); } static bool ford_tx_hook(const CANPacket_t *msg) { @@ -319,10 +277,7 @@ static bool ford_tx_hook(const CANPacket_t *msg) { } // Safety check for Lane_Assist_Data1 action - if ((msg->addr == FORD_Lane_Assist_Data1) && !ford_bp_enabled) { - if (ford_mach_e_extended || ford_explorer_extended) { - tx &= (msg->data[4] & 0x1U) == 0U; - } + if (msg->addr == FORD_Lane_Assist_Data1) { // Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid). // This message must be sent for Lane Centering to work, and can include // values such as the steering angle or lane curvature for debugging, @@ -370,20 +325,8 @@ static bool ford_tx_hook(const CANPacket_t *msg) { } } - if (ford_mach_e_extended && tx && (msg->addr == FORD_Lane_Assist_Data1)) { - ford_mach_e_announced = (msg->data[4] & 0x2U) != 0U; - } - - if (ford_generic_canfd_extended && tx && (msg->addr == FORD_Lane_Assist_Data1)) { - ford_generic_canfd_announced = (msg->data[4] & 0x2U) != 0U; - } - - if (ford_explorer_extended && tx && (msg->addr == FORD_Lane_Assist_Data1)) { - ford_explorer_announced = (msg->data[4] & 0x2U) != 0U; - } - // Safety check for LateralMotionControl action - if ((msg->addr == FORD_LateralMotionControl) && !ford_bp_enabled) { + if (msg->addr == FORD_LateralMotionControl) { // Signal: LatCtl_D_Rq bool steer_control_enabled = ((msg->data[4] >> 2) & 0x7U) != 0U; unsigned int raw_curvature = (msg->data[0] << 3) | (msg->data[1] >> 5); @@ -391,39 +334,22 @@ static bool ford_tx_hook(const CANPacket_t *msg) { unsigned int raw_path_angle = (msg->data[3] << 3) | (msg->data[4] >> 5); unsigned int raw_path_offset = (msg->data[5] << 2) | (msg->data[6] >> 6); - // Explorer restores only the classic source-derived curvature-rate field. - // Every command still intersects the modern common curvature envelope. - bool violation = (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || - (raw_path_offset != FORD_INACTIVE_PATH_OFFSET); - const unsigned int curvature_bits = raw_curvature; - const int desired_curvature = (int)curvature_bits - 1000; - if (ford_explorer_extended) { - static const struct lookup_t source_rate = {{5.0F, 16.0F, 25.0F}, {0.0025F, 0.0014F, 0.00018F}}; - if (steer_control_enabled && lateral_controls_allowed()) { - const float source_speed = (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.0F; - const float source_delta_float = (safety_interpolate(source_rate, source_speed) * 50000.0F) + 1.0F; - const int source_delta = (int)source_delta_float; - violation |= SAFETY_ABS(desired_curvature - curvature_state.desired_last) > source_delta; - } - violation |= steer_control_enabled && !ford_explorer_announced; - violation |= !steer_control_enabled && ((desired_curvature != 0) || - (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE)); - } else { - violation |= raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE; - } - violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, ford_measurement_limits(FORD_STEERING_LIMITS)); + // These signals are not yet tested with the current safety limits + bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET); + + // Check angle error and steer_control_enabled + int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature + violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, FORD_STEERING_LIMITS); + // The Transit steers through Lane_Assist_Data1; its LateralMotionControl is an inactive heartbeat violation |= ford_lka_steering && steer_control_enabled; if (violation) { tx = false; - if (ford_explorer_extended) { - curvature_state.desired_last = 0; - } } } // Safety check for LateralMotionControl2 action - if ((msg->addr == FORD_LateralMotionControl2) && !ford_bp_enabled) { + if (msg->addr == FORD_LateralMotionControl2) { // Signal: LatCtl_D2_Rq bool steer_control_enabled = ((msg->data[0] >> 4) & 0x7U) != 0U; unsigned int raw_curvature = (msg->data[2] << 3) | (msg->data[3] >> 5); @@ -431,86 +357,18 @@ static bool ford_tx_hook(const CANPacket_t *msg) { unsigned int raw_path_angle = ((msg->data[3] & 0x1FU) << 6) | (msg->data[4] >> 2); unsigned int raw_path_offset = ((msg->data[4] & 0x3U) << 8) | msg->data[5]; - const unsigned int curvature_bits = raw_curvature; - const int desired_curvature = (int)curvature_bits - (int)FORD_INACTIVE_CURVATURE; - const int desired_path_angle = (int)raw_path_angle - (int)FORD_INACTIVE_PATH_ANGLE; - bool violation = raw_path_offset != FORD_INACTIVE_PATH_OFFSET; - if (ford_mach_e_extended) { - // Exact Mach-E extension retains the source envelope and the modern common - // ISO/RT checks. This is an intersection, not generic Ford limit widening. - static const CurvatureSteeringLimits FORD_MACH_E_STEERING_LIMITS = { - .max_curvature = 1000, - .curvature_to_can = 50000, - .frequency = 20, - .max_curvature_error = 300, - .curvature_error_min_speed = 10.0, - .max_steer_power = 0, - }; - const struct lookup_t source_rate = {{5.0F, 16.0F, 25.0F}, {0.0025F, 0.0014F, 0.00018F}}; - const float speed = vehicle_speed.max / VEHICLE_SPEED_FACTOR; - const float speed_min = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 1.0F); - const int source_delta = (safety_interpolate(source_rate, speed_min - 1.0F) * 50000.0F) + 1.0F; - const float source_max_float = ((3.0F - (9.81F * 0.06F)) / (speed_min * speed_min) * 50000.0F) + 1.0F; - const int source_max = (int)source_max_float; - if (!ford_mach_e_announced) { - violation |= steer_control_enabled || (desired_path_angle != 0) || (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE); - } - if (steer_control_enabled) { - violation |= SAFETY_ABS(desired_curvature - curvature_state.desired_last) > source_delta; - violation |= SAFETY_ABS(desired_curvature) > source_max; - } else { - violation |= (desired_curvature != 0) || (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE); - } - if (desired_path_angle != 0) { - const float curvature = SAFETY_ABS(desired_curvature) / 50000.0F; - const float path_angle = SAFETY_ABS(desired_path_angle) / 2000.0F; - const float combined_accel = (curvature + (path_angle / SAFETY_MAX(speed, 1.0F))) * speed * speed; - violation |= !steer_control_enabled || !controls_allowed; - violation |= (speed < 3.0F) || (speed >= 8.8F); - violation |= (SAFETY_ABS(desired_curvature) < 975) || (SAFETY_ABS(desired_path_angle) > 320); - violation |= ((desired_curvature * desired_path_angle) <= 0) || (combined_accel > 2.5F); - violation |= SAFETY_ABS(desired_path_angle - ford_mach_e_path_angle_last) > 110; - } - violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, ford_measurement_limits(FORD_MACH_E_STEERING_LIMITS)); - } else if (ford_generic_canfd_extended) { - // One generic CAN FD owner; Mach-E's wider error/path assist stays separate. - static const struct lookup_t source_rate = {{5.0F, 16.0F, 25.0F}, {0.0025F, 0.0014F, 0.00018F}}; - const float source_speed = SAFETY_MAX(vehicle_speed.min / VEHICLE_SPEED_FACTOR, 1.0F); - const float source_delta_float = (safety_interpolate(source_rate, source_speed - 1.0F) * 50000.0F) + 1.0F; - const int source_delta = (int)source_delta_float; - const float source_max_float = ((3.0F - (9.81F * 0.06F)) / (source_speed * source_speed) * 50000.0F) + 1.0F; - const int source_max = (int)source_max_float; - violation |= raw_path_angle != FORD_INACTIVE_PATH_ANGLE; - violation |= steer_control_enabled && !ford_generic_canfd_announced; - if (steer_control_enabled) { - violation |= SAFETY_ABS(desired_curvature - curvature_state.desired_last) > source_delta; - violation |= SAFETY_ABS(desired_curvature) > source_max; - } else { - violation |= (desired_curvature != 0) || (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE); - } - violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, ford_measurement_limits(FORD_STEERING_LIMITS)); - } else { - violation |= (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE); - violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, ford_measurement_limits(FORD_STEERING_LIMITS)); - } - tx &= !violation; - if (ford_generic_canfd_extended && !tx) { - curvature_state.desired_last = 0; - } - if (ford_mach_e_extended && !tx) { - // External path/announcement checks must not retain a rejected command. - curvature_state.desired_last = 0; - ford_mach_e_path_angle_last = 0; - } - if (ford_mach_e_extended && tx) { - ford_mach_e_path_angle_last = desired_path_angle; + // These signals are not yet tested with the current safety limits + bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET); + + // Check angle error and steer_control_enabled + int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.curvature_to_can to get real curvature + violation |= steer_curvature_cmd_checks(desired_curvature, 0, steer_control_enabled, FORD_STEERING_LIMITS); + + if (violation) { + tx = false; } } - if (ford_bp_enabled) { - if (msg->addr == FORD_Lane_Assist_Data1) { tx &= ford_bp_lka(msg); } - if ((msg->addr == FORD_LateralMotionControl) || (msg->addr == FORD_LateralMotionControl2)) { tx &= ford_bp_lateral(msg); } - } ford_aol_tx(msg, tx); return tx; } @@ -533,35 +391,9 @@ static void ford_aol_bind_tx(safety_config *ret, CanMsg workspace[7]) { } } - -static void ford_append_pinion_rx(safety_config *config, RxCheck workspace[11]) { - if (config->rx_checks_len <= 10) { - const int count = config->rx_checks_len; - for (int i = 0; i < count; i++) { - workspace[i] = config->rx_checks[i]; - } - workspace[count] = (RxCheck){.msg = {{FORD_SteeringPinion_Data, 0, 8, 100U, - .max_counter = 15U, .ignore_checksum = true}, {0}, {0}}}; - config->rx_checks = workspace; - config->rx_checks_len = count + 1; - } else { - config->tx_msgs = NULL; - config->tx_msgs_len = 0; - ford_aol_reset(); - } -} - static safety_config ford_init(uint16_t configured_param) { - static RxCheck ford_rx_workspace[11]; - const bool pinion_valid = ford_pinion_word_valid(configured_param); - const uint16_t profile_param = ford_pinion_base_word(configured_param); - const uint16_t geometry = (configured_param >> 10U) & 15U; - ford_pinion_enabled = pinion_valid && ((configured_param & FORD_PINION_ENABLE) != 0U); - ford_pinion_params = ford_pinion_geometry_at(ford_pinion_enabled ? geometry : 0U); - const uint16_t bp_param = profile_param & ~256U; - const bool joint_angle = ((unsigned int)alternative_experience == 32U) && - ((bp_param == 146U) || (bp_param == 147U) || (bp_param == 160U) || (bp_param == 161U) || (bp_param == 194U) || (bp_param == 195U)); - const uint16_t param = joint_angle ? (bp_param & ~128U) : bp_param; + static RxCheck ford_rx_workspace[10]; + const uint16_t param = ford_profile_word(configured_param) & ~256U; const bool manual = (configured_param & 256U) != 0U; // Manual variants are only defined for the exact registered Ford profiles. const bool manual_valid = !manual || ford_aol_param_valid(configured_param); @@ -621,30 +453,9 @@ static safety_config ford_init(uint16_t configured_param) { const uint16_t FORD_PARAM_CANFD = 2; const uint16_t FORD_PARAM_LKA_STEERING = 4; const uint16_t FORD_PARAM_NEW_PORT = 8; - const uint16_t FORD_PARAM_MACH_E_EXTENDED = 16U; - const uint16_t FORD_PARAM_EXPLORER_EXTENDED = 32U; - const uint16_t FORD_PARAM_GENERIC_CANFD_EXTENDED = 64U; - const bool generic_canfd_namespace = GET_FLAG(param, FORD_PARAM_GENERIC_CANFD_EXTENDED); - ford_generic_canfd_extended = (param == 66U) && (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))); - ford_generic_canfd_extended |= (param == 67U) && (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))); - ford_generic_canfd_announced = false; - const bool explorer_namespace = GET_FLAG(param, FORD_PARAM_EXPLORER_EXTENDED); - ford_explorer_extended = ((param == 32U) || (param == 33U)) && - (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))); - ford_explorer_announced = false; - const bool mach_e_namespace = GET_FLAG(param, FORD_PARAM_MACH_E_EXTENDED); - ford_mach_e_extended = (param == 18U) && (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))); - ford_mach_e_extended |= (param == 19U) && (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))); - const bool bp_config_valid = ford_bp_configure(bp_param); - ford_stock_switch = ((((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))) && - ((param == 2U) || (param == 8U) || (param == 10U) || (param == 12U) || - ((param == 18U) && ford_mach_e_extended) || - ((param == 32U) && ford_explorer_extended) || - ((param == 66U) && ford_generic_canfd_extended))) || - (ford_bp_enabled && ((param & 1U) == 0U)); + ford_stock_switch = (((unsigned int)alternative_experience == 0U) || (((unsigned int)alternative_experience == 32U) && ford_aol_param_valid(param))) && + ((param == 0U) || (param == 2U) || (param == 8U) || (param == 10U) || (param == 12U)); ford_cancel_resume_button = false; - ford_mach_e_path_angle_last = 0; - ford_mach_e_announced = false; const bool ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD); ford_lka_steering = GET_FLAG(param, FORD_PARAM_LKA_STEERING); const bool ford_new_port = GET_FLAG(param, FORD_PARAM_NEW_PORT); @@ -662,7 +473,7 @@ static safety_config ford_init(uint16_t configured_param) { safety_config ret; if (ford_canfd) { ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS); - bool long_profile = (param == 11U) || (param == 19U) || (param == 67U); + bool long_profile = (param == 3U) || (param == 11U); #ifdef ALLOW_DEBUG long_profile |= GET_FLAG(param, 1U); #endif @@ -670,8 +481,9 @@ static safety_config ford_init(uint16_t configured_param) { ret = BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS); } } else { - ret = ford_new_port ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS) : - BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS); + // Classic stock ACC (0) and the new ports send no ACCDATA unless openpilot long is set + ret = (ford_new_port || (param == 0U)) ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS) : + BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS); if (ford_lka_steering) { SET_RX_CHECKS(ford_lka_rx_checks, ret); } @@ -679,10 +491,6 @@ static safety_config ford_init(uint16_t configured_param) { SET_TX_MSGS(FORD_LONG_TX_MSGS, ret); } } - if (ford_explorer_extended && (param == 32U)) { - SET_TX_MSGS(FORD_STOCK_TX_MSGS, ret); - } - if (ford_bp_enabled && (param == 128U)) { SET_TX_MSGS(FORD_STOCK_TX_MSGS, ret); } if (ford_stock_switch) { if (ford_lka_steering) { SET_RX_CHECKS(ford_stock_lka_rx_checks, ret); @@ -690,9 +498,7 @@ static safety_config ford_init(uint16_t configured_param) { SET_RX_CHECKS(ford_stock_rx_checks, ret); } } - if (!manual_valid || !bp_config_valid || (mach_e_namespace && !ford_mach_e_extended) || - (explorer_namespace && !ford_explorer_extended) || - (generic_canfd_namespace && !ford_generic_canfd_extended)) { + if (!manual_valid) { ret.tx_msgs = NULL; ret.tx_msgs_len = 0; } @@ -736,7 +542,7 @@ static safety_config ford_init(uint16_t configured_param) { } else if (base == 10U) { selected_rx = ford_aol_mondeo_rx; selected_len = 10; - } else if ((base == 12U) || (base == 18U) || (base == 66U)) { + } else if ((base == 12U) || (base == 2U)) { selected_rx = ford_aol_transit_rx; selected_len = 10; } else { @@ -762,15 +568,6 @@ static safety_config ford_init(uint16_t configured_param) { _Static_assert(sizeof(FORD_CANFD_LONG_TX_MSGS) <= sizeof(ford_aol_tx_msgs), "Ford CAN FD long TX capacity"); ford_aol_bind_tx(&ret, ford_aol_tx_msgs); } - if (ford_pinion_enabled) { - // Append after profile-specific RX selection so AOL retains every existing check. - ford_append_pinion_rx(&ret, ford_rx_workspace); - } - if (!pinion_valid) { - ret.tx_msgs = NULL; - ret.tx_msgs_len = 0; - ford_aol_reset(); - } return ret; } diff --git a/opendbc_repo/opendbc/safety/modes/ford_aol.h b/opendbc_repo/opendbc/safety/modes/ford_aol.h index aafbb7fa28..4c3922e2c4 100644 --- a/opendbc_repo/opendbc/safety/modes/ford_aol.h +++ b/opendbc_repo/opendbc/safety/modes/ford_aol.h @@ -1,5 +1,5 @@ #pragma once -#include "opendbc/safety/modes/ford_pinion.h" +#include "opendbc/safety/modes/ford_param.h" static bool ford_aol_manual = false; static bool ford_aol_enabled = false; @@ -16,9 +16,10 @@ static bool ford_aol_session = false; static bool ford_aol_request_seen = false; static uint16_t ford_aol_param = 0U; +// CAN FD (not the Mondeo's new port) keeps the cluster display while AOL owns steering static bool ford_aol_retained_display_profile(void) { const uint16_t base = ford_aol_param & 0xFFFEU; - return (base == 18U) || (base == 66U); + return base == 2U; } static bool ford_aol_drive = false; static uint8_t ford_aol_eps = 0U; @@ -173,7 +174,7 @@ static uint8_t ford_aol_permission_mask(void) { ford_aol_clear(); } const uint16_t base = ford_aol_param & 0xFFFEU; - const bool needs_lka = (base == 10U) || (base == 12U) || (base == 18U) || (base == 66U); + const bool needs_lka = (base == 2U) || (base == 10U) || (base == 12U); const uint8_t requested = ford_aol_request_mask(); if (((requested & 1U) != 0U) && (controls_allowed || ford_aol_token) && ford_aol_main_available && ford_aol_drive && (ford_aol_eps == 0U) && (!needs_lka || ford_aol_lka_ready)) { @@ -184,7 +185,7 @@ static uint8_t ford_aol_permission_mask(void) { !brake_pressed && !gas_pressed && !gas_pressed_prev) { result |= 2U; } - if ((base == 18U) && ((result & 1U) == 0U)) { + if ((base == 2U) && ((result & 1U) == 0U)) { ford_aol_owned &= FORD_AOL_STEERING_OWNED; } return result; @@ -271,12 +272,9 @@ static void ford_aol_full_engagement(bool cruise_rising) { static bool ford_aol_param_valid(uint16_t param) { bool result = false; - switch (ford_pinion_base_word(param) & ~256U) { - case 8U: case 9U: case 10U: case 12U: case 13U: case 18U: case 32U: case 33U: case 66U: - result = true; - break; - case 146U: case 147U: case 160U: case 161U: case 194U: case 195U: - case 11U: case 19U: case 67U: + switch (ford_profile_word(param) & ~256U) { + case 0U: case 1U: case 2U: case 3U: + case 8U: case 9U: case 10U: case 11U: case 12U: case 13U: result = true; break; default: @@ -289,7 +287,7 @@ static void ford_aol_configure(uint16_t param) { ford_aol_reset(); ford_aol_enabled = ford_aol_param_valid(param) && ((unsigned int)alternative_experience == 32U); ford_aol_manual = (param & 256U) != 0U; - ford_aol_param = ford_pinion_base_word(param) & ~(256U | 128U); + ford_aol_param = ford_profile_word(param) & ~256U; if (ford_aol_enabled) { static const AolSafetyPolicy policy = { .reset = ford_aol_reset, @@ -304,7 +302,7 @@ static void ford_aol_configure(uint16_t param) { static unsigned int ford_aol_replacement(void) { const uint16_t base = ford_aol_param & 0xFFFEU; - return (base == 12U) ? 0x3CAU : (((base == 10U) || (base == 18U) || (base == 66U)) ? 0x3D6U : 0x3D3U); + return (base == 12U) ? 0x3CAU : (((base == 2U) || (base == 10U)) ? 0x3D6U : 0x3D3U); } static void ford_aol_tx(const CANPacket_t *msg, bool accepted) { diff --git a/opendbc_repo/opendbc/safety/modes/ford_param.h b/opendbc_repo/opendbc/safety/modes/ford_param.h new file mode 100644 index 0000000000..b82e02f290 --- /dev/null +++ b/opendbc_repo/opendbc/safety/modes/ford_param.h @@ -0,0 +1,9 @@ +#pragma once +// The Ford safety param: StarPilot's Ford profile in bits 0-8 (long, CAN FD, LKA steering, new port, and 256 +// for AOL's manual transmission), the BluePilot lateral library's startup bits in 9-14. +#define FORD_BP_PARAM_SHIFT 9U +#define FORD_BP_PARAM_MASK 0x7E00U + +static inline uint16_t ford_profile_word(uint16_t word) { + return word & (uint16_t)~FORD_BP_PARAM_MASK; +} diff --git a/opendbc_repo/opendbc/safety/modes/ford_pinion.h b/opendbc_repo/opendbc/safety/modes/ford_pinion.h deleted file mode 100644 index d3f6f868d5..0000000000 --- a/opendbc_repo/opendbc/safety/modes/ford_pinion.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once -// Pinion measurement selection adapted from BluePilot PR #145 (fe5b0195). -// See CREDITS.md and THIRD_PARTY_NOTICES.md. No live mode switching. -#define FORD_PINION_ENABLE 0x200U -#define FORD_PINION_MASK 0x3E00U - -static bool ford_pinion_word_valid(uint16_t word) { - bool valid = true; - if ((word & FORD_PINION_MASK) != 0U) { - const uint16_t index = (word >> 10U) & 15U; - const uint16_t base = word & ~(FORD_PINION_MASK | 256U); - valid = (word & FORD_PINION_ENABLE) != 0U; - if ((index == 1U) || (index == 2U) || (index == 5U) || (index == 6U) || (index == 9U)) { - valid &= (base == 32U) || (base == 33U) || (base == 128U) || (base == 129U) || (base == 160U) || (base == 161U); - } else if ((index == 3U) || (index == 4U) || (index == 7U) || (index == 8U) || (index == 12U)) { - valid &= (base == 66U) || (base == 67U) || (base == 130U) || (base == 131U) || (base == 194U) || (base == 195U); - } else if (index == 11U) { - valid &= (base == 18U) || (base == 19U) || (base == 130U) || (base == 131U) || (base == 146U) || (base == 147U); - } else if (index == 10U) { - valid &= (base == 10U) || (base == 11U); - } else { - valid = false; - } - } - return valid; -} - -static uint16_t ford_pinion_base_word(uint16_t word) { - return ford_pinion_word_valid(word) ? (word & ~FORD_PINION_MASK) : 0xFFFFU; -} - diff --git a/opendbc_repo/opendbc/safety/modes/ford_pinion_measurement.h b/opendbc_repo/opendbc/safety/modes/ford_pinion_measurement.h deleted file mode 100644 index 53ad721d84..0000000000 --- a/opendbc_repo/opendbc/safety/modes/ford_pinion_measurement.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once -#define FORD_PINION_GEOMETRY_COUNT 12U -static const AngleSteeringParams *ford_pinion_geometry_at(uint16_t index) { - static const AngleSteeringParams ford_pinion_geometry[FORD_PINION_GEOMETRY_COUNT + 1U] = { - {.slip_factor = 0.0f, .steer_ratio = 1.0f, .wheelbase = 1.0f}, // 0: invalid - {.slip_factor = -0.00062819555f, .steer_ratio = 17.7f, .wheelbase = 2.670f}, // 1: FORD_BRONCO_SPORT_MK1 - {.slip_factor = -0.00061892325f, .steer_ratio = 16.7f, .wheelbase = 2.710f}, // 2: FORD_ESCAPE_MK4 - {.slip_factor = -0.00061892325f, .steer_ratio = 16.7f, .wheelbase = 2.710f}, // 3: FORD_ESCAPE_MK4_5 - {.slip_factor = -0.00045454798f, .steer_ratio = 17.0f, .wheelbase = 3.690f}, // 4: FORD_EXPEDITION_MK4 - {.slip_factor = -0.00055447339f, .steer_ratio = 16.8f, .wheelbase = 3.025f}, // 5: FORD_EXPLORER_MK6 - {.slip_factor = -0.00062121569f, .steer_ratio = 15.0f, .wheelbase = 2.700f}, // 6: FORD_FOCUS_MK4 - {.slip_factor = -0.00045331952f, .steer_ratio = 16.9f, .wheelbase = 3.700f}, // 7: FORD_F_150_LIGHTNING_MK1 - {.slip_factor = -0.00042037149f, .steer_ratio = 17.0f, .wheelbase = 3.990f}, // 8: FORD_F_150_MK14 - {.slip_factor = -0.00054528036f, .steer_ratio = 17.0f, .wheelbase = 3.076f}, // 9: FORD_MAVERICK_MK1 - {.slip_factor = -0.00058852001f, .steer_ratio = 14.8f, .wheelbase = 2.850f}, // 10: FORD_MONDEO_MK5 - {.slip_factor = -0.00056209187f, .steer_ratio = 17.0f, .wheelbase = 2.984f}, // 11: FORD_MUSTANG_MACH_E_MK1 - {.slip_factor = -0.00051293030f, .steer_ratio = 17.0f, .wheelbase = 3.270f}, // 12: FORD_RANGER_MK2 - }; - return &ford_pinion_geometry[index]; -} - -static bool ford_pinion_enabled = false; -static const AngleSteeringParams *ford_pinion_params = NULL; diff --git a/opendbc_repo/opendbc/safety/tests/ford_release_contract.py b/opendbc_repo/opendbc/safety/tests/ford_release_contract.py index de269a24d7..773699cbee 100644 --- a/opendbc_repo/opendbc/safety/tests/ford_release_contract.py +++ b/opendbc_repo/opendbc/safety/tests/ford_release_contract.py @@ -8,11 +8,12 @@ from opendbc.safety.tests.libsafety import libsafety_py libsafety_py.ffi.cdef('extern safety_config current_safety_config;') STOCK_CANFD_TX = frozenset(((0x83, 0, 8), (0x83, 2, 8), (0x18A, 0, 8), (0x3CA, 0, 8), (0x3D8, 0, 8), (0x3D6, 0, 8))) -RELEASE_LEDGER = {3: (6, STOCK_CANFD_TX)} +# the retired Mach-E (19) and generic CAN FD (67) extended long words: stock CAN FD TX, no AOL or LONG +RELEASE_LEDGER = {19: (6, STOCK_CANFD_TX), 67: (6, STOCK_CANFD_TX)} def assert_release_denial(native, word): - """Prove absent AOL/LONG, preserving the existing stock fallback of legacy parameter3. + """Prove absent AOL/LONG, preserving the existing stock fallback of a retired parameter. A physical PCM edge can still set the ordinary boolean even with an empty TX table. No assertion equates that boolean or hook return code with authority. diff --git a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c index 2dc1752265..d98a0a8d46 100644 --- a/opendbc_repo/opendbc/safety/tests/libsafety/safety.c +++ b/opendbc_repo/opendbc/safety/tests/libsafety/safety.c @@ -465,21 +465,3 @@ bool safety_test_hyundai_gv60_catalog_rejection(bool alternate) { #endif return rejected; } - -// Pinion protocol introspection for exact host/native geometry and namespace tests. -uint16_t get_ford_pinion_base(uint16_t word) { return ford_pinion_base_word(word); } -bool get_ford_pinion_enabled(void) { return ford_pinion_enabled; } -float get_ford_pinion_slip(int index) { return ford_pinion_geometry_at((uint16_t)index)->slip_factor; } -float get_ford_pinion_ratio(int index) { return ford_pinion_geometry_at((uint16_t)index)->steer_ratio; } -float get_ford_pinion_wheelbase(int index) { return ford_pinion_geometry_at((uint16_t)index)->wheelbase; } -int get_ford_pinion_rx_count(void) { return current_safety_config.rx_checks_len; } - -bool test_ford_pinion_rx_overflow(void) { - RxCheck workspace[11] = {0}; - safety_config config = current_safety_config; - config.rx_checks = workspace; - config.rx_checks_len = 11; - ford_append_pinion_rx(&config, workspace); - return (config.tx_msgs == NULL) && (config.tx_msgs_len == 0) && - (config.rx_checks_len == 11) && !ford_aol_enabled; -} diff --git a/opendbc_repo/opendbc/safety/tests/mutation.py b/opendbc_repo/opendbc/safety/tests/mutation.py index baa2ae124c..d999d9001a 100755 --- a/opendbc_repo/opendbc/safety/tests/mutation.py +++ b/opendbc_repo/opendbc/safety/tests/mutation.py @@ -529,8 +529,7 @@ def print_live_status(text, *, final=False): def _discover_test_catalog(): loader = unittest.TestLoader() catalog = {} - test_files = [*sorted(SAFETY_TESTS_DIR.glob("test_*.py")), - ROOT / "opendbc" / "bluepilot_lateral" / "tests" / "test_angle_native.py"] + test_files = sorted(SAFETY_TESTS_DIR.glob("test_*.py")) for test_file in test_files: module_name = ".".join(test_file.relative_to(ROOT).with_suffix("").parts) suite = loader.loadTestsFromName(module_name) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford.py b/opendbc_repo/opendbc/safety/tests/test_ford.py index 70897ba3f6..62684f0635 100755 --- a/opendbc_repo/opendbc/safety/tests/test_ford.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford.py @@ -493,11 +493,24 @@ class TestFordLongitudinalSafetyBase(TestFordSafetyBase): self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake, brake_actuation))) -class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase): - # Make sure we enforce long safety even without long flag for CAN +class TestFordStockSafety(TestFordSafetyBase): + # StarPilot: classic stock ACC sends no ACCDATA SAFETY_PARAM = 0 STEER_MESSAGE = MSG_LateralMotionControl + TX_MSGS = [ + [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], + [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0], + ] + RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, MSG_IPMA_Data)} + + FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, MSG_IPMA_Data]} + + +class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase): + SAFETY_PARAM = FordSafetyFlags.LONG_CONTROL + STEER_MESSAGE = MSG_LateralMotionControl + TX_MSGS = [ [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0], diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_alpha_aol.py b/opendbc_repo/opendbc/safety/tests/test_ford_alpha_aol.py index 7f4e2b0ae6..1e57db4c84 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_alpha_aol.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_alpha_aol.py @@ -7,8 +7,8 @@ from opendbc.car.ford.fordcan import CanBus, create_acc_msg from opendbc.safety.tests.libsafety import libsafety_py from opendbc.safety.tests.test_ford_full_engagement import ford_native as ford_native, select -LONG_WORDS = (9, 11, 13, 19, 33, 67) -STOCK_WORDS = (8, 10, 12, 18, 32, 66) +LONG_WORDS = (1, 3, 9, 11, 13) +STOCK_WORDS = (0, 2, 8, 10, 12) def tx(native, *, active): @@ -53,7 +53,7 @@ def test_stock_long_off_never_gains_a_long_axis_from_any_request(ford_native, wo @pytest.mark.parametrize('fault', ('source', 'heartbeat', 'request-expired', 'eps-permanent')) def test_native_long_recovery_requires_new_activation_after_real_revocation(ford_native, fault): n = ford_native - select(n, 33) + select(n, 1) n.pump(40, main=3) n.pump(10, main=4, mask=3) assert n.safety.aol_get_permission_mask() == 3 diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_aol.py b/opendbc_repo/opendbc/safety/tests/test_ford_aol.py index 5243553eb9..731637ecda 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_aol.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_aol.py @@ -16,19 +16,8 @@ class TestFordAolAdmission(unittest.TestCase): self.safety.set_alternative_experience(0) self.safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) - def test_angle_profiles_reject_malformed_lateral_frames_without_healthy_sources(self): - for word in (128, 129, 130, 131): - with self.subTest(word=word): - self.safety.init_tests() - self.safety.set_alternative_experience(0) - self.assertEqual(self.safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, word), 0) - self.safety.set_controls_allowed(False) - for address in (0x3CA, 0x3D3 if word & 2 else 0x3D6): - self.assertFalse(self.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, 0, bytes(8)))) - self.assertFalse(self.safety.get_controls_allowed()) - def test_no_frames_no_lateral_or_longitudinal_authority(self): - for word in (8, 9, 10, 11, 12, 13, 18, 19, 32, 33, 66, 67): + for word in (0, 1, 2, 3, 8, 9, 10, 11, 12, 13): for ae in (0, 32, 33): with self.subTest(word=word, ae=ae): self.safety.init_tests() @@ -42,7 +31,7 @@ class TestFordAolAdmission(unittest.TestCase): class TestFordAolDriverIntent(unittest.TestCase): - BASE_PROFILES = (8, 9, 10, 11, 12, 13, 18, 19, 32, 33, 66, 67) + BASE_PROFILES = (0, 1, 2, 3, 8, 9, 10, 11, 12, 13) PROFILES = BASE_PROFILES + tuple(word | 256 for word in BASE_PROFILES) def setUp(self): @@ -68,7 +57,7 @@ class TestFordAolDriverIntent(unittest.TestCase): self.assertTrue(self.safety.safety_rx_hook(libsafety_py.make_CANPacket(address, bus, data))) def pump(self, count, *, main=3, tja=False, gear=3, eps=0, mask=0, heartbeat=True, speed=10., curvature=0.): - base = self.word & ~(257 | 128) + base = self.word & ~257 gear_name, gear_signal = ('TransGearData', 'GearLvrPos_D_Actl') if base == 8 else ( ('Gear_Shift_by_Wire_FD1', 'TrnRng_D_RqGsm') if base == 10 else ('PowertrainData_10', 'TrnRng_D_Rq')) if self.word & 256: @@ -92,7 +81,7 @@ class TestFordAolDriverIntent(unittest.TestCase): for name, hz, fields in values: if self.tick * hz // 100 != (self.tick - 1) * hz // 100: self.rx(name, fields) - if base in (10, 12, 18, 66) and self.tick * 30 // 100 != (self.tick - 1) * 30 // 100: + if base in (2, 10, 12) and self.tick * 30 // 100 != (self.tick - 1) * 30 // 100: self.rx('Lane_Assist_Data3_FD1', {'LatCtlSte_D_Stat': 1, 'LaActAvail_D_Actl': 3, 'LaActDeny_B_Actl': 0}) self.safety.aol_set_host_request(mask) self.safety.aol_get_permission_mask() @@ -146,14 +135,13 @@ class TestFordAolDriverIntent(unittest.TestCase): packer = CANPacker("ford_lincoln_base_pt") self.safety.init_tests() self.safety.set_alternative_experience(32) - profiles = ((32, "PowertrainData_10", "TrnRng_D_Rq", False), + profiles = ((0, "PowertrainData_10", "TrnRng_D_Rq", False), (8, "TransGearData", "GearLvrPos_D_Actl", False), (10, "Gear_Shift_by_Wire_FD1", "TrnRng_D_RqGsm", True), (12, "PowertrainData_10", "TrnRng_D_Rq", True), - (18, "PowertrainData_10", "TrnRng_D_Rq", True), - (66, "PowertrainData_10", "TrnRng_D_Rq", True), + (2, "PowertrainData_10", "TrnRng_D_Rq", True), (8, "TransGearData", "GearLvrPos_D_Actl", False), - (32, "PowertrainData_10", "TrnRng_D_Rq", False)) + (0, "PowertrainData_10", "TrnRng_D_Rq", False)) for epoch, (word, gear_name, gear_signal, needs_lka) in enumerate(profiles): with self.subTest(word=word, epoch=epoch): self.assertEqual(self.safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, word), 0) @@ -193,12 +181,12 @@ class TestFordAolDriverIntent(unittest.TestCase): def test_main_cancel_states_and_physical_cancel_buttons_withdraw(self): for state in (1, 2): - self.reset(32) + self.reset(0) self.arm() self.pump(10, main=state, mask=1) self.assertEqual(self.safety.aol_get_permission_mask(), 0) for bit in (8, 24): - self.reset(32) + self.reset(0) self.arm() data = (1 << bit).to_bytes(8, 'little') self.assertTrue(self.safety.safety_rx_hook(libsafety_py.make_CANPacket(0x83, 0, data))) @@ -209,18 +197,13 @@ class TestFordAolDriverIntent(unittest.TestCase): def test_accepted_lateral_owns_only_replacement_until_lease_or_rejection(self): from opendbc.car.ford.fordcan import CanBus, create_lat_ctl_msg - from opendbc.car.ford.mache_can import create_lka_msg from opendbc.car import gen_empty_fingerprint - self.reset(32) + self.reset(0) self.arm() bus = CanBus(fingerprint=gen_empty_fingerprint()) frame = create_lat_ctl_msg(self.packer, bus, True, 0., 0., 0., 0.) command = libsafety_py.make_CANPacket(frame[0], frame[2], frame[1]) self.assertEqual(self.safety.safety_fwd_hook(2, 0x3D3), 0) - self.assertFalse(self.safety.safety_tx_hook(command)) - announcement = create_lka_msg(self.packer, bus) - self.assertTrue(self.safety.safety_tx_hook(libsafety_py.make_CANPacket(announcement[0], announcement[2], announcement[1]))) - self.assertEqual(self.safety.safety_fwd_hook(2, 0x3D3), 0) self.assertTrue(self.safety.safety_tx_hook(command)) for address in (0x3D3, 0x3D8, 0x18A): self.assertEqual(self.safety.safety_fwd_hook(2, address), -1) @@ -233,7 +216,7 @@ class TestFordAolDriverIntent(unittest.TestCase): def test_native_bounded_catalog_copy_denies_invalid_and_restores_registered_table(self): for length, null_catalog in ((0, False), (1, False), (7, False), (8, False), (1, True)): with self.subTest(length=length, null_catalog=null_catalog): - self.reset(32) + self.reset(0) self.assertTrue(self.bounded_catalog_contract(length, null_catalog)) self.assertFalse(self.safety.get_controls_allowed()) self.assertEqual(self.safety.aol_get_permission_mask(), 0) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py b/opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py deleted file mode 100644 index fb7c46844c..0000000000 --- a/opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py +++ /dev/null @@ -1,44 +0,0 @@ -"""Combined angle authority retains the existing physical AOL lifecycle.""" -import unittest -from opendbc.safety.tests import test_ford_aol as existing -from opendbc.bluepilot_lateral.core.angle import Command -from opendbc.bluepilot_lateral.can.ford import lateral, lka -from opendbc.safety.tests.libsafety import libsafety_py - -class TestFordBluePilotAol(unittest.TestCase): - setUp = existing.TestFordAolDriverIntent.setUp - tearDown = existing.TestFordAolDriverIntent.tearDown - reset = existing.TestFordAolDriverIntent.reset - rx = existing.TestFordAolDriverIntent.rx - pump = existing.TestFordAolDriverIntent.pump - arm = existing.TestFordAolDriverIntent.arm - rearm = existing.TestFordAolDriverIntent.rearm - test_permanent_eps_then_clean_in_same_batch_revokes = existing.TestFordAolDriverIntent.test_permanent_eps_then_clean_in_same_batch_revokes - test_reverse_temporary_eps_retain_but_heartbeat_loss_rearms = ( - existing.TestFordAolDriverIntent.test_reverse_temporary_eps_retain_but_heartbeat_loss_rearms) - BASE_PROFILES = (146,147,160,161,194,195) - PROFILES = BASE_PROFILES + tuple(word|256 for word in BASE_PROFILES) - - def test_nonzero_angle_after_brake_requires_fresh_shadow_and_native_lat(self): - for word in self.PROFILES: - self.reset(word) - self.arm() - assert not self.safety.get_controls_allowed() - command = Command(True,0.005,0.005/10.) - def send(frame): - addr,data,bus=frame - return bool(self.safety.safety_tx_hook(libsafety_py.make_CANPacket(addr,bus,data))) - assert send(lka(self.packer,0,command.shadow_curvature,0)) - assert send(lateral(self.packer,0,command,canfd=bool(word&2),counter=0)) - self.rx('EngBrakeData',{'BpedDrvAppl_D_Actl':2,'CcStat_D_Actl':3}) - self.pump(5,mask=1) - assert self.safety.aol_get_permission_mask()==1 and not self.safety.get_controls_allowed() - assert send(lka(self.packer,0,command.shadow_curvature,1)) - assert send(lateral(self.packer,0,command,canfd=bool(word&2),counter=1)) - self.pump(10,mask=1) - assert self.safety.aol_get_permission_mask()==1 and not self.safety.get_controls_allowed() - assert send(lka(self.packer,0,command.shadow_curvature,2)) - assert send(lateral(self.packer,0,command,canfd=bool(word&2),counter=2)) - self.safety.aol_set_host_request(0) - self.pump(5,mask=0) - assert not send(lateral(self.packer,0,command,canfd=bool(word&2),counter=2)) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py b/opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py similarity index 93% rename from opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py rename to opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py index 4d1826a764..7d3454e55d 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py @@ -1,14 +1,14 @@ -"""Display continuity never grants steering or survives loss of native authority.""" +"""CAN FD display continuity never grants steering or survives loss of native authority.""" import pytest from opendbc.car import gen_empty_fingerprint -from opendbc.car.ford import mache_can, fordcan +from opendbc.car.ford import fordcan from opendbc.car.ford.fordcan import CanBus from opendbc.safety.tests.libsafety import libsafety_py from opendbc.safety.tests import test_ford_aol -@pytest.fixture(params=(18, 19, 274, 275, 66, 67, 322, 323)) +@pytest.fixture(params=(2, 3, 258, 259)) def owner(request): native = test_ford_aol.TestFordAolDriverIntent() native.setUp() @@ -22,8 +22,8 @@ def owner(request): def command(owner, *, active, curvature=0., offset_byte=False): - frame = mache_can.create_lat_ctl2_msg(owner.packer, CanBus(fingerprint=gen_empty_fingerprint()), - int(active), 0, 1, curvature, 0., 0) + frame = fordcan.create_lat_ctl2_msg(owner.packer, CanBus(fingerprint=gen_empty_fingerprint()), + int(active), 0., 0., curvature, 0., 0) data = bytearray(frame[1]) if offset_byte: data[5] ^= 1 @@ -31,7 +31,7 @@ def command(owner, *, active, curvature=0., offset_byte=False): def announce(owner): - frame = mache_can.create_lka_msg(owner.packer, CanBus(fingerprint=gen_empty_fingerprint())) + frame = fordcan.create_lka_msg(owner.packer, CanBus(fingerprint=gen_empty_fingerprint())) assert owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(frame[0], frame[2], frame[1])) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_configuration_parity.py b/opendbc_repo/opendbc/safety/tests/test_ford_configuration_parity.py index 4738499bf6..ea7e296222 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_configuration_parity.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_configuration_parity.py @@ -11,7 +11,7 @@ from opendbc.safety.tests.libsafety import libsafety_py from opendbc.safety.tests.test_ford_full_engagement import ford_native as ford_native, select from opendbc.safety.tests.test_ford_alpha_aol import tx -WORDS = (8, 9, 10, 11, 12, 13, 18, 19, 32, 33, 66, 67) +WORDS = (0, 1, 2, 3, 8, 9, 10, 11, 12, 13) @pytest.mark.parametrize('base', WORDS) @@ -133,7 +133,8 @@ def ford_release_native(tmp_path, record_property): native.tearDown() -def test_release_keeps_unregistered_legacy_canfd_long_parameter_denied(ford_release_native): +@pytest.mark.parametrize('word', (19, 67)) +def test_release_keeps_retired_extended_canfd_long_words_denied(ford_release_native, word): from opendbc.safety.tests.ford_release_contract import assert_release_denial - select(ford_release_native, 3) - assert_release_denial(ford_release_native, 3) + select(ford_release_native, word) + assert_release_denial(ford_release_native, word) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_explorer_extended.py b/opendbc_repo/opendbc/safety/tests/test_ford_explorer_extended.py deleted file mode 100644 index e3f2235d29..0000000000 --- a/opendbc_repo/opendbc/safety/tests/test_ford_explorer_extended.py +++ /dev/null @@ -1,102 +0,0 @@ -"""Exact Explorer classic extension intersects original and modern limits.""" -from opendbc.car.structs import CarParams -from opendbc.safety.tests.libsafety import libsafety_py -import unittest -from opendbc.safety.tests import test_ford as ford -from opendbc.safety.tests import test_ford_stock_switch as stock - - -class TestFordExplorerExtended(unittest.TestCase): - - def setUp(self): - libsafety_py.libsafety.set_alternative_experience(0) - self.fixture = ford.TestFordLongitudinalSafety() - self.fixture.SAFETY_PARAM = 32 - self.fixture.setUp() - - def tearDown(self): - self.safety.set_alternative_experience(0) - self.safety.set_safety_hooks(CarParams.SafetyModel.noOutput, 0) - - def __getattr__(self, name): - fixture = self.__dict__.get('fixture') - if fixture is None: - raise AttributeError(name) - return getattr(fixture, name) - - def select(self, word=32, ae=0): - self.safety.set_alternative_experience(ae) - self.safety.set_safety_hooks(CarParams.SafetyModel.ford, word) - self.safety.set_timer(0) - - def announce(self, active=True, forbidden=False): - msg = self._lkas_command_msg(0) - msg[0].data[4] = (2 if active else 0) | int(forbidden) - return self._tx(msg) - - def prepare(self, speed=5.0): - self._reset_curvature_measurement(0.0, speed) - self._set_prev_desired_angle(0.0) - self.safety.set_controls_allowed(True) - - def test_namespace_and_classic_long_both_variants(self): - for word in (32, 33): - self.select(word) - self.assertTrue(self.announce()) - self.prepare() - self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, 0, 0.0002))) - self.assertEqual(word == 33, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, False))) - for word in (32, 33): - self.select(word, 32) - self.assertTrue(self.announce()) - self.assertTrue(self._tx(self._lat_ctl_msg(False, 0, 0, 0, 0))) - for word, ae in ((34, 0), (36, 0), (40, 0), (48, 0), (96, 0), (32, 1), (33, 1)): - self.select(word, ae) - self.assertFalse(self.announce()) - self.assertFalse(self._tx(self._lat_ctl_msg(False, 0, 0, 0, 0))) - - def test_accepted_announcement_and_inactive_fields(self): - self.prepare() - self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, 0, 0.0002))) - self.assertFalse(self.announce(forbidden=True)) - self.prepare() - self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, 0, 0.0002))) - self.assertTrue(self.announce()) - for rate in (-0.001024, 0.00102375): - self.prepare() - self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, 0, rate))) - for offset, angle, curvature, rate in ((0.01, 0, 0, 0), (0, 0.01, 0, 0), (0, 0, 0, 0.0002), (0, 0, 0.001, 0)): - self.prepare() - self.assertFalse(self._tx(self._lat_ctl_msg(False, offset, angle, curvature, rate))) - self.assertTrue(self._tx(self._lat_ctl_msg(False, 0, 0, 0, 0))) - self.assertTrue(self.announce(active=False)) - self.prepare() - self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, 0, 0))) - - def test_modern_jerk_and_original_lookup_intersect(self): - self.assertTrue(self.announce()) - for speed, accepted_can, rejected_can in ((15.0, 40, 70), (26.0, 8, 12)): - self.prepare(speed) - self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, accepted_can / self.DEG_TO_CAN, 0))) - self.prepare(speed) - self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, rejected_can / self.DEG_TO_CAN, 0))) - self.assertEqual(self.safety.get_desired_curvature_last(), 0) - # A follow-up from zero must pass without resetting previous desire. - # Retaining the rejected positive command would make this reversal fail. - self.assertTrue(self._tx(self._lat_ctl_msg(True, 0, 0, -accepted_can / self.DEG_TO_CAN, 0))) - - def cruise(self, state): - return stock.TestFordStockSwitch.cruise(self, state) - - def physical_switch(self, pressed, bus=0): - return stock.TestFordStockSwitch.physical_switch(self, pressed, bus) - - def test_stock_resume_does_not_grant_steering(self): - for word in (32, 33): - self.select(word) - stock.TestFordStockSwitch.healthy(self, word) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertEqual(word == 32, self._tx(self._acc_button_msg(ford.Buttons.RESUME, 0))) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertTrue(self._rx(self.physical_switch(False))) - self.assertFalse(self._tx(self._acc_button_msg(ford.Buttons.RESUME, 0))) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_full_engagement.py b/opendbc_repo/opendbc/safety/tests/test_ford_full_engagement.py index 28ce7e3179..f68813a9f3 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_full_engagement.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_full_engagement.py @@ -5,7 +5,7 @@ import pytest from opendbc.car import structs from opendbc.safety.tests.test_ford_aol import TestFordAolDriverIntent as _FordNative -WORDS = (8, 9, 10, 11, 12, 13, 18, 19, 32, 33, 66, 67) +WORDS = (0, 1, 2, 3, 8, 9, 10, 11, 12, 13) @pytest.fixture @@ -94,7 +94,7 @@ def test_full_engagement_never_bypasses_native_qualification(ford_native, word, def test_full_engagement_token_dies_on_source_health_heartbeat_or_permanent_eps(ford_native): n = ford_native for fault in ('health', 'heartbeat', 'eps'): - select(n, 32) + select(n, 0) n.pump(40, main=3) n.pump(10, main=4, mask=1) n.rx('EngBrakeData', {'BpedDrvAppl_D_Actl': 2, 'CcStat_D_Actl': 3}) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_generic_canfd_extended.py b/opendbc_repo/opendbc/safety/tests/test_ford_generic_canfd_extended.py deleted file mode 100644 index 43e136aaf3..0000000000 --- a/opendbc_repo/opendbc/safety/tests/test_ford_generic_canfd_extended.py +++ /dev/null @@ -1,89 +0,0 @@ -"""Generic CAN FD extension; helpers composed without inheriting other suites.""" -import unittest -from opendbc.car import structs -from opendbc.safety.tests import test_ford as ford -from opendbc.safety.tests.libsafety import libsafety_py - - -class TestFordGenericCanfdExtended(unittest.TestCase): - def setUp(self): - self.safety = libsafety_py.libsafety - self.safety.set_alternative_experience(0) - self.debug = self.safety.set_safety_hooks(structs.CarParams.SafetyModel.allOutput, 0) == 0 - self.fixture = ford.TestFordCANFDLongitudinalSafety() - self.fixture.SAFETY_PARAM = 66 - self.fixture.setUp() - - def __getattr__(self, name): - fixture = self.__dict__.get("fixture") - if fixture is not None: - return getattr(fixture, name) - raise AttributeError(name) - - def tearDown(self): - self.safety.set_alternative_experience(0) - self.safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) - - def select(self, word, ae=0): - self.safety.set_alternative_experience(ae) - self.safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, word) - self.safety.init_tests() - self.safety.set_timer(0) - - def announce(self): - msg = self._lkas_command_msg(0) - msg[0].data[4] = 2 - return self._tx(msg) - - def prepare(self, speed=5.): - # Unit-limit setup only; actual caller packet proof uses physical RX instead. - self._reset_curvature_measurement(0., speed) - self._set_prev_desired_angle(0.) - self.safety.set_controls_allowed(True) - - def test_exact_namespace_and_release_long_support(self): - for word in (66,67): - self.select(word) - admitted = True - self.assertEqual(admitted, self.announce()) - self.prepare() - self.assertEqual(admitted, self._tx(self._lat_ctl_msg(True,0,0,0,.0002))) - self.assertEqual(word == 67, - self._tx(self._acc_command_msg(self.INACTIVE_GAS,self.INACTIVE_ACCEL,False))) - for word, ae in ((64,0),(65,0),(68,0),(70,0),(74,0),(82,0),(98,0),(194,0),(66,33),(67,33)): - self.select(word,ae) - self.assertFalse(self.announce()) - self.assertFalse(self._tx(self._lat_ctl_msg(False,0,0,0,0))) - for word in (66, 67): - self.select(word, 32) - self.assertTrue(self.announce()) - self.assertFalse(self._tx(self._lat_ctl_msg(True, 0, 0, .0002, 0))) - - def test_announcement_path_and_inactive_contract(self): - self.prepare() - self.assertFalse(self._tx(self._lat_ctl_msg(True,0,0,0,.0002))) - self.assertTrue(self.announce()) - for rate in (-.001024,.001023): - self.prepare() - self.assertTrue(self._tx(self._lat_ctl_msg(True,0,0,0,rate))) - for offset,angle,curvature,rate in ((.01,0,0,0),(0,.01,0,0),(0,0,.001,0),(0,0,0,.0002)): - self.prepare() - self.assertTrue(self._tx(self._lat_ctl_msg(True,0,0,.0002,0))) - self.assertEqual(10,self.safety.get_desired_curvature_last()) - self.assertFalse(self._tx(self._lat_ctl_msg(False,offset,angle,curvature,rate))) - self.assertEqual(0,self.safety.get_desired_curvature_last()) - self.assertTrue(self._tx(self._lat_ctl_msg(False,0,0,0,0))) - - def test_modern_envelope_and_rejected_history(self): - self.assertTrue(self.announce()) - for speed,accept,reject in ((15.,40,70),(26.,8,12)): - self.prepare(speed) - self.assertTrue(self._tx(self._lat_ctl_msg(True,0,0,accept/self.DEG_TO_CAN,0))) - self.assertEqual(accept,self.safety.get_desired_curvature_last()) - # Keep the accepted previous command for the extension-only path rejection. - self.assertFalse(self._tx(self._lat_ctl_msg(True,0,.01,accept/self.DEG_TO_CAN,0))) - self.assertEqual(0,self.safety.get_desired_curvature_last()) - self.prepare(speed) - self.assertFalse(self._tx(self._lat_ctl_msg(True,0,0,reject/self.DEG_TO_CAN,0))) - self.assertEqual(0,self.safety.get_desired_curvature_last()) - self.assertTrue(self._tx(self._lat_ctl_msg(True,0,0,-accept/self.DEG_TO_CAN,0))) diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py b/opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py deleted file mode 100644 index e64326d922..0000000000 --- a/opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py +++ /dev/null @@ -1,179 +0,0 @@ -"""Exact Mach-E extension intersects current Ford safety; variant-select methods.""" -import unittest - -from opendbc.safety.tests import test_ford as ford -from opendbc.car.structs import CarParams -from opendbc.safety.tests.libsafety import libsafety_py -from opendbc.safety.tests import test_ford_aol - - -class TestFordMachEExtended(unittest.TestCase): - SAFETY_PARAM = 18 - REQUIRES_DEBUG = None - MAX_CURVATURE_ERROR = 0.006 - - def setUp(self): - safety = libsafety_py.libsafety - debug = safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 0) == 0 - safety.set_safety_hooks(CarParams.SafetyModel.noOutput, 0) - safety.set_alternative_experience(0) - if self.REQUIRES_DEBUG is not None and debug != self.REQUIRES_DEBUG: - self.skipTest("This case requires " + ("DEBUG" if self.REQUIRES_DEBUG else "RELEASE") + " safety") - self._message_fixture = ford.TestFordCANFDStockSafety() - self._message_fixture.SAFETY_PARAM = self.SAFETY_PARAM - self._message_fixture.setUp() - - def __getattr__(self, name): - fixture = self.__dict__.get("_message_fixture") - if fixture is None: - raise AttributeError(name) - return getattr(fixture, name) - - def announce(self, active=True, forbidden=False): - msg = self._lkas_command_msg(0) - msg[0].data[4] = (2 if active else 0) | int(forbidden) - return self._tx(msg) - - def prepare(self, speed=5.0, curvature=0.0195): - self._reset_curvature_measurement(curvature, speed) - self._set_prev_desired_angle(curvature) - self.safety.set_controls_allowed(True) - - def command(self, enabled=True, curvature=0.0195, rate=0.0, angle=0.02, offset=0.0, *, increment_timer=True): - return self._lat_ctl_msg(enabled, offset, angle, curvature, rate, increment_timer=increment_timer) - - def test_accepted_announcement_required_rejected_frame_cannot_grant(self): - self.prepare() - self.assertFalse(self._tx(self.command())) - self.assertFalse(self.announce(forbidden=True)) - self.prepare() - self.assertFalse(self._tx(self.command())) - self.assertTrue(self.announce()) - self.prepare() - self.assertTrue(self._tx(self.command())) - self.assertTrue(self.announce(active=False)) - self.prepare() - self.assertFalse(self._tx(self.command())) - - def test_original_path_recipe_and_inactive_fields(self): - self.assertTrue(self.announce()) - self.prepare() - self.assertTrue(self._tx(self.command())) - for kwargs in ({'angle': -0.02}, {'angle': 0.161}, {'angle': 0.08}, {'curvature': 0.0194}, {'offset': 0.01}): - with self.subTest(kwargs=kwargs): - self.prepare() - self.assertFalse(self._tx(self.command(**kwargs))) - self.prepare() - self.assertTrue(self._tx(self.command(enabled=False, curvature=0.0, angle=0.0))) - self.prepare() - self.assertFalse(self._tx(self.command(enabled=False, rate=0.000001, curvature=0.0, angle=0.0))) - - def test_modern_jerk_rejects_original_rate_counterexample(self): - self.assertTrue(self.announce()) - self.prepare(speed=15.0, curvature=0.0) - # Original15m/s lookup permits75CANunits; modernISOjerk permits46. - self.assertFalse(self._tx(self.command(curvature=0.0015, angle=0.0))) - self.prepare(speed=15.0, curvature=0.0) - self.assertTrue(self._tx(self.command(curvature=0.0009, angle=0.0))) - - def test_speed_combined_accel_and_authority_denials(self): - self.assertTrue(self.announce()) - for speed in (2.9, 8.8): - self.prepare(speed=speed) - self.assertFalse(self._tx(self.command())) - self.prepare() - self.assertTrue(self._tx(self.command(angle=0.05))) - self.prepare() - self.assertTrue(self._tx(self.command(angle=0.1))) - self.prepare(speed=8.7) - # 0.0195 * 8.7**2 + 0.12 * 8.7 > 2.5; path delta is only40CAN. - self.assertFalse(self._tx(self.command(angle=0.12))) - self.prepare() - self.safety.set_controls_allowed(False) - self.assertFalse(self._tx(self.command())) - - def test_rejected_path_does_not_commit_curvature_history(self): - self.assertTrue(self.announce()) - self.prepare() - self.assertFalse(self._tx(self.command(curvature=0.0175))) - self._reset_curvature_measurement(0.0, 5.0) - self.safety.set_controls_allowed(True) - # Reset history permits125CAN from zero; a leaked875CAN rejects this step. - self.assertTrue(self._tx(self.command(curvature=0.0025, angle=0.0))) - - def test_namespace_unknown_words_and_siblings_cannot_acquire(self): - for word, ae in ((2, 0), (3, 0), (10, 0), (11, 0), (22, 0), (26, 0), (50, 0), (18, 32)): - with self.subTest(word=word, ae=ae): - self.safety.set_alternative_experience(ae) - self.safety.set_safety_hooks(CarParams.SafetyModel.ford, word) - self.announce() - self.prepare() - self.assertFalse(self._tx(self.command())) - - def test_typed_aol_retains_curvature_without_path_angle(self): - for sign in (-1, 1): - with self.subTest(sign=sign): - self.setUp() - intent = test_ford_aol.TestFordAolDriverIntent() - intent.setUp() - intent.reset(self.SAFETY_PARAM) - intent.arm() - intent.pump(12, mask=1, speed=7.5, curvature=sign * .02) - self.assertTrue(self.safety.safety_config_valid()) - self.assertEqual(self.safety.aol_get_permission_mask(), 1) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertTrue(self.announce()) - self._set_prev_desired_angle(sign * .02) - self.assertFalse(self._tx(self.command(curvature=sign * .02, angle=sign * .055, increment_timer=False))) - self._set_prev_desired_angle(sign * .02) - self.assertTrue(self._tx(self.command(curvature=sign * .02, angle=0., increment_timer=False))) - - def test_accelerator_assist_requires_retained_full_engagement(self): - for sign in (-1, 1): - with self.subTest(sign=sign): - self.setUp() - intent = test_ford_aol.TestFordAolDriverIntent() - intent.setUp() - intent.reset(self.SAFETY_PARAM) - intent.arm() - intent.pump(12, mask=1, speed=7.5, curvature=sign * .02) - self.assertTrue(self.safety.safety_config_valid()) - self.assertEqual(self.safety.aol_get_permission_mask(), 1) - self._set_prev_desired_angle(sign * .02) - self._rx(self._pcm_status_msg(True)) - self.assertTrue(self.announce()) - for gas in (0., 25., 0.): - self._rx(self._user_gas_msg(gas)) - self.assertTrue(self.safety.get_controls_allowed()) - self.assertTrue(self._tx(self.command(curvature=sign * .02, angle=sign * .055, increment_timer=False))) - - # Cruise returning to available revokes full engagement, while typed AOL keeps the lateral axis. - intent.rx('EngBrakeData', {'BpedDrvAppl_D_Actl': 1, 'CcStat_D_Actl': 3}) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertEqual(self.safety.aol_get_permission_mask(), 1) - self.assertFalse(self._tx(self.command(curvature=sign * .02, angle=sign * .055, increment_timer=False))) - self._set_prev_desired_angle(sign * .02) - self.assertTrue(self._tx(self.command(curvature=sign * .02, angle=0., increment_timer=False))) - - self._rx(self._pcm_status_msg(True)) - self._rx(self._user_brake_msg(True)) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertEqual(self.safety.aol_get_permission_mask(), 1) - self.assertFalse(self._tx(self.command(curvature=sign * .02, angle=sign * .055, increment_timer=False))) - self._set_prev_desired_angle(sign * .02) - self.assertTrue(self._tx(self.command(curvature=sign * .02, angle=0., increment_timer=False))) - - -class TestFordMachEDebugLongExtended(TestFordMachEExtended): - SAFETY_PARAM = 19 - REQUIRES_DEBUG = True - - -class TestFordMachELongReleaseExtended(TestFordMachEExtended): - SAFETY_PARAM = 19 - REQUIRES_DEBUG = False - - -# Compatibility for existing CI selector names: this runs the promoted profile's -# complete positive RELEASE contract, including the unchanged actuation bounds. -TestFordMachELongReleaseDenied = TestFordMachELongReleaseExtended diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_neutral_display.py b/opendbc_repo/opendbc/safety/tests/test_ford_neutral_display.py index ee7994695b..26d79204dd 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_neutral_display.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_neutral_display.py @@ -2,13 +2,13 @@ import pytest from opendbc.car import gen_empty_fingerprint -from opendbc.car.ford import mache_can +from opendbc.car.ford import fordcan from opendbc.car.ford.fordcan import CanBus from opendbc.safety.tests.libsafety import libsafety_py from opendbc.safety.tests import test_ford_aol -@pytest.fixture(params=(19, 67, 275, 323)) +@pytest.fixture(params=(3, 259)) def owner(request): native = test_ford_aol.TestFordAolDriverIntent() native.setUp() @@ -17,14 +17,14 @@ def owner(request): native.safety.set_alternative_experience(32) native.pump(40, main=0, mask=0, heartbeat=False) bus = CanBus(fingerprint=gen_empty_fingerprint()) - address, data, src = mache_can.create_lka_msg(native.packer, bus) + address, data, src = fordcan.create_lka_msg(native.packer, bus) assert native.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) return native def inactive(owner): bus = CanBus(fingerprint=gen_empty_fingerprint()) - address, data, src = mache_can.create_lat_ctl2_msg(owner.packer, bus, 0, 0, 1, 0., 0., 0) + address, data, src = fordcan.create_lat_ctl2_msg(owner.packer, bus, 0, 0., 0., 0., 0., 0) assert owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) @@ -71,7 +71,7 @@ def test_main_off_continuity_has_no_steering_or_longitudinal_authority(owner): assert owner.safety.aol_get_permission_mask() == 0 assert not owner.safety.get_controls_allowed() bus = CanBus(fingerprint=gen_empty_fingerprint()) - address, data, src = mache_can.create_lat_ctl2_msg(owner.packer, bus, 1, 0, 1, 0., 0., 1) + address, data, src = fordcan.create_lat_ctl2_msg(owner.packer, bus, 1, 0., 0., 0., 0., 1) assert not owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) assert owner.safety.safety_fwd_hook(2, 0x18A) == 0 @@ -139,7 +139,7 @@ def test_neutral_continuity_across_real_microsecond_timer_wrap(owner): owner.safety.set_alternative_experience(32) owner.pump(40, main=0, mask=0, heartbeat=False) bus = CanBus(fingerprint=gen_empty_fingerprint()) - address, data, src = mache_can.create_lka_msg(owner.packer, bus) + address, data, src = fordcan.create_lka_msg(owner.packer, bus) assert owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) acquire(owner) for tick in range(40): @@ -155,9 +155,9 @@ def test_neutral_continuity_across_real_microsecond_timer_wrap(owner): def active_then_off(owner, full=False): owner.arm() bus = CanBus(fingerprint=gen_empty_fingerprint()) - address, data, src = mache_can.create_lka_msg(owner.packer, bus) + address, data, src = fordcan.create_lka_msg(owner.packer, bus) assert owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) - address, data, src = mache_can.create_lat_ctl2_msg(owner.packer, bus, 1, 0, 1, 0., 0., 0) + address, data, src = fordcan.create_lat_ctl2_msg(owner.packer, bus, 1, 0., 0., 0., 0., 0) assert owner.safety.safety_tx_hook(libsafety_py.make_CANPacket(address, src, data)) assert owner.safety.aol_get_permission_mask() == 1 if full: diff --git a/opendbc_repo/opendbc/safety/tests/test_ford_stock_switch.py b/opendbc_repo/opendbc/safety/tests/test_ford_stock_switch.py index 326bf33a7e..88844a6d63 100644 --- a/opendbc_repo/opendbc/safety/tests/test_ford_stock_switch.py +++ b/opendbc_repo/opendbc/safety/tests/test_ford_stock_switch.py @@ -46,7 +46,7 @@ class TestFordStockSwitch(unittest.TestCase): self.assertTrue(self._rx(self.physical_switch(button))) def test_physical_available_inactive_resume_does_not_enable_controls(self): - for word in (2, 8, 10, 12, 18): + for word in (0, 2, 8, 10, 12): with self.subTest(word=word): self.select(word) self.healthy(word) @@ -83,7 +83,7 @@ class TestFordStockSwitch(unittest.TestCase): self.assertFalse(self._tx(self._acc_button_msg(Buttons.RESUME, 0))) def test_long_unknown_ae_and_unreached_words_cannot_use_exception(self): - for word, ae in ((0, 0), (4, 0), (1, 0), (3, 0), (9, 0), (11, 0), (13, 0), (19, 0), (34, 0), (2, 32)): + for word, ae in ((4, 0), (1, 0), (3, 0), (9, 0), (11, 0), (13, 0), (34, 0), (4, 32)): with self.subTest(word=word, ae=ae): self.select(word, ae) self.healthy(word) diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h index 2a5fd08e9c..dedfecff99 100644 --- a/openpilot/common/params_keys.h +++ b/openpilot/common/params_keys.h @@ -43,13 +43,7 @@ inline static std::unordered_map keys = { {"HondaBoschARadar", {PERSISTENT, BOOL, "1"}}, {"HondaGasFactorParams", {PERSISTENT, FLOAT, "1.0"}}, {"HondaWindFactorParams", {PERSISTENT, FLOAT, "1.0"}}, - {"FordPrefSteerAngleCurvature", {PERSISTENT, BOOL, "0"}}, - {"FordLateralMode", {PERSISTENT, INT, "0"}}, {"FordHandsFreeCluster", {PERSISTENT, BOOL, "0"}}, - {"FordHumanTurnDetection", {PERSISTENT, BOOL, "1"}}, - {"FordCurvatureBlendLow", {PERSISTENT, FLOAT, "0.4"}}, - {"FordCurvatureBlendHigh", {PERSISTENT, FLOAT, "0.4"}}, - {"FordCurvatureLaneChangeFactor", {PERSISTENT, FLOAT, "0.85"}}, {"OnroadCustomizations", {PERSISTENT | DONT_LOG, JSON}}, {"StarPilotFavoriteSlots", {PERSISTENT, JSON, R"([{"enabled":false,"show_onroad":false,"key":null,"label":""},{"enabled":false,"show_onroad":false,"key":null,"label":""},{"enabled":false,"show_onroad":false,"key":null,"label":""}])"}}, {"StarPilotControllerBindings", {PERSISTENT | DONT_LOG, JSON}}, diff --git a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc index 5be4e071de..db7decd639 100644 --- a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc +++ b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc @@ -249,22 +249,12 @@ int main() { assert(aol_capable(preap, 39U, VEHICLE_REGISTRY) == preap_expected); assert(!aol_capable(preap, 35U, VEHICLE_REGISTRY)); } - constexpr uint16_t ford_words[] = {8U, 9U, 10U, 11U, 12U, 13U, 18U, 19U, 32U, 33U, 66U, 67U, 146U, 147U, 160U, 161U, 194U, 195U}; + constexpr uint16_t ford_words[] = {0U, 1U, 2U, 3U, 8U, 9U, 10U, 11U, 12U, 13U}; for (uint32_t word = 0U; word <= 65535U; ++word) { bool expected = false; - for (const auto exact : ford_words) expected |= (word == exact) || (word == (exact | 256U)); - // Exact opt-in geometry families, independently enumerated from the native decoder. - for (uint16_t geometry = 1U; geometry <= 12U; geometry++) { - const bool classic = (geometry == 1U) || (geometry == 2U) || (geometry == 5U) || (geometry == 6U) || (geometry == 9U); - const uint16_t curvature = classic ? 32U : ((geometry == 11U) ? 18U : ((geometry == 10U) ? 10U : 66U)); - for (uint16_t longitudinal = 0U; longitudinal <= 1U; longitudinal++) { - for (uint16_t angle = 0U; angle <= 1U; angle++) { - if ((geometry == 10U) && angle) continue; - const uint16_t exact = 512U | (geometry << 10U) | curvature | longitudinal | (angle ? 128U : 0U); - expected |= (word == exact) || (word == (exact | 256U)); - } - } - } + // Bits 9-14 carry the BluePilot lateral library's startup bits, whatever they hold. + const uint32_t profile = word & ~0x7E00U; + for (const auto exact : ford_words) expected |= (profile == exact) || (profile == (exact | 256U)); auto ford = status(); ford.safety_mode = 6U; ford.safety_param = static_cast(word); diff --git a/openpilot/selfdrive/pandad/tests/test_panda_owner.cc b/openpilot/selfdrive/pandad/tests/test_panda_owner.cc index 8248bd03f2..961155987e 100644 --- a/openpilot/selfdrive/pandad/tests/test_panda_owner.cc +++ b/openpilot/selfdrive/pandad/tests/test_panda_owner.cc @@ -145,7 +145,7 @@ void test_actual_config_slots_and_owner_handle(cereal::CarParams::SafetyModel mo void test_registered_owners() { test_actual_config_slots_and_owner_handle(cereal::CarParams::SafetyModel::HYUNDAI_CANFD, 0x809); - for (uint16_t word : {8U, 9U, 10U, 11U, 12U, 13U, 18U, 19U, 32U, 33U, 66U, 67U}) { + for (uint16_t word : {0U, 1U, 2U, 3U, 8U, 9U, 10U, 11U, 12U, 13U}) { test_actual_config_slots_and_owner_handle(cereal::CarParams::SafetyModel::FORD, word); test_actual_config_slots_and_owner_handle(cereal::CarParams::SafetyModel::FORD, word | 256U); } diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py index 6db45a2ec4..8751472f18 100755 --- a/openpilot/selfdrive/selfdrived/selfdrived.py +++ b/openpilot/selfdrive/selfdrived/selfdrived.py @@ -817,11 +817,11 @@ class SelfdriveD: return CS def ford_source_deadline_supported(self): - from opendbc.car.ford.aol import qualified, base_safety_param + from opendbc.car.ford.aol import profile_word, qualified from opendbc.car.ford.values import CAR return (qualified(self.CP, marked_only=True) and self.CP.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and - len(self.CP.safetyConfigs) == 1 and base_safety_param(self.CP) == 19) + len(self.CP.safetyConfigs) == 1 and profile_word(self.CP.safetyConfigs[0].safetyParam) == 3) def source_deadline_deferral_supported(self): from openpilot.starpilot.car.hyundai.aol import source_deadline_supported @@ -1780,13 +1780,14 @@ class SelfdriveD: """ from openpilot.starpilot.aol.transport_pause import independent_lateral_health from opendbc.car.ford.values import CAR as FORD_CAR + from opendbc.car.ford.aol import profile_word from openpilot.starpilot.car.ford.aol import native_accepts_cp as ford_native_accepts_cp # Established ordinary Mach-E cruise does not require an independent AOL latch. # Its native LONG pedal withdrawal may precede Card; the original combined # publication, live LAT grant and every health/deadline check below still apply. - ordinary_ford = bool(self.CP.carFingerprint == FORD_CAR.FORD_MUSTANG_MACH_E_MK1 and self.CP.safetyConfigs and - ford_native_accepts_cp(self.CP, int(car.CarParams.SafetyModel.ford), - self.CP.safetyConfigs[-1].safetyParam)) + ford_word = self.CP.safetyConfigs[-1].safetyParam + ordinary_ford = bool(self.CP.carFingerprint == FORD_CAR.FORD_MUSTANG_MACH_E_MK1 and profile_word(ford_word) == 3 and + ford_native_accepts_cp(self.CP, int(car.CarParams.SafetyModel.ford), ford_word)) proof = getattr(self, 'aol_published_input_proof', None) prior = getattr(self, 'aol_published_input_native', None) anchor = getattr(self, 'aol_ordinary_source_anchor', None) @@ -1834,9 +1835,8 @@ class SelfdriveD: # Ioniq6 also checks the physical brake before its separately published host sample. # Retain only its already granted LAT; all proof, health and LONG withdrawal gates remain. # The exact vehicle policies and all proof/health checks above remain required. - from openpilot.starpilot.car.ford.aol import early_native_long_withdrawal_supported as ford_early_long return bool(ordinary_ford or gm_native_accepts_cp(self.CP, native.safetyModel, native.safetyParam) or - early_native_long_withdrawal_supported(self.CP) or ford_early_long(self.CP) or + early_native_long_withdrawal_supported(self.CP) or toyota_aol_qualified(self.CP, marked_only=True) or not native.pandaInventory[owners[0]].controlsAllowed and not self.sm['pandaStates'][owners[0]].controlsAllowed) diff --git a/openpilot/starpilot/aol/tests/test_ford_ordinary_long_withdrawal.py b/openpilot/starpilot/aol/tests/test_ford_ordinary_long_withdrawal.py index 7473e9de8b..865dbef72c 100644 --- a/openpilot/starpilot/aol/tests/test_ford_ordinary_long_withdrawal.py +++ b/openpilot/starpilot/aol/tests/test_ford_ordinary_long_withdrawal.py @@ -8,8 +8,8 @@ from opendbc.car.ford.interface import CarInterface from opendbc.car.ford.values import CAR -@pytest.fixture(params=[(False, False), (True, False), (False, True), (True, True)]) -def caller(request): +@pytest.fixture +def caller(): case = fixture.IoniqAvailabilityTests(methodName='runTest') with ExitStack() as stack: stack.callback(case.doCleanups) @@ -19,11 +19,6 @@ def caller(request): cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint, [], True, False, False) cp.alternativeExperience = 32 assert cp.safetyConfigs[-1].safetyParam == 19 and cp.flags == 3 - angle, pinion = request.param - cp.safetyConfigs[0].safetyParam |= 128 if angle else 0 - if pinion: - from opendbc.car.ford.pinion import select - assert select(cp, True) sd, controls, step = case._authority_callers(True, cp=cp, genuine_events=True) cs = fixture.car_state() cs.cruiseState.enabled = True diff --git a/openpilot/starpilot/aol/tests/test_ford_source_deadline.py b/openpilot/starpilot/aol/tests/test_ford_source_deadline.py index c0a4d1fecd..c3ae7c5955 100644 --- a/openpilot/starpilot/aol/tests/test_ford_source_deadline.py +++ b/openpilot/starpilot/aol/tests/test_ford_source_deadline.py @@ -15,21 +15,17 @@ SOURCE=10_020_000_000 PUBLISHED_OFFSET=5_920_000 SOURCE_AGE=33_452_000 -def profile(angle=False, pinion=False): +def profile(): fingerprint = gen_empty_fingerprint() fingerprint[0].update({0x5A: 8, 0x3A6: 8, 0x3A7: 8}) fingerprint[2].update({0x3D6: 8, 0x186: 8}) cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fingerprint, [], True, False, False) cp.alternativeExperience = 32 assert cp.flags == 3 and cp.safetyConfigs[0].safetyParam == 19 - cp.safetyConfigs[0].safetyParam |= 128 if angle else 0 - if pinion: - from opendbc.car.ford.pinion import select - assert select(cp, True) return cp -def callers(case, angle=False, pinion=False): - sd, controls, drive = case._authority_callers(False, cp=profile(angle, pinion), genuine_events=True) +def callers(case): + sd, controls, drive = case._authority_callers(False, cp=profile(), genuine_events=True) def stationary(tick, **kwargs): state = kwargs.get('observed_state') if state is None: @@ -41,15 +37,14 @@ def callers(case, angle=False, pinion=False): return sd, controls, stationary @pytest.mark.parametrize('pedal', ['brake', 'gas']) -@pytest.mark.parametrize('angle,pinion', [(False, False), (True, False), (False, True), (True, True)]) @pytest.mark.parametrize('socket_timeout', [False, True]) @pytest.mark.parametrize('published_offset,source_age', [(PUBLISHED_OFFSET, SOURCE_AGE)]) -def test_ford_held_brake_keeps_only_the_recorded_unexpired_proof(socket_timeout, published_offset, source_age, angle, pinion, pedal): +def test_ford_held_brake_keeps_only_the_recorded_unexpired_proof(socket_timeout, published_offset, source_age, pedal): case = fixture.IoniqAvailabilityTests(methodName='runTest') with ExitStack() as cleanup: cleanup.callback(case.doCleanups) cleanup.enter_context(OpenpilotPrefix()) - sd, controls, drive = callers(case, angle, pinion) + sd, controls, drive = callers(case) for tick in (0, 1): stamp = 10_000_000_000 + tick * 10_000_000 drive(tick, brake=pedal == 'brake', gas=pedal == 'gas', long_allowed=False, **settings('lateral_only', stamp, tick + 1)) diff --git a/openpilot/starpilot/aol/transport_pause.py b/openpilot/starpilot/aol/transport_pause.py index 91b1e101b2..2141923c26 100644 --- a/openpilot/starpilot/aol/transport_pause.py +++ b/openpilot/starpilot/aol/transport_pause.py @@ -304,9 +304,8 @@ class TransportPauseFeedback: from opendbc.car import structs from opendbc.car.ford.values import CAR from opendbc.car.ford.aol import qualified as ford_qualified - from openpilot.starpilot.car.ford.aol import early_native_long_withdrawal_supported - first_long = early_native_long_withdrawal_supported(cp) or (ford_qualified(cp, marked_only=True) and - cp.openpilotLongitudinalControl and cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1) + first_long = (ford_qualified(cp, marked_only=True) and cp.openpilotLongitudinalControl and + cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1) pending_ack = str(axis.mode) == 'off' and not axis.lateralActive if (not first_long or not latched or self.failed or self.paused or self.pending_event or self.retention_started_ns or self.source_retention_started_ns or @@ -343,7 +342,6 @@ class TransportPauseFeedback: from openpilot.starpilot.car.hyundai.aol import qualified_ccnc_long_aol as ev9_qualified from opendbc.car import structs ev9 = cp.brand == 'hyundai' and ev9_qualified(cp, marked_only=True) - from openpilot.starpilot.car.ford.aol import early_native_long_withdrawal_supported as ford_early_long from opendbc.car.ford.aol import qualified as ford_qualified from opendbc.car.ford.values import CAR # Before 10Hz LONG echo: physical pedal/cancel retains only real independent LAT intent. @@ -356,7 +354,7 @@ class TransportPauseFeedback: # Fresh LAT grant; all health/fault checks required. ford_mache_long = bool(ford_qualified(cp, marked_only=True) and cp.openpilotLongitudinalControl and cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1) - early_long = gm or cp.brand == 'hyundai' and early_native_long_withdrawal_supported(cp) or ev9 or ford_early_long(cp) or ford_withdrawal or ford_mache_long + early_long = gm or cp.brand == 'hyundai' and early_native_long_withdrawal_supported(cp) or ev9 or ford_withdrawal or ford_mache_long from openpilot.starpilot.car.gm.aol import f1_conventional_lateral_owner, gm_physical_pedal_withdrawal gm_pedal = gm_physical_pedal_withdrawal(cp, cs) and not f1_conventional_lateral_owner(cp) event_ns = int(sm.logMonoTime['onroadEvents']) diff --git a/openpilot/starpilot/car/ford/aol.py b/openpilot/starpilot/car/ford/aol.py index 34165220d9..2bb754fff2 100644 --- a/openpilot/starpilot/car/ford/aol.py +++ b/openpilot/starpilot/car/ford/aol.py @@ -1,6 +1,6 @@ from dataclasses import replace from opendbc.car import structs -from opendbc.car.ford.aol import qualified, AOL_WORDS, MANUAL, temporary_restriction, aol_safety_config, base_safety_param, ANGLE +from opendbc.car.ford.aol import qualified, AOL_WORDS, MANUAL, temporary_restriction, aol_safety_config, profile_word from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE from openpilot.starpilot.aol.policy import AolVehiclePolicy @@ -10,26 +10,18 @@ def policy_for(cp): return AolVehiclePolicy(intent_supported=True, settings_supported=True, runtime_supported=True, normal_runtime_supported=True, ordinary_axis_ack_required=qualified(cp, marked_only=True), explicit_latch=True, alternative_experience_addition=32, - safety_param_addition=(MANUAL if cp.transmissionType == structs.CarParams.TransmissionType.manual else 0) | - (base_safety_param(cp) if aol_safety_config(cp).safetyParam & ANGLE else 0)) + safety_param_addition=MANUAL if cp.transmissionType == structs.CarParams.TransmissionType.manual else 0) return AolVehiclePolicy() def native_profile_supported(model, param): - return model == int(structs.CarParams.SafetyModel.ford) and param in AOL_WORDS + return model == int(structs.CarParams.SafetyModel.ford) and profile_word(param) in AOL_WORDS def native_accepts_cp(cp, model, param): return qualified(cp, marked_only=True) and native_profile_supported(model, param) and param == aol_safety_config(cp).safetyParam -def early_native_long_withdrawal_supported(cp): - # Panda can observe a pedal before the parsed host sample. The existing - # independent-LAT proof remains mandatory; this never authorizes LONG. - return bool(qualified(cp, marked_only=True) and cp.openpilotLongitudinalControl and - aol_safety_config(cp).safetyParam & ANGLE) - - def native_latch_rejected(cp, native): return qualified(cp, marked_only=True) and native.requestedLateral and not native.lateralAllowed diff --git a/openpilot/starpilot/car/ford/aol_policy.h b/openpilot/starpilot/car/ford/aol_policy.h index 5ac9947947..1928f88328 100644 --- a/openpilot/starpilot/car/ford/aol_policy.h +++ b/openpilot/starpilot/car/ford/aol_policy.h @@ -1,14 +1,13 @@ #pragma once #include "openpilot/selfdrive/pandad/aol_protocol.h" -#include "opendbc/safety/modes/ford_pinion.h" +#include "opendbc/safety/modes/ford_param.h" static inline bool ford_aol_param(uint16_t param) { bool result = false; - switch (ford_pinion_base_word(param) & ~256U) { + switch (ford_profile_word(param) & ~256U) { + case 0U: case 1U: case 2U: case 3U: case 8U: case 9U: case 10U: case 11U: case 12U: case 13U: - case 18U: case 19U: case 32U: case 33U: case 66U: case 67U: - case 146U: case 147U: case 160U: case 161U: case 194U: case 195U: result = true; break; default: diff --git a/openpilot/starpilot/car/ford/cluster_preferences.py b/openpilot/starpilot/car/ford/cluster_preferences.py index 042e66e165..d59163f54e 100644 --- a/openpilot/starpilot/car/ford/cluster_preferences.py +++ b/openpilot/starpilot/car/ford/cluster_preferences.py @@ -6,14 +6,10 @@ CHOICES = {0: "Off", 1: "On"} def qualified(cp): - """Dom's CAN-FD/non-LKA scope, constrained to existing admitted owners.""" - from opendbc.car.ford.values import FordFlags - from opendbc.car.ford.mache_lateral import qualified as mache - from opendbc.car.ford.generic_canfd_lateral import qualified as generic - from opendbc.car.ford.new_port_curvature import qualified as new_port - from opendbc.bluepilot_lateral.hosts.starpilot import qualified as angle + """Dom's CAN-FD/non-LKA scope: the CAN FD Fords and the Mondeo.""" + from opendbc.car.ford.values import CAR, FORD_CANFD_CARS, FordFlags return bool(cp.brand == "ford" and cp.flags & FordFlags.CANFD and not cp.flags & FordFlags.LKA_STEERING and - (mache(cp) or generic(cp) or new_port(cp) or angle(cp))) + not cp.dashcamOnly and not cp.passive and cp.carFingerprint in FORD_CANFD_CARS | {CAR.FORD_MONDEO_MK5}) def read_choice(params): diff --git a/openpilot/starpilot/car/ford/lateral_preferences.py b/openpilot/starpilot/car/ford/lateral_preferences.py deleted file mode 100644 index 32e115f9c6..0000000000 --- a/openpilot/starpilot/car/ford/lateral_preferences.py +++ /dev/null @@ -1,19 +0,0 @@ -"""Saved Ford controller selection; no onroad CP mutation or saved-byte repair.""" -from openpilot.starpilot.saved_source import read_saved - -KEY = "FordLateralMode" -CHOICES = {0: "Current curvature", 1: "BluePilot angle"} - - -def read_choice(params): - raw, readable = read_saved(params, KEY, 8) - valid = readable and raw in (None, b"0", b"1") - return (1 if valid and raw == b"1" else 0), raw, readable, valid - - -def selected(params, *, enabled): - value, _, readable, valid = read_choice(params) - safe, safe_ok = read_saved(params, "SafeMode", 8) - aol, aol_ok = read_saved(params, "AlwaysOnLateral", 8) - return int(enabled and readable and valid and value == 1 and safe_ok and safe in (None, b"0") and - aol_ok and aol in (None, b"0", b"1")) diff --git a/openpilot/starpilot/car/ford/longitudinal_preferences.py b/openpilot/starpilot/car/ford/longitudinal_preferences.py index 77708ea814..d73c8f4b72 100644 --- a/openpilot/starpilot/car/ford/longitudinal_preferences.py +++ b/openpilot/starpilot/car/ford/longitudinal_preferences.py @@ -7,9 +7,6 @@ def prepare_release_long(cp, params, *, is_release, enabled): if not is_release or not enabled or cp.brand != 'ford': return cp try: - owner = aol_safety_config(cp) - if owner is not None and owner.safetyParam & 128 and read_saved(params, 'AlwaysOnLateral', 8) != (b'1', True): - return cp if (cp.alternativeExperience != 0 or not qualified(cp) or not cp.alphaLongitudinalAvailable or cp.openpilotLongitudinalControl or read_saved(params, 'AlphaLongitudinalEnabled', 8) != (b'1', True) or read_saved(params, 'SafeMode', 8) not in ((None, True), (b'0', True))): diff --git a/openpilot/starpilot/conditional_mode/tests/test_stop_commit_transport.py b/openpilot/starpilot/conditional_mode/tests/test_stop_commit_transport.py index d7d138d555..fd0ae60acd 100644 --- a/openpilot/starpilot/conditional_mode/tests/test_stop_commit_transport.py +++ b/openpilot/starpilot/conditional_mode/tests/test_stop_commit_transport.py @@ -414,7 +414,7 @@ def test_recorded_ford_stopped_geometry_does_not_release_native_stop(request): endpoint = TestFordAolDriverIntent(methodName='runTest') endpoint.setUp() request.addfinalizer(endpoint.tearDown) - endpoint.reset(19) + endpoint.reset(3) endpoint.pump(40, main=0) endpoint.pump(10, main=3) endpoint.pump(10, main=5, mask=3) diff --git a/openpilot/starpilot/controller_extensions.py b/openpilot/starpilot/controller_extensions.py index 7ddd5d0699..8fda2250c7 100644 --- a/openpilot/starpilot/controller_extensions.py +++ b/openpilot/starpilot/controller_extensions.py @@ -1,149 +1,10 @@ -import math import time -import numpy as np - import openpilot.cereal.messaging as messaging -from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.common.swaglog import cloudlog from openpilot.starpilot.controllers.toyota_cruise import ToyotaCruisePreference, capability as toyota_cruise_capability -from opendbc.car.ford.values import CAR, FordFlags -from opendbc.car.ford.pinion import configured as pinion_configured - - -class ManualTurnInputs: - def __init__(self, params, *, track_assist_permission: bool = False, pinion: bool = False): - self.params = params - self.pinion = pinion - self.vehicle_parameters = None - self.track_assist_permission = track_assist_permission - services = ["modelV2", "lateralDelay"] + (["pandaStates", "aolSafetyWire"] if track_assist_permission else []) - self.sm = messaging.SubMaster(services + (["vehicleParameters"] if pinion else [])) - self.enabled = bool(self.params.get("FordHumanTurnDetection", return_default=True)) - self.frames = 0 - self.blend_settings = self._read_blend_settings() - self._applied_blends = {} - - def _read_blend_settings(self): - settings = [] - for key, default, low, high in (("FordCurvatureBlendLow", 0.4, 0.0, 1.0), - ("FordCurvatureBlendHigh", 0.4, 0.0, 1.0), - ("FordCurvatureLaneChangeFactor", 0.85, 0.5, 1.25)): - try: - value = float(self.params.get(key, return_default=True)) - if not math.isfinite(value): - value = default - except (TypeError, ValueError, OverflowError, RuntimeError): - value = default - settings.append(float(np.clip(value, low, high))) - return tuple(settings) - - def apply_blend_settings(self, controller): - for name in ("mache_lateral", "classic_lateral", "new_port_curvature"): - owner = getattr(controller, name, None) - if owner is not None and self.pinion: - owner.measurement.update_parameters(self.vehicle_parameters) - if owner is not None and self._applied_blends.get(owner) != self.blend_settings: - owner.set_blend_settings(*self.blend_settings) - self._applied_blends[owner] = self.blend_settings - - def update(self): - self.sm.update(0) - if self.pinion and self.sm.valid["vehicleParameters"] and self.sm.alive["vehicleParameters"]: - self.vehicle_parameters = self.sm["vehicleParameters"] - if self.frames % 100 == 0: - self.enabled = bool(self.params.get("FordHumanTurnDetection", return_default=True)) - self.blend_settings = self._read_blend_settings() - self.frames += 1 - state = self.sm["modelV2"].meta.laneChangeState - model_ready = self.sm.alive["modelV2"] and self.sm.valid["modelV2"] - return self.enabled, int(getattr(state, "raw", state)) in (1, 2, 3), model_ready - - - def preview_curvature(self, speed: float) -> float | None: - try: - now = time.monotonic_ns() - stamp = self.sm.logMonoTime["modelV2"] - if (not self.sm.alive["modelV2"] or not self.sm.valid["modelV2"] or - not 0 < stamp <= now <= stamp + 100_000_000 or not math.isfinite(speed) or speed < 0.1): - return None - yaw = tuple(self.sm["modelV2"].orientationRate.z) - if len(yaw) != len(ModelConstants.T_IDXS) or not all(math.isfinite(value) for value in yaw): - return None - delay = 0.2 - delay_stamp = self.sm.logMonoTime["lateralDelay"] - if (self.sm.alive["lateralDelay"] and self.sm.valid["lateralDelay"] and - 0 < delay_stamp <= now <= delay_stamp + 1_000_000_000): - measured_delay = float(self.sm["lateralDelay"].lateralDelay) - if math.isfinite(measured_delay): - delay = float(np.clip(measured_delay, 0.2, 0.4)) - return float(np.interp(delay, ModelConstants.T_IDXS, yaw)) / speed - except (AttributeError, KeyError, TypeError, ValueError, OverflowError): - return None - - def lateral_snapshot(self, speed: float, *, angle: bool = False): - if self.preview_curvature(speed) is None: - return None - delay = 0.15 if angle else 0.2 - now = time.monotonic_ns() - stamp = self.sm.logMonoTime["lateralDelay"] - if (self.sm.alive["lateralDelay"] and self.sm.valid["lateralDelay"] and - 0 < stamp <= now <= stamp + 1_000_000_000): - value = float(self.sm["lateralDelay"].lateralDelay) - if math.isfinite(value): - delay = float(np.clip(value, 0.1, 0.15)) if angle else float(np.clip(value, 0.2, 0.4)) - return self.sm["modelV2"], ModelConstants.T_IDXS, delay, self.enabled - - def native_permission(self, cp, *, max_age_ns): - """Exact current public Panda acknowledgment for the optional angle owner.""" - if not self.track_assist_permission: - return False - try: - # Drain happens in update(); capture one SM snapshot before sampling clocks. - pandas = self.sm["pandaStates"] - stamp = int(self.sm.logMonoTime["pandaStates"]) - receipt = int(self.sm.recv_time["pandaStates"] * 1e9) - now, boot = time.monotonic_ns(), time.clock_gettime_ns(time.CLOCK_BOOTTIME) - if (not self.sm.seen["pandaStates"] or not self.sm.all_checks(["pandaStates"]) or - not 0 < stamp <= boot <= stamp + max_age_ns or - not 0 < receipt <= now <= receipt + max_age_ns): - return False - if len(pandas) != len(cp.safetyConfigs): - return False - aol = cp.brand == "ford" and cp.alternativeExperience == 32 - if aol: - from openpilot.starpilot.aol.runtime import current_native - native = current_native(self.sm, cp, now_ns=boot) - if (native is None or not native.pandaInventory or not native.requestedLateral or not native.lateralAllowed or - native.sourcePandaStatesMonoTime != stamp or boot - native.observedMonoTime > max_age_ns): - return False - for i, (panda, config) in enumerate(zip(pandas, cp.safetyConfigs, strict=True)): - if (panda.safetyModel != config.safetyModel or panda.safetyParam != config.safetyParam or - panda.alternativeExperience != cp.alternativeExperience or panda.safetyRxChecksInvalid or - panda.heartbeatLost or len(panda.faults) or str(panda.faultStatus) != "none"): - return False - if (not aol and bool(panda.controlsAllowed) != (i == len(pandas) - 1) or - aol and i != len(pandas) - 1 and panda.controlsAllowed): - return False - return True - except (AttributeError, KeyError, TypeError, ValueError, OverflowError): - return False - - def native_tx_blocked(self): - """Read only after native_permission qualified this same Panda snapshot.""" - try: - value = self.sm["pandaStates"][-1].safetyTxBlocked - return int(value) if 0 <= value <= 0xFFFFFFFF else None - except (AttributeError, IndexError, KeyError, TypeError, ValueError, OverflowError): - return None - - def assist_permission(self): - if not self.track_assist_permission: - return (), False - return self.sm["pandaStates"], self.sm.all_checks(["pandaStates"]) - class ResumePlanInputs: """Card-owned fresh plan evidence, independent of Controls' saved preference snapshot.""" @@ -254,27 +115,6 @@ def configure_controller(CI, params): cloudlog.exception('Optional Volt resume input transport unavailable') if controller is not None and toyota_cruise_capability(cp) is not None: controller.reverse_cruise_input = ToyotaCruisePreference(cp, params) - if (controller is not None and cp.brand == "ford" and cp.carFingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and - not cp.flags & FordFlags.LKA_STEERING and not cp.passive and not cp.dashcamOnly and not cp.notCar and - getattr(controller, "manual_turn", None) is not None): - controller.manual_turn_inputs = ManualTurnInputs(params, track_assist_permission=bool(cp.flags & FordFlags.CANFD), pinion=pinion_configured(cp)) - - from opendbc.bluepilot_lateral.hosts.starpilot import qualified as angle_qualified - if controller is not None and angle_qualified(cp) and getattr(controller, "bp_lat", None) is not None: - controller.bp_lat.host.inputs = ManualTurnInputs(params, track_assist_permission=True, pinion=pinion_configured(cp)) - - from opendbc.car.ford.classic_lateral import qualified as classic_qualified - from opendbc.car.ford.generic_canfd_lateral import qualified as generic_canfd_qualified - if controller is not None and (classic_qualified(cp) or generic_canfd_qualified(cp)) and getattr(controller, "classic_lateral", None) is not None: - controller.manual_turn_inputs = ManualTurnInputs(params, pinion=pinion_configured(cp)) - - from opendbc.car.ford.new_port_curvature import qualified as new_port_curvature_qualified - if controller is not None and new_port_curvature_qualified(cp) and getattr(controller, "new_port_curvature", None) is not None: - controller.manual_turn_inputs = ManualTurnInputs(params, pinion=pinion_configured(cp)) - - if controller is not None and cp.brand == "ford" and getattr(controller, "manual_turn_inputs", None) is not None: - controller.manual_turn_inputs.apply_blend_settings(controller) - if controller is not None and cp.brand == "honda" and getattr(controller, "nidec_interceptor", None) is not None: from openpilot.starpilot.car.honda.longitudinal import BoschLearningParams controller.interceptor_learning_params = BoschLearningParams(params, controller.nidec_interceptor) diff --git a/openpilot/starpilot/flm/runtime_adapter_registry.py b/openpilot/starpilot/flm/runtime_adapter_registry.py index 9f8e9abbbf..a8a7571ab0 100644 --- a/openpilot/starpilot/flm/runtime_adapter_registry.py +++ b/openpilot/starpilot/flm/runtime_adapter_registry.py @@ -197,6 +197,9 @@ def ford_public_identity_key(cp, pandas): ) +FORD_PANDA_AGE_NS = 300_000_000 # a pandaStates sample older than this is not current + + def current_ford_authority(sm, cp, *, now_ns): """Optional parent20Hz mirror of the existing successful Ford verifier.""" key = (now_ns, id(cp)) @@ -205,8 +208,6 @@ def current_ford_authority(sm, cp, *, now_ns): return cached[1:] allowed, identity = False, '' try: - from opendbc.bluepilot_lateral.params import limits as bounds - if not ford_downstream(cp): raise ValueError('Ford downstream role') pandas = sm['pandaStates'] @@ -216,8 +217,8 @@ def current_ford_authority(sm, cp, *, now_ns): allowed = bool( sm.seen['pandaStates'] and sm.all_checks(['pandaStates']) - and 0 < stamp <= boot <= stamp + bounds.PANDA_AGE_NS - and 0 < receipt <= now_ns <= receipt + bounds.PANDA_AGE_NS + and 0 < stamp <= boot <= stamp + FORD_PANDA_AGE_NS + and 0 < receipt <= now_ns <= receipt + FORD_PANDA_AGE_NS and len(pandas) == len(cp.safetyConfigs) ) for index, (panda, config) in enumerate(zip(pandas, cp.safetyConfigs, strict=True)): @@ -434,11 +435,12 @@ def selected_identity(descriptor, source_epoch, baseline=""): def ford_downstream(cp): - # The existing final admitted CP safety word selects the actual library; + # The BluePilot lateral library owns Ford steering when its bit is in the final admitted CP safety word; # no settings read or generic angle-output inference establishes this role. - from opendbc.bluepilot_lateral.hosts.starpilot import qualified + from opendbc.car.ford.aol import BP_LATERAL, aol_safety_config - return bool(str(cp.carFingerprint) in interfaces and qualified(cp)) + config = aol_safety_config(cp) if cp.brand == 'ford' else None + return bool(str(cp.carFingerprint) in interfaces and config is not None and config.safetyParam & BP_LATERAL) def adapter_for_ford(cp, context): diff --git a/openpilot/starpilot/flm/tests/test_native_health.py b/openpilot/starpilot/flm/tests/test_native_health.py index 770c409351..1c3ad584e8 100644 --- a/openpilot/starpilot/flm/tests/test_native_health.py +++ b/openpilot/starpilot/flm/tests/test_native_health.py @@ -124,9 +124,9 @@ def ford_state(cp, observed, *, heartbeat=False): def ford_setup(): - from opendbc.bluepilot_lateral.hosts.starpilot import select + from opendbc.car.ford.aol import BP_LATERAL cp = interfaces[FORD.FORD_ESCAPE_MK4].get_non_essential_params(FORD.FORD_ESCAPE_MK4) - assert select(cp, 1) + cp.safetyConfigs[-1].safetyParam |= BP_LATERAL now = time.monotonic_ns() sm = ford_state(cp, now-1_000_000) allowed, identity = current_ford_authority(sm, cp, now_ns=now) diff --git a/openpilot/starpilot/galaxy/setting_descriptions.py b/openpilot/starpilot/galaxy/setting_descriptions.py index 4611d4df5b..3fc9681d51 100644 --- a/openpilot/starpilot/galaxy/setting_descriptions.py +++ b/openpilot/starpilot/galaxy/setting_descriptions.py @@ -10,7 +10,6 @@ DESCRIPTIONS = { 'ReduceMotion': 'Reduces interface animations for a steadier display.', 'IsMetric': 'On displays speed and distance in kilometers; Off uses miles. Saved speed-limit offsets keep their physical values.', 'IsRhdDetected': 'Sets the initial steering-wheel side used by driver monitoring. Applies next drive; automatic side detection continues.', - 'FordPrefSteerAngleCurvature': 'Uses steering pinion angle instead of yaw rate to estimate Ford steering curvature. Applies at the next vehicle startup.', 'lane_change:turn_signal_guidance': 'Uses your turn signal to help the model choose a turning path at intersections.', 'AlphaLongitudinalEnabled': ('Requests StarPilot speed control instead of factory ACC. May disable Automatic Emergency Braking. ' + 'Applies after the next startup; exact vehicle takeover checks remain required.'), @@ -84,7 +83,6 @@ DESCRIPTIONS = { 'GMLongitudinalTune': 'Selects the supported vehicle speed-control response tune.', 'TruckTuning': 'Softens small acceleration requests, reduces grade correction and smooths light braking on supported GM trucks.', 'EVTuning': 'Selects EV acceleration curves for inherited acceleration presets.', - 'FordLateralMode': 'Chooses the native Ford steering controller or the supported BluePilot angle controller.', 'TeslaAOLScreenTap': 'Lets a three-finger tap on a supported Tesla screen toggle Always On Lateral.', 'TeslaAOLDisengageOnBrake': 'Disarms screen-tap Always On Lateral when you press the brake.', 'RemoteStartBootsComma': 'Wakes comma during GM remote start.', @@ -155,7 +153,6 @@ INITIALIZATION = { 'VoltOnePedalMode': ('First enable requires the next vehicle startup to configure the braking safety ' + 'permission. An already admitted mode can be disabled live.'), 'VoltSNG': 'Applies when the vehicle controller next starts: its fresh resume-plan input is created for the selected stop-and-go mode.', - 'FordLateralMode': 'Requires the next vehicle startup to select the steering controller, admitted CAN mode and Panda safety word.', 'TeslaAOLScreenTap': 'Requires the next vehicle startup to configure the screen-button CAN source and matching safety permission.', 'TeslaAOLDisengageOnBrake': 'Requires the next vehicle startup to configure the screen-button brake/disarm safety permission.', 'RemoteStartBootsComma': 'Requires a device restart to load the matching Panda ignition firmware.', diff --git a/openpilot/starpilot/galaxy/tests/description-key-inventory.json b/openpilot/starpilot/galaxy/tests/description-key-inventory.json index 4688a38d63..51ac1df410 100644 --- a/openpilot/starpilot/galaxy/tests/description-key-inventory.json +++ b/openpilot/starpilot/galaxy/tests/description-key-inventory.json @@ -29,8 +29,6 @@ "ForceAutoTuneOff", "ForceStopDistanceOffset", "ForceStops", - "FordLateralMode", - "FordPrefSteerAngleCurvature", "GMAutoHold", "GMLongitudinalTune", "GMPedalLongitudinal", diff --git a/openpilot/starpilot/galaxy/tests/test_ford_angle_settings.py b/openpilot/starpilot/galaxy/tests/test_ford_angle_settings.py deleted file mode 100644 index 3cb243fc4d..0000000000 --- a/openpilot/starpilot/galaxy/tests/test_ford_angle_settings.py +++ /dev/null @@ -1,118 +0,0 @@ -"""One typed Ford choice through the real Galaxy shared settings owner.""" -from pathlib import Path -import tempfile -import unittest - -from openpilot.common.params import Params -from openpilot.starpilot.galaxy.settings import AuthorityContext, SettingsChanged, SettingsGateway -from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner -from opendbc.car.ford.tests.test_three_ports import params as ford_params -from opendbc.car.ford.values import CAR -from opendbc.bluepilot_lateral.hosts.starpilot import CLASSIC, CANFD, select - - -class FordContext: - def __init__(self, owner): - self.owner = owner - - def sample(self) -> AuthorityContext: - return AuthorityContext(self.owner.parked, self.owner.cp, self.owner.cp.as_reader().as_builder().to_bytes()) - - -class TestFordAngleSettings(unittest.TestCase): - def setUp(self): - temporary = tempfile.TemporaryDirectory() - self.addCleanup(temporary.cleanup) - self.params = Params(temporary.name) - self.params.put_bool("SafeMode", False, block=True) - self.params.put_bool("AlwaysOnLateral", False, block=True) - self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1) - self.parked = True - self.context = FordContext(self) - self.gateway = SettingsGateway(self.params, self.context) - self.addCleanup(self.gateway.close) - - def page(self): - return self.gateway.page("torque", "ford-session", b"ford-generation") - - def row(self, page): - rows = [(i, r) for i, r in enumerate(page["rows"]) if r["label"] == "Ford steering controller"] - self.assertEqual(len(rows), 1) - return rows[0] - - def choose(self, label): - page = self.page() - index, row = self.row(page) - self.assertTrue(row["available"]) - intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value=label) - return self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation") - - def test_actual_final_profiles_one_dropdown_and_typed_explicit_persistence(self): - for identity in sorted(CLASSIC | CANFD): - for already_selected in (False, True): - self.cp = ford_params(identity) - if already_selected: - self.assertTrue(select(self.cp, 1)) - page = self.page() - _, row = self.row(page) - self.assertEqual(row["choices"], ["Current curvature", "BluePilot angle"]) - self.choose("BluePilot angle") - self.assertEqual(self.params.get("FordLateralMode"), 1) - self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes(), b"1") - self.choose("Current curvature") - self.assertEqual(self.params.get("FordLateralMode"), 0) - owner = FeatureSettingsOwner(self.params, lambda _: True, vehicle_fingerprint=lambda: self.cp.carFingerprint, - vehicle_params=lambda: self.cp) - rows = owner.snapshot("torque", parked=True, system_long=False, lateral_context=True, metric=False).rows - self.assertEqual(sum(r.key == "FordLateralMode" for r in rows), 1) - - def test_excluded_or_modified_final_capability_has_no_angle_row(self): - for identity in (CAR.FORD_EDGE_MK2, CAR.FORD_MONDEO_MK5, CAR.FORD_TRANSIT_MK5): - self.cp = ford_params(identity) - self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"])) - for field, value in (("alternativeExperience", 16), ("passive", True), ("dashcamOnly", True), ("notCar", True)): - self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1) - setattr(self.cp, field, value) - self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"])) - self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1) - self.cp.safetyConfigs[-1].safetyParam = 0 - self.assertFalse(any(r["label"] == "Ford steering controller" for r in self.page()["rows"])) - - def test_stale_expected_dependency_vehicle_and_parked_changes_deny_commit(self): - for change in ("saved", "safe", "aol", "vehicle", "parked"): - self.cp = ford_params(CAR.FORD_BRONCO_SPORT_MK1) - self.parked = True - self.params.put("FordLateralMode", 0, block=True) - self.params.put_bool("SafeMode", False, block=True) - self.params.put_bool("AlwaysOnLateral", False, block=True) - page = self.page() - index, _ = self.row(page) - intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value="BluePilot angle") - if change == "saved": - Path(self.params.get_param_path("FordLateralMode")).write_bytes(b"invalid") - elif change in ("safe", "aol"): - self.params.put_bool("SafeMode" if change == "safe" else "AlwaysOnLateral", True, block=True) - elif change == "vehicle": - self.cp.safetyConfigs[-1].safetyParam = 128 - else: - self.parked = False - if change == "vehicle": - with self.assertRaises(SettingsChanged): - self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation") - else: - self.assertFalse(self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation")) - self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes(), b"invalid" if change == "saved" else b"0") - with self.assertRaises(SettingsChanged): - self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation") - - def test_invalid_saved_choice_can_only_repair_to_current_curvature(self): - path = Path(self.params.get_param_path("FordLateralMode")) - path.write_bytes(b"2") - page = self.page() - index, row = self.row(page) - self.assertEqual(row["value"], "Invalid saved choice") - with self.assertRaises(SettingsChanged): - self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", value="BluePilot angle") - intent = self.gateway.preview(page["view"], index, 0, "ford-session", b"ford-generation", reset_default=True) - self.gateway.confirm(intent["intent"], "ford-session", b"ford-generation") - self.assertEqual(path.read_bytes(), b"0") diff --git a/openpilot/starpilot/galaxy/tests/test_ford_pinion_settings.py b/openpilot/starpilot/galaxy/tests/test_ford_pinion_settings.py deleted file mode 100644 index e7ef851d4e..0000000000 --- a/openpilot/starpilot/galaxy/tests/test_ford_pinion_settings.py +++ /dev/null @@ -1,63 +0,0 @@ -"""Actual typed Params, Galaxy parked write, and startup configuration for pinion.""" -from pathlib import Path -import tempfile - -import pytest -from opendbc.car import gen_empty_fingerprint -from opendbc.car.ford.pinion import KEY, GEOMETRY, configured -from opendbc.car.ford.values import CAR -from opendbc.car.ford.tests.test_three_ports import params as ford_params -from openpilot.common.params import Params -from openpilot.starpilot.galaxy.settings import AuthorityContext, SettingsGateway - - -def test_real_galaxy_typed_parked_selection_and_stale_dependency(): - with tempfile.TemporaryDirectory() as directory: - params = Params(directory) - assert params.get_default_value(KEY) is False - params.put_bool('SafeMode', False, block=True) - params.put_bool('AlwaysOnLateral', False, block=True) - cp = ford_params(CAR.FORD_EXPLORER_MK6) - parked = True - class TestContext: - def sample(self) -> AuthorityContext: - return AuthorityContext(parked, cp, cp.as_reader().as_builder().to_bytes()) - - gateway = SettingsGateway(params, TestContext()) - try: - page = gateway.page('torque', 'pinion-test', b'generation') - index, row = next((i, row) for i, row in enumerate(page['rows']) if row['label'] == 'Use Pinion Yaw Sensor') - assert row['choices'] == ['Off', 'On'] and row['available'] - intent = gateway.preview(page['view'], index, 0, 'pinion-test', b'generation', value='On') - assert gateway.confirm(intent['intent'], 'pinion-test', b'generation') - assert params.get(KEY) is True - assert Path(params.get_param_path(KEY)).read_bytes() == b'1' - assert not configured(cp) # Saved preference cannot mutate the current driving configuration. - parked = False - page = gateway.page('torque', 'pinion-test', b'generation') - row = next(row for row in page['rows'] if row['label'] == 'Use Pinion Yaw Sensor') - assert not row['available'] - finally: - gateway.close() - - -@pytest.mark.parametrize('identity', list(GEOMETRY)) -def test_actual_factory_applies_before_controller_and_published_cp(identity): - from openpilot.starpilot.tests.test_vehicle_preferences import TestVehicleStartupPreferences - helper = TestVehicleStartupPreferences() - helper.setUp() - try: - helper.raw('SafeMode', b'0') - helper.raw('AlwaysOnLateral', b'0') - helper.params.put_bool('AlphaLongitudinalEnabled', False, block=True) - helper.params.put_bool('IsReleaseBranch', False, block=True) - fp = gen_empty_fingerprint() - fp[0][0x5A] = 8 - fp[2].update({0x3D6: 8, 0x186: 8}) - host, constructed, published = helper.start(identity, key=KEY, requested=True, observed=fp, - capture=lambda ci: configured(ci.CP)) - assert constructed == [True] - assert configured(published) - assert host.CI.CP.to_dict() == published.to_dict() - finally: - helper.doCleanups() diff --git a/openpilot/starpilot/galaxy/tests/test_ford_selector_visibility.py b/openpilot/starpilot/galaxy/tests/test_ford_selector_visibility.py deleted file mode 100644 index 9d16ea104c..0000000000 --- a/openpilot/starpilot/galaxy/tests/test_ford_selector_visibility.py +++ /dev/null @@ -1,74 +0,0 @@ -import tempfile -import unittest -from pathlib import Path -from types import SimpleNamespace - -from opendbc.car import structs -from opendbc.car.ford.values import CAR, FordFlags -from openpilot.starpilot.ui.ford_lateral_feature import FordLateralFeature - - -class TestFordSelectorVisibility(unittest.TestCase): - def setUp(self): - directory = tempfile.TemporaryDirectory() - self.addCleanup(directory.cleanup) - self.root = Path(directory.name) - self.cp = structs.CarParams(brand='ford', carFingerprint=CAR.FORD_MUSTANG_MACH_E_MK1, - flags=int(FordFlags.CANFD), alternativeExperience=32, pcmCruise=True, - steerControlType='angle', transmissionType='automatic', - safetyConfigs=[{'safetyModel': 'ford', 'safetyParam': 18}]) - self.params = SimpleNamespace(get_param_path=lambda key: str(self.root / key)) - self.owner = SimpleNamespace(params=self.params, vehicle_params=lambda: self.cp, - authority=lambda _: True, vehicle_fingerprint=lambda: self.cp.carFingerprint) - self.feature = FordLateralFeature(self.owner) - self.save('AlwaysOnLateral', b'1') - self.save('SafeMode', b'0') - - def save(self, key, value): - (self.root / key).write_bytes(value) - - def test_aol_marked_mach_e_visible_without_mutating_configuration(self): - for alpha in (False, True): - self.cp.openpilotLongitudinalControl = alpha - self.cp.safetyConfigs[0].safetyParam = 18 + int(alpha) - before = self.cp.to_dict() - rows = self.feature.rows(True) - self.assertEqual(len(rows), 1) - self.assertEqual(rows[0].choices, ('Current curvature', 'BluePilot angle')) - self.assertTrue(rows[0].available) - self.assertIn('works with Always On Lateral', rows[0].reason) - self.assertEqual(self.cp.to_dict(), before) - - def test_saved_aol_off_allows_selection_without_waiting_for_cp_restart(self): - self.save('AlwaysOnLateral', b'0') - self.assertTrue(self.feature.rows(True)[0].available) - self.assertEqual(self.cp.alternativeExperience, 32) - self.assertEqual(self.cp.safetyConfigs[0].safetyParam, 18) - - def test_onroad_and_safe_mode_still_deny_selection(self): - self.save('AlwaysOnLateral', b'0') - self.assertFalse(self.feature.rows(False)[0].available) - self.save('SafeMode', b'1') - self.assertFalse(self.feature.rows(True)[0].available) - - def test_reader_uses_the_same_display_only_capability(self): - self.cp = self.cp.as_reader() - self.assertEqual(len(self.feature.rows(True)), 1) - self.assertEqual(self.cp.alternativeExperience, 32) - - def test_invalid_native_owner_remains_hidden(self): - for word in (0, 2, 130, 65535): - self.cp.safetyConfigs[0].safetyParam = word - self.assertEqual(self.feature.rows(True), ()) - - def test_unrelated_experience_and_brand_remain_hidden(self): - self.cp.alternativeExperience = 16 - self.assertEqual(self.feature.rows(True), ()) - self.cp.alternativeExperience = 32 - self.cp.brand = 'toyota' - self.assertEqual(self.feature.rows(True), ()) - - def test_existing_unmarked_mach_e_stays_available(self): - self.cp.alternativeExperience = 0 - self.save('AlwaysOnLateral', b'0') - self.assertTrue(self.feature.rows(True)[0].available) diff --git a/openpilot/starpilot/tests/ford_lifecycle_helpers.py b/openpilot/starpilot/tests/ford_lifecycle_helpers.py index f25b6d31b8..35de00aede 100644 --- a/openpilot/starpilot/tests/ford_lifecycle_helpers.py +++ b/openpilot/starpilot/tests/ford_lifecycle_helpers.py @@ -50,19 +50,19 @@ from openpilot.starpilot.aol.wire import PandaSlot, SafetyState, encode_safety FORD_FACTORIES = ( - (CAR.FORD_BRONCO_SPORT_MK1, 32), + (CAR.FORD_BRONCO_SPORT_MK1, 0), (CAR.FORD_EDGE_MK2, 8), - (CAR.FORD_ESCAPE_MK4, 32), - (CAR.FORD_ESCAPE_MK4_5, 66), - (CAR.FORD_EXPLORER_MK6, 32), - (CAR.FORD_EXPEDITION_MK4, 66), - (CAR.FORD_F_150_MK14, 66), - (CAR.FORD_F_150_LIGHTNING_MK1, 66), - (CAR.FORD_FOCUS_MK4, 32), + (CAR.FORD_ESCAPE_MK4, 0), + (CAR.FORD_ESCAPE_MK4_5, 2), + (CAR.FORD_EXPLORER_MK6, 0), + (CAR.FORD_EXPEDITION_MK4, 2), + (CAR.FORD_F_150_MK14, 2), + (CAR.FORD_F_150_LIGHTNING_MK1, 2), + (CAR.FORD_FOCUS_MK4, 0), (CAR.FORD_MONDEO_MK5, 10), - (CAR.FORD_MAVERICK_MK1, 32), - (CAR.FORD_MUSTANG_MACH_E_MK1, 18), - (CAR.FORD_RANGER_MK2, 66), + (CAR.FORD_MAVERICK_MK1, 0), + (CAR.FORD_MUSTANG_MACH_E_MK1, 2), + (CAR.FORD_RANGER_MK2, 2), (CAR.FORD_TRANSIT_MK5, 12), ) @@ -89,14 +89,11 @@ def ford_joined(identity, alpha, hands_free, monkeypatch, record_property): ('SafeMode', False), ('AlphaLongitudinalEnabled', alpha), ('IsReleaseBranch', release), - ('FordHumanTurnDetection', False), - ('FordPrefSteerAngleCurvature', getattr(monkeypatch, 'ford_pinion', False)), ): saved.put_bool(key, value, block=True) from pathlib import Path - for key, value in (('FordLateralMode', b'1' if getattr(monkeypatch, 'ford_angle', False) else b'0'), - ('PauseAOLOnBrake', b'0.0'), ('CancelButtonControl', b'0'), ('MainCruiseButtonControl', b'0')): + for key, value in (('PauseAOLOnBrake', b'0.0'), ('CancelButtonControl', b'0'), ('MainCruiseButtonControl', b'0')): Path(saved.get_param_path(key)).write_bytes(value) Path(saved.get_param_path("FordHandsFreeCluster")).write_bytes(b"1" if hands_free else b"0") fp = gen_empty_fingerprint() @@ -121,10 +118,7 @@ def ford_joined(identity, alpha, hands_free, monkeypatch, record_property): assert str(host.CP.carFingerprint) == str(name) expected_long = bool(alpha) assert host.CP.openpilotLongitudinalControl == expected_long - expected_word = base | int(expected_long) | (256 if manual else 0) | (128 if getattr(monkeypatch, 'ford_angle', False) else 0) - if getattr(monkeypatch, 'ford_pinion', False): - from opendbc.car.ford.pinion import ENABLE, SHIFT, GEOMETRY - expected_word |= ENABLE | GEOMETRY[name] << SHIFT + expected_word = base | int(expected_long) | (256 if manual else 0) assert host.CP.safetyConfigs[-1].safetyParam == expected_word record_property('ford_factory_identity', str(name)) record_property('ford_saved_alpha', alpha) @@ -132,16 +126,7 @@ def ford_joined(identity, alpha, hands_free, monkeypatch, record_property): record_property('ford_longitudinal', expected_long) record_property('ford_safety_word', int(host.CP.safetyConfigs[-1].safetyParam)) native.reset(host.CP.safetyConfigs[-1].safetyParam) - from opendbc.car.ford.pinion import base_word - native.word = base_word(native.word) & ~(1 | 128) - if getattr(monkeypatch, 'ford_pinion', False): - pump = native.pump - def pinion_pump(count, **kwargs): - for _ in range(count): - pump(1, **kwargs) - native.rx('SteeringPinion_Data', {'StePinComp_An_Est': 0., 'StePinCompAnEst_D_Qf': 3, 'StePinAn_No_Cnt': native.tick % 16}) - monkeypatch.setattr(native, 'pump', pinion_pump) - + native.word &= ~(1 | 128) # Real empty update registers lazily accessed parser messages before RX. # Card.controls_update owns CI initialization; no flag is assigned here. host.CI.update([]) @@ -491,17 +476,6 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag host.can_log_mono_time = source_ns published.pop('sendcan', None) joined.last_lateral_packets = [] - if getattr(monkeypatch, 'ford_angle', False): - owner = host.CI.CC.bp_lat.host.inputs - # Real controller input reader consumes the same original fresh native - # receipt, Panda inventory and synthetic model boundary as Controls. - messages = [wire_message, panda_message] - for service in ('modelV2', 'lateralDelay'): - message = messaging.new_message(service, valid=True, logMonoTime=source_ns) - setattr(message, service, controls.sm[service]) - messages.append(message.as_reader()) - owner.sm.update_msgs(now[0] / 1e9, messages) - local.setattr(owner.sm, 'update', lambda *args: None) host.controls_update(state, host.sm['carControl']) if state.canValid: accepted_ui = [] @@ -511,11 +485,6 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag from opendbc.safety.tests.libsafety import libsafety_py accepted = safety.safety_tx_hook(libsafety_py.make_CANPacket(frame.address, frame.src - joined.offset, frame.dat)) - if (getattr(monkeypatch, 'ford_pinion', False) and (brake or cancel) and command.latActive and - frame.address in (0x3D3, 0x3D6)): - mode = ((frame.dat[4] >> 2) & 7) if frame.address == 0x3D3 else ((frame.dat[0] >> 4) & 7) - assert accepted and mode == 1, 'AOL flag stayed on while the steering packet withdrew' - joined.pedal_cancel_active_packets = getattr(joined, 'pedal_cancel_active_packets', 0) + 1 # A real native fault can precede the next 10Hz host receipt. Active # requests in that gap must be rejected, never treated as accepted. fault_before_receipt = (getattr(monkeypatch, 'ford_native_10hz', False) and @@ -558,7 +527,7 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag else: assert data[6] >> 3 in (0, 30) and ((data[6] >> 1) & 3) == 0 last_neutral_ui[address] = now[0] - if getattr(monkeypatch, 'ford_angle', False) or scenario in ( + if scenario in ( 'display', 'route24', 'route24-mixed-eps', 'route2a', 'route2a-main', 'route2a-main-fault'): ui = accepted_ui if state.canValid else [] owns = all(safety.safety_fwd_hook(2, frame.address) == -1 for frame in ui) @@ -885,12 +854,6 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag assert command.latActive and host.aol_card_intent.allowed_latch, 'Native-first brake erased lateral intent' assert not command.longActive or joined.last_permission & 2 assert host.aol_card_intent.allowed_latch and command.latActive and not command.longActive - if getattr(monkeypatch, 'ford_angle', False): - for _ in range(20): - state, axis, sd_state, command = step() - assert not state.brakePressed and command.latActive and host.aol_card_intent.allowed_latch and not command.longActive - if getattr(monkeypatch, 'ford_nonzero', False): - assert nonzero_after_brake > 0, 'No native-accepted nonzero angle after releasing brake' for _ in range(30): state, axis, sd_state, command = step(reverse=True) assert host.aol_card_intent.allowed_latch and not command.latActive and not command.longActive, transition_trace[-40:] diff --git a/openpilot/starpilot/tests/test_controller_extensions.py b/openpilot/starpilot/tests/test_controller_extensions.py deleted file mode 100644 index bf4f507919..0000000000 --- a/openpilot/starpilot/tests/test_controller_extensions.py +++ /dev/null @@ -1,180 +0,0 @@ -import tempfile -import unittest -from types import SimpleNamespace -from unittest.mock import patch - -from openpilot.starpilot.controller_extensions import ManualTurnInputs, configure_controller -from openpilot.starpilot.tests import test_vehicle_preferences as preferences_tests -from opendbc.car.ford.values import CAR - - -class TestControllerExtensions(unittest.TestCase): - def test_real_saved_preference_default_and_disabled(self): - from openpilot.common.params import Params - with tempfile.TemporaryDirectory() as directory: - params = Params(directory) - self.assertTrue(params.get('FordHumanTurnDetection', return_default=True)) - params.put_bool('FordHumanTurnDetection', False, block=True) - self.assertFalse(params.get('FordHumanTurnDetection', return_default=True)) - - def test_actual_model_owner_and_cached_preference(self): - import openpilot.cereal.messaging as messaging - from openpilot.common.params import Params - message = messaging.new_message('modelV2') - message.modelV2.meta.laneChangeState = 'laneChangeStarting' - sm = SimpleNamespace(alive={'modelV2': True}, valid={'modelV2': True}, update=lambda timeout: None) - - class ModelReader: - alive = sm.alive - valid = sm.valid - - def update(self, timeout): - sm.update(timeout) - - def __getitem__(self, key): - return message.modelV2 - with patch.object(messaging, 'SubMaster', return_value=ModelReader()), patch.object(Params, 'get', return_value=True) as read: - inputs = ManualTurnInputs(Params()) - self.assertEqual(inputs.update(), (True, True, True)) - for _ in range(99): - inputs.update() - self.assertEqual(read.call_count, 8) - inputs.update() - self.assertEqual(read.call_count, 12) - sm.alive['modelV2'] = False - self.assertEqual(inputs.update(), (True, True, False)) - - def test_model_preview_freshness_delay_and_invalid_output(self): - import openpilot.cereal.messaging as messaging - from openpilot.selfdrive.modeld.constants import ModelConstants - now = 10_000_000_000 - model = messaging.new_message('modelV2') - model.modelV2.orientationRate.z = [20. * (value / 100.) for value in ModelConstants.T_IDXS] - delay = messaging.new_message('lateralDelay') - delay.lateralDelay.lateralDelay = .3 - class Reader: - alive = {'modelV2': True, 'lateralDelay': True} - valid = dict(alive) - logMonoTime = {'modelV2': now, 'lateralDelay': now} - def __getitem__(self, key): - return model.modelV2 if key == 'modelV2' else delay.lateralDelay - inputs = ManualTurnInputs.__new__(ManualTurnInputs) - vars(inputs)['sm'] = Reader() - with patch('openpilot.starpilot.controller_extensions.time.monotonic_ns', return_value=now): - curvature = inputs.preview_curvature(20.) - assert curvature is not None - self.assertAlmostEqual(curvature, .003) - inputs.sm.logMonoTime['lateralDelay'] = now - 1_000_000_001 - curvature = inputs.preview_curvature(20.) - assert curvature is not None - self.assertAlmostEqual(curvature, .002) - for stamp in (0, now + 1, now - 100_000_001): - inputs.sm.logMonoTime['modelV2'] = stamp - self.assertIsNone(inputs.preview_curvature(20.)) - inputs.sm.logMonoTime['modelV2'] = now - self.assertIsNone(inputs.preview_curvature(0.)) - model.modelV2.orientationRate.z = [float('nan')] * 33 - self.assertIsNone(inputs.preview_curvature(20.)) - - def test_assist_permission_tracks_panda_health_without_affecting_preview(self): - import openpilot.cereal.messaging as messaging - from openpilot.common.params import Params - - class Reader(dict): - def __init__(self): - super().__init__(pandaStates=[SimpleNamespace(controlsAllowed=True)]) - self.alive = self.valid = self.freq_ok = True - - def all_checks(self, services): - self.asserted_services = services - return self.alive and self.valid and self.freq_ok - - reader = Reader() - with patch.object(messaging, 'SubMaster', return_value=reader) as factory, patch.object(Params, 'get', return_value=True): - inputs = ManualTurnInputs(Params()) - self.assertNotIn('pandaStates', factory.call_args.args[0]) - self.assertEqual(inputs.assist_permission(), ((), False)) - inputs = ManualTurnInputs(Params(), track_assist_permission=True) - self.assertIn('pandaStates', factory.call_args.args[0]) - self.assertEqual(inputs.assist_permission(), (reader['pandaStates'], True)) - for health in ('alive', 'valid', 'freq_ok'): - setattr(reader, health, False) - self.assertEqual(inputs.assist_permission(), (reader['pandaStates'], False)) - setattr(reader, health, True) - self.assertEqual(reader.asserted_services, ['pandaStates']) - - def test_real_card_finalizes_then_binds_only_admitted_controller(self): - harness = preferences_tests.TestVehicleStartupPreferences(methodName='test_only_exact_saved_opt_in_is_loaded') - harness.setUp() - self.addCleanup(harness.doCleanups) - with patch('openpilot.starpilot.controller_extensions.messaging.SubMaster', return_value=SimpleNamespace()): - host, _, published = harness.start(CAR.FORD_MUSTANG_MACH_E_MK1) - self.assertFalse(published.passive) - self.assertIsInstance(host.CI.CC.manual_turn_inputs, ManualTurnInputs) - self.assertIs(host.CI.CC.manual_turn_inputs.params, harness.params) - self.assertTrue(host.CI.CC.manual_turn_inputs.track_assist_permission) - host, _, published = harness.start(CAR.FORD_MUSTANG_MACH_E_MK1, enabled=False) - self.assertTrue(published.passive) - self.assertIsNone(host.CI.CC.manual_turn_inputs) - - def test_standalone_controller_has_no_host_owner(self): - from opendbc.car.ford.tests.test_three_ports import params - from opendbc.car.ford.carcontroller import CarController - from opendbc.car.ford.values import DBC - from opendbc.car.ford.carstate import CarState - from opendbc.car import structs - cp = params(CAR.FORD_MUSTANG_MACH_E_MK1) - controller = CarController(DBC[cp.carFingerprint], cp) - state = CarState(cp) - state.update(state.get_can_parsers(cp)) - state.out = structs.CarState().as_reader() - controller.update(structs.CarControl().as_reader(), state, 0) - self.assertIsNone(controller.manual_turn_inputs) - cp.passive = True - configure_controller(SimpleNamespace(CP=cp, CC=controller), SimpleNamespace()) - self.assertIsNone(controller.manual_turn_inputs) - - -class TestAngleSnapshotParity(unittest.TestCase): - def test_angle_delay_reaches_pinned_bp7_without_changing_curvature_snapshot(self): - import openpilot.cereal.messaging as messaging - from openpilot.selfdrive.modeld.constants import ModelConstants - from opendbc.bluepilot_lateral.core.angle import AngleController, Inputs - from opendbc.bluepilot_lateral.tests import reference - from dataclasses import replace - - now = 10_000_000_000 - model = messaging.new_message('modelV2') - model.modelV2.orientationRate.z = [5. * (.001 + .004 * value) for value in ModelConstants.T_IDXS] - delay = messaging.new_message('lateralDelay') - class Reader: - alive = {'modelV2': True, 'lateralDelay': True} - valid = dict(alive) - logMonoTime = {'modelV2': now, 'lateralDelay': now} - def __getitem__(self, key): - return model.modelV2 if key == 'modelV2' else delay.lateralDelay - provider = ManualTurnInputs.__new__(ManualTurnInputs) - vars(provider)['sm'] = Reader() - provider.enabled = True - with patch('openpilot.starpilot.controller_extensions.time.monotonic_ns', return_value=now): - for value in (.05, .10, .125, .15, .30): - delay.lateralDelay.lateralDelay = value - snapshot = provider.lateral_snapshot(5., angle=True) - self.assertIsNotNone(snapshot) - self.assertAlmostEqual(snapshot[2], min(.15, max(.10, value))) - self.assertAlmostEqual(provider.lateral_snapshot(5.)[2], min(.4, max(.2, value))) - adapted, upstream = AngleController(low_gain=1., high_gain=1.05), reference.Angle(CAR.FORD_MUSTANG_MACH_E_MK1) - for _ in range(20): - common = Inputs(active=True, speed=5., measured_curvature=.001, desired_curvature=.001, - yaw_predictions=tuple(snapshot[0].orientationRate.z), time_indices=tuple(snapshot[1]), lateral_delay=snapshot[2]) - command = adapted.step(common) - expected = upstream.step(replace(common, lateral_delay=delay.lateralDelay.lateralDelay)) - self.assertTrue(command.active) - self.assertAlmostEqual(command.path_angle, expected.path_angle, places=12) - provider.sm.logMonoTime['lateralDelay'] = now - 1_000_000_001 - self.assertAlmostEqual(provider.lateral_snapshot(5., angle=True)[2], .15) - self.assertAlmostEqual(provider.lateral_snapshot(5.)[2], .2) - for stamp in (0, now + 1, now - 100_000_001): - provider.sm.logMonoTime['modelV2'] = stamp - self.assertIsNone(provider.lateral_snapshot(5., angle=True)) - self.assertIsNone(provider.lateral_snapshot(5.)) diff --git a/openpilot/starpilot/tests/test_ford_angle.py b/openpilot/starpilot/tests/test_ford_angle.py deleted file mode 100644 index 31f7a99264..0000000000 --- a/openpilot/starpilot/tests/test_ford_angle.py +++ /dev/null @@ -1,538 +0,0 @@ -"""Actual saved owner/factory/Card/Controls/parser/sender/native qualification. - -These tests must run with the runner-selected DEBUG and RELEASE safety library. -No authority, measurement, desired-history or angle-ready test setters are used. -""" -import os -import ctypes -import hashlib -import shutil -import tempfile -from pathlib import Path -import unittest -from unittest.mock import patch -from contextlib import ExitStack -from types import SimpleNamespace - -from openpilot.cereal import messaging -from openpilot.common.params import Params, ParamKeyType -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.starpilot.tests import test_vehicle_preferences as startup -from openpilot.starpilot.lateral.tests import test_lane_runtime as lane -from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences -from opendbc.car import gen_empty_fingerprint, structs -from opendbc.car.ford.values import CAR, FordFlags, DBC -from opendbc.bluepilot_lateral.tests import reference -from openpilot.starpilot.controller_extensions import configure_controller -from opendbc.bluepilot_lateral.hosts.starpilot import CLASSIC, CANFD, qualified, select -from opendbc.safety.tests import test_ford_aol as physical -from opendbc.safety.tests.libsafety import libsafety_py - - -class TestFordAngleStartup(unittest.TestCase): - def setUp(self): - self.helper = startup.TestVehicleStartupPreferences() - self.helper.setUp() - self.addCleanup(self.helper.doCleanups) - self.params = self.helper.params - self.helper.raw("SafeMode", b"0") - self.helper.raw("AlwaysOnLateral", b"0") - self.params.put_bool("AlphaLongitudinalEnabled", False, block=True) - self.params.put_bool("IsReleaseBranch", False, block=True) - - def start(self, identity, requested=True, *, auxiliary=False, **kwargs): - observed = gen_empty_fingerprint() - offset = 4 if auxiliary else 0 - observed[offset][0x5A] = 8 - observed[offset + 2].update({0x3D6: 8, 0x186: 8}) - return self.helper.start(identity, key="FordLateralMode", requested=requested, observed=observed, - capture=lambda ci: (int(ci.CP.safetyConfigs[-1].safetyParam), ci.CC.bp_lat is not None), **kwargs) - - def test_actual_factory_card_saved_choice_before_controller_all_eleven(self): - for identity in sorted(CLASSIC | CANFD): - for requested in (False, True): - with self.subTest(identity=identity, selected=requested): - host, constructed, published = self.start(identity, requested) - baseline = 18 if identity == CAR.FORD_MUSTANG_MACH_E_MK1 else 66 if identity in CANFD else 32 - word = 130 if identity in CANFD else 128 - self.assertEqual(constructed, [(word if requested else baseline, requested)]) - self.assertEqual(published.safetyConfigs[-1].safetyParam, constructed[0][0]) - self.assertEqual(qualified(published), requested) - self.assertEqual(host.CI.CP.to_dict(), published.to_dict()) - if requested: - self.assertIsNotNone(host.CI.CC.bp_lat.host.inputs) - self.assertAlmostEqual(published.steerActuatorDelay, .22, places=6) - self.assertEqual(self.params.get("FordLateralMode"), int(requested)) - self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes(), b"1" if requested else b"0") - - def test_absent_corrupt_dependencies_and_typed_value_fail_closed(self): - self.assertEqual(self.params.get_type("FordLateralMode"), ParamKeyType.INT) - self.assertEqual(self.params.get_default_value("FordLateralMode"), 0) - for raw in (None, b"0", b"", b"1\n", b"true", b"2", b"1" * 20, b"1"): - self.helper.raw("FordLateralMode", raw) - selected = VehicleStartupPreferences.read(self.params, enabled=True) - self.assertEqual(selected.ford_lateral_mode, int(raw == b"1")) - self.assertEqual(Path(self.params.get_param_path("FordLateralMode")).read_bytes() if raw is not None else None, raw) - from opendbc.car.ford.tests.test_three_ports import params - for raw in (1, b"1", "1", True, 1.0, None, "01"): - cp = params(CAR.FORD_BRONCO_SPORT_MK1) - self.assertEqual(select(cp, raw), type(raw) is int or type(raw) in (bytes, str) and raw in (b"1", "1")) - for key in ("SafeMode", "AlwaysOnLateral"): - for raw in (b"1", b"", b"false", b"0\n"): - self.helper.raw(key, raw) - self.assertEqual(VehicleStartupPreferences.read(self.params, enabled=True).ford_lateral_mode, - int(key == "AlwaysOnLateral" and raw == b"1")) - self.helper.raw(key, b"0") - self.assertEqual(VehicleStartupPreferences.read(self.params, enabled=False).ford_lateral_mode, 0) - - def test_saved_selection_excluded_profiles_and_final_longitudinal_owner(self): - for identity in (CAR.FORD_EDGE_MK2, CAR.FORD_MONDEO_MK5, CAR.FORD_TRANSIT_MK5): - host, constructed, published = self.start(identity) - self.assertFalse(qualified(published)) - self.assertFalse(constructed[0][1]) - self.assertIsNone(host.CI.CC.bp_lat) - self.assertEqual(self.params.get("FordLateralMode"), 1) - for identity in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MUSTANG_MACH_E_MK1): - for release in (False, True): - self.params.put_bool("AlphaLongitudinalEnabled", True, block=True) - self.params.put_bool("IsReleaseBranch", release, block=True) - host, constructed, published = self.start(identity) - word = (130 if identity in CANFD else 128) + int(published.openpilotLongitudinalControl) - self.assertEqual(constructed, [(word, True)]) - self.assertEqual(published.safetyConfigs[-1].safetyParam, word) - self.assertEqual(published.openpilotLongitudinalControl, not release) - self.assertTrue(published.pcmCruise) - self.assertEqual(published.alternativeExperience, 0) - self.assertTrue(qualified(published)) - self.assertIsNotNone(host.CI.CC.bp_lat) - self.assertEqual(self.params.get("FordLateralMode"), 1) - - def test_actual_factory_alpha_long_angle_admission_and_exact_config_denials(self): - from opendbc.car.ford.interface import CarInterface - for identity in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MUSTANG_MACH_E_MK1): - for alpha in (False, True): - for release in (False, True): - with self.subTest(identity=identity, alpha=alpha, release=release): - observed = gen_empty_fingerprint() - observed[0][0x5A] = 8 - observed[2].update({0x3D6: 8, 0x186: 8}) - cp = CarInterface.get_params(identity, observed, [], alpha, release, False) - long = alpha - self.assertEqual(cp.openpilotLongitudinalControl, long) - self.assertTrue(cp.pcmCruise) - self.assertEqual(cp.alternativeExperience, 0) - self.assertEqual(cp.flags, int(FordFlags.CANFD) if identity in CANFD else 0) - self.assertEqual(cp.safetyConfigs[-1].safetyParam, (18 if identity in CANFD else 32) + int(long)) - self.assertTrue(select(cp, 1)) - self.assertEqual(cp.safetyConfigs[-1].safetyParam, (130 if identity in CANFD else 128) + int(long)) - self.assertTrue(qualified(cp)) - for field, value in (("pcmCruise", False), ("alternativeExperience", 32), ("passive", True), - ("dashcamOnly", True), ("notCar", True), ("brand", "hyundai"), - ("flags", 128), ("steerControlType", structs.CarParams.SteerControlType.torque)): - invalid = cp.as_reader().as_builder() - setattr(invalid, field, value) - self.assertFalse(qualified(invalid), field) - for field, value in (("safetyModel", structs.CarParams.SafetyModel.noOutput), - ("safetyParam", cp.safetyConfigs[-1].safetyParam ^ 1)): - invalid = cp.as_reader().as_builder() - setattr(invalid.safetyConfigs[-1], field, value) - self.assertFalse(qualified(invalid), field) - - - -class TestFordAngleJoined(unittest.TestCase): - def test_saved_card_controls_parser_and_actual_native_trace_both_signs(self): - safety = libsafety_py.libsafety - native_debug = safety.set_safety_hooks(structs.CarParams.SafetyModel.allOutput, 0) == 0 - safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) - sources = ("BrakeSysFeatures", "EngVehicleSpThrottle2", "Yaw_Data_FD1", "EngBrakeData", - "EngVehicleSpThrottle", "DesiredTorqBrk", "Steering_Data_FD1") - faults = [("crc", source) for source in (sources[0], sources[2])] + \ - [("quality", source) for source in sources[:3]] + \ - [("counter", source) for source in (sources[0], sources[2])] + \ - [("freshness", source) for source in sources] + \ - [(name, None) for name in ("gas", "brake", "cruise", "relay", "buttons", "panda_stale", - "panda_model", "panda_param", "panda_ae", "panda_topology", - "panda_heartbeat", "panda_fault_status", "panda_controls")] - for identity in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_EXPLORER_MK6, - CAR.FORD_MUSTANG_MACH_E_MK1, CAR.FORD_F_150_MK14): - scenarios = [("angle", None), ("default0", None)] - if identity in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MUSTANG_MACH_E_MK1): - scenarios += [("aux", None)] + faults + [("alpha", None), ("alpha_cruise", None), ("alpha_buttons", None)] - for scenario, source in scenarios: - alpha_requested = scenario.startswith("alpha") - kind = "angle" if scenario == "alpha" else scenario.removeprefix("alpha_") - for direction in (-1, 1): - with self.subTest(identity=identity, direction=direction, kind=scenario, source=source), OpenpilotPrefix(), \ - patch.dict(os.environ, {"REPLAY": "1", "SIMULATION": "1"}), \ - patch("openpilot.selfdrive.controls.controlsd.messaging.PubMaster"): - params = Params() - helper = TestFordAngleStartup() - helper.setUp() - auxiliary = None - auxiliary_directory = None - try: - helper.params = helper.helper.params = params - for key, value in (("SafeMode", False), ("AlwaysOnLateral", False), ("AlphaLongitudinalEnabled", alpha_requested), - ("IsReleaseBranch", alpha_requested and not native_debug), ("OpenpilotEnabledToggle", True)): - params.put_bool(key, value, block=True) - selected = kind != "default0" - host, _, cp = helper.start(identity, selected, auxiliary=kind == "aux") - offset = 4 if kind == "aux" else 0 - self.assertEqual(qualified(cp), selected) - alpha_active = alpha_requested and native_debug - self.assertEqual(cp.openpilotLongitudinalControl, alpha_active) - self.assertTrue(cp.pcmCruise) - if alpha_requested: - self.assertEqual(cp.safetyConfigs[-1].safetyParam, (130 if identity in CANFD else 128) + int(alpha_active)) - self.assertTrue(params.get_bool("AlphaLongitudinalEnabled")) - controls = Controls() - native = physical.TestFordAolDriverIntent() - native.setUp() - native.word = 66 if cp.flags & FordFlags.CANFD else 32 - native.tick = 0 - self.assertEqual(safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, cp.safetyConfigs[-1].safetyParam), 0) - safety.init_tests() - safety.set_alternative_experience(0) - auxiliary = None - auxiliary_handle = None - if kind == "aux": - self.assertEqual(len(cp.safetyConfigs), 2) - self.assertEqual(cp.safetyConfigs[0].safetyModel, structs.CarParams.SafetyModel.noOutput) - self.assertEqual(cp.safetyConfigs[0].safetyParam, 0) - self.assertEqual(host.CI.CC.CAN.main, 4) - self.assertEqual(host.CI.CC.CAN.camera, 6) - # Copy the actual library selected by the public test runner, - # so the noOutput Panda has independent native static storage. - main_file = Path(libsafety_py.libpath) - auxiliary_directory = tempfile.TemporaryDirectory() - aux_file = Path(auxiliary_directory.name) / "libsafety-auxiliary.so" - shutil.copyfile(main_file, aux_file) - self.assertNotEqual(main_file.resolve(), aux_file.resolve()) - self.assertEqual(hashlib.sha256(main_file.read_bytes()).digest(), hashlib.sha256(aux_file.read_bytes()).digest()) - auxiliary = libsafety_py.ffi.dlopen(str(aux_file)) - auxiliary_handle = ctypes.CDLL(str(aux_file)) - self.assertEqual(auxiliary.set_safety_hooks(int(cp.safetyConfigs[0].safetyModel.raw), cp.safetyConfigs[0].safetyParam), 0) - auxiliary.init_tests() - auxiliary.set_alternative_experience(0) - self.assertFalse(auxiliary.get_controls_allowed()) - self.assertEqual(safety.get_current_safety_param(), cp.safetyConfigs[-1].safetyParam) - baseline = None - if not selected: - baseline = reference.curvature_controller()(DBC[identity], cp) - configure_controller(SimpleNamespace(CP=cp, CC=baseline), params) - providers = [] - received, sent, validity = [], [], [] - observed_allowed = False - observed_relay = False - observed_health = False - path_seen, resumed, withdraw_seen = [], False, False - paired_cancel, paired_resume = False, False - alpha_button_cancelled = alpha_button_acc_off = False - alpha_cancel_event_seen = alpha_cancel_requested = alpha_physical_rearmed = False - tx_rejected, invalid_rx = 0, 0 - counter_rx: list[tuple[int, int, bool]] = [] - long_positive = long_recovered = long_withdrawn = False - - def bind(host, selected, baseline, providers, sent, validity): - providers.clear() - providers.append(host.CI.CC.bp_lat.host.inputs if selected else host.CI.CC.manual_turn_inputs) - if selected and host.CI.CC.manual_turn_inputs is not None: - providers.append(host.CI.CC.manual_turn_inputs) - if baseline is not None: - providers.append(baseline.manual_turn_inputs) - for owner in providers: - self.assertIsNotNone(owner) - services = ["modelV2", "lateralDelay"] + (["pandaStates"] if owner.track_assist_permission else []) - owner.sm = messaging.SubMaster(services) - host.sm = messaging.SubMaster(["carControl"]) - host.publish_sendcan = lambda frames, valid=True: (sent.extend(frames), validity.append(valid)) - host.ci_initialized = True - host.CI.update([]) - - bind(host, selected, baseline, providers, sent, validity) - for tick in range(340): - failing = 120 <= tick < 180 - recovery = 180 <= tick < 220 - received.clear() - - def rx(name, values, *, failing=failing, kind=kind, source=source, tick=tick, - received=received, offset=offset, native=native, counter_rx=counter_rx): - nonlocal invalid_rx - if failing and kind == "freshness" and name == source: - return - values = dict(values) - if failing and name == source: - if kind == "quality": - signal = {sources[0]: "VehVActlBrk_D_Qf", sources[1]: "VehVActlEng_D_Qf", sources[2]: "VehYawWActl_D_Qf"}[name] - values[signal] = 0 - elif kind == "counter": - values["VehVActlBrk_No_Cnt" if name == sources[0] else "VehRollYaw_No_Cnt"] = 0 - if kind == "counter" and name == source and tick >= 180: - # The recovered sender continues from its last transmitted fault counter, zero. - brake_counter = name == sources[0] - signal = "VehVActlBrk_No_Cnt" if brake_counter else "VehRollYaw_No_Cnt" - values[signal] = ((native.tick - 180) // (2 if brake_counter else 1)) % (16 if brake_counter else 256) - if failing and kind == "gas" and name == "EngVehicleSpThrottle": - values["ApedPos_Pc_ActlArb"] = 50 - if failing and kind == "brake" and name == "EngBrakeData": - values["BpedDrvAppl_D_Actl"] = 2 - if kind == "buttons" and name == "Steering_Data_FD1": - values["CcAslButtnCnclResPress"] = int(119 <= tick < 140 or 159 <= tick < 180) - frame = native.packer.make_can_msg(name, 0, values) - if failing and kind == "crc" and name == source: - addr, data, bus = frame - data = bytearray(data) - data[3 if name == sources[0] else 4] ^= 1 - frame = (addr, bytes(data), bus) - accepted = safety.safety_rx_hook(libsafety_py.make_CANPacket(frame[0], frame[2], frame[1])) - if kind == "counter" and name == source and tick >= 120: - counter = (frame[1][2] >> 2) & 0xF if name == sources[0] else frame[1][5] - counter_rx.append((tick, counter, bool(accepted))) - if not accepted: - invalid_rx += 1 - if not (failing and kind in ("crc", "quality", "counter") and name == source): - self.assertTrue(accepted, (kind, source, tick, name)) - received.append((frame[0], frame[1], frame[2] + offset)) - # Same bytes/order: Panda-local0 maps to its actual host bus4 in the auxiliary factory topology. - - main = 0 if tick < 30 or recovery and kind not in ("angle", "default0", "aux", "buttons", "panda_stale") else 4 - if failing and kind == "cruise": - main = 3 - if kind == "buttons": - main = 3 if 129 <= tick < 169 else main - if kind == "relay" and tick == 180: - # A relay fault is latched. Only a new actual factory/native session can recover. - host, _, replacement = helper.start(identity) - self.assertEqual(replacement.to_dict(), cp.to_dict()) - self.assertEqual(safety.set_safety_hooks(structs.CarParams.SafetyModel.ford, cp.safetyConfigs[-1].safetyParam), 0) - safety.init_tests() - safety.set_alternative_experience(0) - bind(host, selected, baseline, providers, sent, validity) - with patch.object(native, "rx", rx): - native.pump(1, main=main, speed=15.) - now = (1_000_000 + native.tick * 10_000) * 1000 - if kind == "relay" and tick == 120: - frame = native.packer.make_can_msg("LateralMotionControl2" if cp.flags & FordFlags.CANFD else "LateralMotionControl", 0, {}) - safety.safety_rx_hook(libsafety_py.make_CANPacket(frame[0], frame[2], frame[1])) - received.append(frame) - self.assertTrue(safety.get_relay_malfunction()) - safety.safety_tick() - extra: tuple[tuple[str, int, dict[str, float]], ...] = (("SteeringPinion_Data", 0, {"StePinCompAnEst_D_Qf": 3, "StePinComp_An_Est": 0.0}), - ("Cluster_Info1_FD1", 0, {"AccEnbl_B_RqDrv": 1}), - ("BodyInfo_3_FD1", 0, {}), ("RCMStatusMessage2_FD1", 0, {"FirstRowBuckleDriver": 1}), - ("INSTRUMENT_PANEL", 0, {}), ("IPMA_Data", 2, {}), - ("ACCDATA", 2, {}), ("ACCDATA_2", 2, {}), ("ACCDATA_3", 2, {})) - received.extend(native.packer.make_can_msg(name, bus + offset, values) for name, bus, values in extra) - state = host.CI.update([(now, list(received))]) - self.assertEqual(state.steeringAngleDeg, 0.0) - if alpha_active and kind == "buttons": - # This component feed consumes the actual parsed Cancel event; the full SD loop is qualified separately. - if any(event.type == structs.CarState.ButtonEvent.Type.cancel and event.pressed for event in state.buttonEvents): - alpha_button_cancelled = alpha_cancel_event_seen = True - if alpha_button_cancelled and not state.cruiseState.enabled: - alpha_button_acc_off = True - elif alpha_button_acc_off and state.cruiseState.enabled: - alpha_button_cancelled = alpha_button_acc_off = False - alpha_physical_rearmed = True - if tick < 40: - continue - if kind in ("angle", "default0", "aux"): - self.assertTrue(state.canValid and not state.canTimeout) - self.assertTrue(safety.get_controls_allowed()) - with ExitStack() as stack: - stack.enter_context(patch("openpilot.starpilot.controller_extensions.time.monotonic_ns", return_value=now)) - stack.enter_context(patch("openpilot.starpilot.controller_extensions.time.clock_gettime_ns", return_value=now)) - stack.enter_context(patch("openpilot.selfdrive.car.card.time.monotonic", return_value=now / 1e9)) - for owner in providers: - stack.enter_context(patch.object(owner.sm, "update", return_value=None)) - events = [] - if tick % 10 == 0 and not (failing and kind == "panda_stale"): - pandas = messaging.new_message("pandaStates", len(cp.safetyConfigs) + int(failing and kind == "panda_topology"), - valid=True, logMonoTime=now) - for i, _config in enumerate(cp.safetyConfigs): - p = pandas.pandaStates[i] - owner = safety if i == len(cp.safetyConfigs) - 1 else auxiliary - self.assertIsNotNone(owner) - p.safetyModel, p.safetyParam = owner.get_current_safety_mode(), owner.get_current_safety_param() - p.alternativeExperience = cp.alternativeExperience - p.controlsAllowed = owner.get_controls_allowed() - if owner is safety: - p.safetyRxChecksInvalid = not safety.safety_config_valid() - else: - assert auxiliary_handle is not None - p.safetyRxChecksInvalid = ctypes.c_bool.in_dll(auxiliary_handle, "safety_rx_checks_invalid").value - p.faultStatus = "faultPerm" if owner.get_relay_malfunction() else "none" - p.faults = ["relayMalfunction"] if owner.get_relay_malfunction() else [] - if failing: - p = pandas.pandaStates[len(cp.safetyConfigs) - 1] - if kind == "panda_model": - p.safetyModel = structs.CarParams.SafetyModel.noOutput - elif kind == "panda_param": - p.safetyParam = 130 if p.safetyParam == 128 else 128 - elif kind == "panda_ae": - p.alternativeExperience = 32 - elif kind == "panda_heartbeat": - p.heartbeatLost = True - elif kind == "panda_fault_status": - p.faultStatus = "faultTemp" - elif kind == "panda_controls": - p.controlsAllowed = False - observed_allowed = bool(pandas.pandaStates[len(cp.safetyConfigs) - 1].controlsAllowed) - observed_relay = safety.get_relay_malfunction() - observed_health = safety.safety_config_valid() - events.append(pandas.as_reader()) - # feed already publishes these services. Replace its synthetic - # state/model/delay before one update, preserving one sample per tick. - feed_events = [] - component_enabled = observed_allowed and not observed_relay and not alpha_button_cancelled - with patch.object(controls.sm, "update_msgs", side_effect=lambda _time, events, collector=feed_events: collector.extend(events)): - lane.feed(controls, now, tick, speed=15., active=component_enabled, enabled=component_enabled) - car_state = messaging.new_message("carState", valid=True, logMonoTime=now) - car_state.carState = state - preview = messaging.new_message("modelV2", valid=True, logMonoTime=now) - preview.modelV2 = lane.model() - preview.modelV2.action.desiredCurvature = direction * .0008 - preview.modelV2.orientationRate.z = [direction * .0008 * 15.] * 33 - delay = messaging.new_message("lateralDelay", valid=True, logMonoTime=now) - delay.lateralDelay.lateralDelay = .1 - controls.sm.update_msgs(now / 1e9, [ - *[event for event in feed_events if event.which() not in ("carState", "modelV2", "lateralDelay")], - car_state.as_reader(), preview.as_reader(), delay.as_reader()]) - for owner in providers: - owner.sm.update_msgs(now / 1e9, [preview.as_reader(), delay.as_reader(), *events] if owner.track_assist_permission else - [preview.as_reader(), delay.as_reader()]) - command, controller_log = controls.state_control() - if kind in ("angle", "default0", "aux"): - self.assertTrue(command.enabled and command.latActive) - control_events = [] - def capture_control(service, event, collector=control_events): - if service == "carControl": - collector.append(messaging.log_from_bytes(event.to_bytes())) - with patch.object(controls.pm, "send", side_effect=capture_control): - controls.publish(command, controller_log) - self.assertEqual(len(control_events), 1) - self.assertEqual(control_events[0].carControl.to_dict(), command.to_dict()) - self.assertEqual(control_events[0].valid, state.canValid) - host.sm.update_msgs(now / 1e9, control_events) - command = host.sm["carControl"] - if alpha_active and kind == "buttons": - alpha_cancel_requested |= bool(command.cruiseControl.cancel) - host.can_log_mono_time = now - sent.clear() - validity.clear() - host.controls_update(state, command) - if baseline is not None: - _, expected = baseline.update(command, host.CI.CS, now) - self.assertEqual(sent, expected, (identity, direction, tick, "default0 current bytes")) - button_frames = [(bus, data) for addr, data, bus in sent if addr == 0x83] - if kind == "buttons" and button_frames: - self.assertEqual([bus for bus, _ in button_frames], [host.CI.CC.CAN.camera, host.CI.CC.CAN.main]) - paired_cancel |= any(data[1] & 1 for _, data in button_frames) - paired_resume |= any(data[3] & 2 for _, data in button_frames) - for addr, data, bus in sent: - if addr == 0x186: - self.assertTrue(alpha_active) - self.assertEqual(bus, offset) - accepted_long = bool(safety.safety_tx_hook(libsafety_py.make_CANPacket(addr, bus - offset, data))) - gas = ((data[6] & 3) << 8) | data[7] - accel = ((data[0] & 31) << 8) | data[1] - gas_pred = ((data[2] & 3) << 8) | data[3] - if accepted_long and gas > 500: - self.assertTrue(command.longActive and safety.get_controls_allowed() and - safety.safety_config_valid() and not safety.get_relay_malfunction()) - self.assertGreater(command.actuators.accel, 0) - self.assertGreater(accel * .0039 - 20., 0) - self.assertLessEqual(gas, 700) - self.assertTrue(4231 <= accel <= 5641) - self.assertEqual(gas_pred, 0) - self.assertAlmostEqual(gas * .01 - 5., host.CI.CC.gas, delta=.01) - self.assertAlmostEqual(accel * .0039 - 20., host.CI.CC.accel, delta=.0039) - long_positive = True - long_recovered |= tick >= 240 - if 140 <= tick < (160 if kind == "buttons" else 180) and kind in ("cruise", "buttons"): - self.assertFalse(accepted_long and gas > 0) - long_withdrawn = True - if not accepted_long: - self.assertTrue(120 <= tick < 230 and - (not safety.get_controls_allowed() or not safety.safety_config_valid() or - safety.get_relay_malfunction())) - continue - if addr not in (0x83, 0x3CA, 0x3D3, 0x3D6): - continue - packet = libsafety_py.make_CANPacket(addr, bus - offset, data) - if auxiliary is not None: - # The other actual configured Panda has no steering/longitudinal TX authority. - self.assertFalse(auxiliary.safety_tx_hook(packet)) - self.assertFalse(auxiliary.get_controls_allowed()) - accepted = bool(safety.safety_tx_hook(packet)) - if addr == 0x83: - # Native retains its physical-context rules; a held redundant cancel after ACC-off is denied. - expected = not safety.get_relay_malfunction() and not (data[1] & 1 and not safety.get_cruise_engaged_prev()) - self.assertEqual(accepted, expected) - continue - fd = addr == 0x3D6 - mode = (data[0] >> 4) & 7 if fd else ((data[4] >> 2) & 7 if addr == 0x3D3 else data[0] >> 5) - if selected and addr in (0x3D3, 0x3D6): - bad_ack = failing and kind.startswith("panda_") and kind != "panda_stale" - if not observed_allowed or observed_relay or not observed_health or bad_ack or kind == "panda_stale" and 151 <= tick < 180: - self.assertEqual(mode, 0) - withdraw_seen |= kind not in ("angle", "default0", "aux") - if mode: - path = (((data[3] & 31) << 6) | (data[4] >> 2)) - 1000 if fd else ((data[3] << 3) | (data[4] >> 5)) - 1000 - if path: - path_seen.append(path) - resumed |= tick >= 240 - if not accepted: - tx_rejected += 1 - # During actual faults native blocks immediately; the10Hz public acknowledgment can lag <=one period. - self.assertNotIn(kind, ("angle", "default0", "aux", "panda_stale", "buttons")) - self.assertTrue(120 <= tick < 230 and (not safety.get_controls_allowed() or not safety.safety_config_valid() or - safety.get_relay_malfunction())) - elif selected and addr in (0x3D3, 0x3D6) and mode: - self.assertTrue(safety.get_controls_allowed() and safety.safety_config_valid() and not safety.get_relay_malfunction()) - if tick >= 260: - self.assertTrue(safety.get_controls_allowed() and safety.safety_config_valid() and not safety.get_relay_malfunction()) - if alpha_active: - self.assertTrue(long_positive and long_recovered, "Actual Controls/sender/native Alpha Long never accepted positive acceleration/recovery") - if kind in ("cruise", "buttons"): - self.assertTrue(long_withdrawn, "Physical ACC withdrawal did not block native active longitudinal output") - if selected: - self.assertTrue(path_seen, "Production sender never produced an active signed angle") - self.assertTrue(all(value * direction < 0 for value in path_seen), - (identity, scenario, source, direction, min(path_seen), max(path_seen), tuple(path_seen[:8]))) - self.assertTrue(resumed, "Actual factory/physical cruise rearm did not resume accepted angle") - if kind not in ("angle", "default0", "aux"): - self.assertTrue(withdraw_seen, "Fault did not withdraw production angle") - if kind == "counter": - cadence = 2 if source == sources[0] else 1 - modulus = 16 if source == sources[0] else 256 - fault_ticks = range(120 + cadence - 1, 180, cadence) - recovery_ticks = range(180 + cadence - 1, 340, cadence) - # Five consecutive wrong counters reject RX; every recovered sequential sample is accepted. - self.assertEqual(counter_rx, - [(tick, 0, i < 4) for i, tick in enumerate(fault_ticks)] + - [(tick, (i + 1) % modulus, True) for i, tick in enumerate(recovery_ticks)], - (identity, direction, source)) - if kind in ("crc", "quality", "counter"): - self.assertGreater(invalid_rx, 0) - if kind == "buttons": - button_context = (identity, scenario, direction, cp.safetyConfigs[-1].safetyParam, - alpha_cancel_event_seen, alpha_cancel_requested, alpha_physical_rearmed, - paired_cancel, paired_resume) - if alpha_active: - self.assertTrue(alpha_cancel_event_seen and alpha_cancel_requested and alpha_physical_rearmed and paired_cancel, button_context) - self.assertFalse(paired_resume, button_context) - else: - self.assertTrue(paired_cancel and paired_resume, button_context) - self.assertEqual(Path(params.get_param_path("FordLateralMode")).read_bytes(), b"1" if selected else b"0") - finally: - helper.doCleanups() - safety.set_alternative_experience(0) - safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) - if auxiliary is not None: - auxiliary.set_alternative_experience(0) - auxiliary.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0) - if auxiliary_directory is not None: - auxiliary_directory.cleanup() diff --git a/openpilot/starpilot/tests/test_ford_aol_intent.py b/openpilot/starpilot/tests/test_ford_aol_intent.py index 22316232f4..5e08dc3f18 100644 --- a/openpilot/starpilot/tests/test_ford_aol_intent.py +++ b/openpilot/starpilot/tests/test_ford_aol_intent.py @@ -92,15 +92,15 @@ class TestFordAolIntent(unittest.TestCase): flags=int(FordFlags.CANFD), pcmCruise=True, openpilotLongitudinalControl=True, alternativeExperience=32, steerControlType=structs.CarParams.SteerControlType.angle, transmissionType=structs.CarParams.TransmissionType.automatic, - safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford, safetyParam=19)]) + safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.ford, safetyParam=3)]) state = structs.CarState(canValid=True, gearShifter=structs.CarState.GearShifter.drive, buttonEvents=[structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]) state.cruiseState.available = True settings = AolSettings(True, 0., AOL_TOGGLE, 0, (0, 0, 0), (0, 0, 0)) intent = IntentState('card', 1, now, now, now + 200_000_000, True, False, False, True, True) previous = AxisDecision(True, True, True, True, True) - slot = PandaSlot(0, 'panda', int(structs.CarParams.SafetyModel.ford), 19, 32, True, False) - native = SafetyState(1, True, now, now + 200_000_000, slot.safetyModel, 19, True, False, + slot = PandaSlot(0, 'panda', int(structs.CarParams.SafetyModel.ford), 3, 32, True, False) + native = SafetyState(1, True, now, now + 200_000_000, slot.safetyModel, 3, True, False, True, True, 'panda', 'axis', now, (slot,)) def allowed(**changes): args = {'settings': settings, 'previous': previous, 'source_ns': now, 'now_ns': now, 'axis_session_id': 'axis'} diff --git a/openpilot/starpilot/tests/test_ford_bluepilot_aol.py b/openpilot/starpilot/tests/test_ford_bluepilot_aol.py deleted file mode 100644 index 0c39bf229e..0000000000 --- a/openpilot/starpilot/tests/test_ford_bluepilot_aol.py +++ /dev/null @@ -1,436 +0,0 @@ -"""Real Ford factory/Card/SelfdriveD/Controls/native combined-owner lifecycle.""" -import pytest -from opendbc.car.ford.values import CAR -from openpilot.starpilot.tests.ford_lifecycle_helpers import ford_joined as ford_joined, run_actual_producer - -@pytest.fixture(autouse=True) -def combined_angle(monkeypatch, topology): - monkeypatch.ford_angle = True - monkeypatch.ford_topology = topology - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1,18), (CAR.FORD_ESCAPE_MK4,32), (CAR.FORD_F_150_MK14,66)]) -@pytest.mark.parametrize('alpha', [False,True]) -@pytest.mark.parametrize('hands_free', [False,True]) -@pytest.mark.parametrize('topology', ['automatic','manual-multi']) -def test_angle_aol_brake_reverse_fault_and_hands_free(ford_joined,monkeypatch): - assert ford_joined.host.CI.CC.bp_lat is not None - run_actual_producer(ford_joined,monkeypatch,scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1,18)]) -@pytest.mark.parametrize('alpha', [False,True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_mache_nonzero_angle_after_brake_with_hands_free(ford_joined,monkeypatch): - monkeypatch.ford_nonzero = True - run_actual_producer(ford_joined,monkeypatch,scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_tight_turn_speed_window_stays_inside_native_caps(ford_joined, monkeypatch): - # Route19's first blocked frames exceed Panda's cap by using the latest - # speed instead of its six-sample minimum. Exercise real parser/native windows. - monkeypatch.ford_nonzero = True - monkeypatch.ford_speed_window = True - monkeypatch.ford_test_curvature = .03 - run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_real_rejected_packet_resynchronizes_without_permission_bypass(ford_joined, monkeypatch): - from types import SimpleNamespace - from opendbc.car import structs - from opendbc.safety.tests.libsafety import libsafety_py - - joined = ford_joined - native, safety = joined.native, joined.safety - native.arm() - adapter = joined.host.CI.CC.bp_lat - inputs = adapter.host.inputs - blocked = 0 - monkeypatch.setattr(inputs, 'update', lambda: None) - monkeypatch.setattr(inputs, 'lateral_snapshot', lambda speed, *, angle=False: None) - # Isolate the adapter recovery while preserving actual physical native authority. - # The full caller matrix above retains real wire/inventory/freshness qualification. - monkeypatch.setattr(inputs, 'native_permission', lambda cp, max_age_ns: bool(safety.aol_get_permission_mask() & 1)) - CC = structs.CarControl(enabled=True, latActive=True) - CC.actuators.curvature = .0001 - state = structs.CarState(canValid=True, vEgoRaw=15., gearShifter=structs.CarState.GearShifter.drive) - state.cruiseState.available = True - CS = SimpleNamespace(out=state, lat_ctl_lim_stat=0) - rejected = recovered = False - neutral_after_rejection = False - for frame in range(180): - native.pump(1, mask=1, speed=15.) - now = (1_000_000 + native.tick * 10_000) * 1000 - from openpilot.cereal import messaging - panda = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=now) - panda.pandaStates[0].safetyTxBlocked = blocked - inputs.sm.update_msgs(now / 1e9, [panda.as_reader()]) - packets = [] - if frame % 5 == 0: - packets += adapter.step_lateral(CC, CS, native.packer, joined.host.CI.CC.CAN, frame, now) - if frame % 3 == 0: - packets += adapter.step_lka(native.packer, joined.host.CI.CC.CAN, now) - for address, original, bus in packets: - data = bytearray(original) - active = address == 0x3D6 and (data[0] >> 4) & 7 == 1 - if active and frame >= 80 and not rejected: - data[1] ^= 1 # One actual bad checksum; native must reject it. - assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)) - blocked += 1 - # Feed the real rejected CAN return, not just the aggregate counter. - adapter.observe_can([(now, [(address, bytes(data), bus | 0xC0)])], bus) - rejected = True - continue - accepted = safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)) - assert accepted, (frame, hex(address), data.hex()) - if rejected and address == 0x3D6: - neutral_after_rejection |= not active - recovered |= active and neutral_after_rejection - assert rejected and neutral_after_rejection and recovered - # Host recovery never replaces native authorization. - safety.aol_set_host_request(0) - native.pump(5, mask=0, speed=15.) - now = (1_000_000 + native.tick * 10_000) * 1000 - neutral = adapter.step_lateral(CC, CS, native.packer, joined.host.CI.CC.CAN, 180, now)[0] - assert (neutral[1][0] >> 4) & 7 == 0 - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4, 32), (CAR.FORD_F_150_MK14, 66)]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_native_first_pedal_preserves_only_granted_lateral(ford_joined, monkeypatch): - monkeypatch.ford_nonzero = True - monkeypatch.ford_native_first_pedal = True - run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_early_pedal_admission_requires_exact_marked_angle_long_profile(ford_joined): - from opendbc.car import structs - from openpilot.starpilot.car.ford.aol import early_native_long_withdrawal_supported - cp = ford_joined.host.CP - assert early_native_long_withdrawal_supported(cp) - for field, value in (('alternativeExperience', 0), ('openpilotLongitudinalControl', False), - ('passive', True), ('dashcamOnly', True), ('brand', 'hyundai')): - changed = structs.CarParams(**cp.to_dict()) - setattr(changed, field, value) - assert not early_native_long_withdrawal_supported(changed) - for mask in (128, 1, 16): - changed = structs.CarParams(**cp.to_dict()) - changed.safetyConfigs[-1].safetyParam ^= mask - assert not early_native_long_withdrawal_supported(changed) - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4, 32), (CAR.FORD_F_150_MK14, 66)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_temporary_eps_recovery_with_gas_preserves_only_lateral_intent(ford_joined, monkeypatch): - # Route3b: cruise is off, gas remains pressed through a 150 ms EPS pulse. - # The actual native hook must still reject active output during that pulse. - monkeypatch.ford_nonzero = True - monkeypatch.ford_eps_gas = True - run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [False]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -@pytest.mark.parametrize('delivery', ['paired', 'axis-first', 'event-first', 'never-paired']) -def test_route45_stock_angle_eps_gas_release_join(ford_joined, monkeypatch, delivery): - monkeypatch.ford_nonzero = True - monkeypatch.ford_route45_delivery = delivery - run_actual_producer(ford_joined, monkeypatch, scenario='route45') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [False]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -@pytest.mark.parametrize('refusal', ['permanent-eps', 'main-off', 'cancel']) -def test_route45_eps_join_keeps_physical_refusals(ford_joined, monkeypatch, refusal): - monkeypatch.ford_nonzero = True - monkeypatch.ford_route45_delivery = 'axis-first' - monkeypatch.ford_route45_refusal = refusal - run_actual_producer(ford_joined, monkeypatch, scenario='route45') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4, 32), (CAR.FORD_F_150_MK14, 66)]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_route22_gas_held_first_engagement_keeps_aol_through_braking(ford_joined, monkeypatch): - from openpilot.starpilot.aol.transport_pause import TransportPauseFeedback - from opendbc.car import structs - - class Changed: - def __init__(self, source, **values): - self.source = source - self.__dict__.update(values) - - def __getattr__(self, name): - return getattr(self.source, name) - - checked = [] - original = TransportPauseFeedback._first_ford_gas_lateral_grant - - def check_first_grant(feedback, sm, cp, cs, axis, now_ns, *, latched, producer): - result = original(feedback, sm, cp, cs, axis, now_ns, latched=latched, producer=producer) - if result is not None and not checked: - def refuses(*, state=cs, proof=axis, armed=latched, owner=producer, params=cp): - assert original(feedback, sm, params, state, proof, now_ns, latched=armed, producer=owner) is None - for field, value in [('gasPressed', False), ('brakePressed', True), ('regenBraking', True), - ('canValid', False), ('canTimeout', True), ('steerFaultTemporary', True), - ('steerFaultPermanent', True), ('accFaulted', True), ('doorOpen', True), - ('seatbeltUnlatched', True), ('vehicleSensorsInvalid', True), - ('steeringDisengage', True), ('gearShifter', structs.CarState.GearShifter.reverse)]: - refuses(state=Changed(cs, **{field: value})) - for field, value in [('intentProducerSessionId', 'other'), ('intentIntegrityEpoch', axis.intentIntegrityEpoch + 1), - ('sessionId', 'other'), ('nativeAcknowledged', False), ('lateralActive', False), - ('desiredLateral', False), ('longitudinalActive', True), ('desiredLongitudinal', False), - ('faultReason', 'controlsMismatch'), ('mode', 'off'), - ('sourceCarStateMonoTime', now_ns - 30_000_001), ('validUntilMonoTime', now_ns - 1)]: - refuses(proof=Changed(axis, **{field: value})) - refuses(armed=False) - refuses(owner='other') - refuses(params=Changed(cp, alternativeExperience=0)) - for field, value in [('failed', True), ('paused', True), ('pending_event', True), - ('healthy_inventory', ('other', ())), ('lateral_baseline_ns', now_ns)]: - with monkeypatch.context() as local: - local.setattr(feedback, field, value) - refuses() - checked.append(True) - return result - - monkeypatch.setattr(TransportPauseFeedback, '_first_ford_gas_lateral_grant', check_first_grant) - monkeypatch.ford_nonzero = True - run_actual_producer(ford_joined, monkeypatch, scenario='route22') - assert checked - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -@pytest.mark.parametrize('fault', ['rx-quality', 'source-loss']) -def test_route22_native_fault_still_withdraws_aol(ford_joined, monkeypatch, fault): - monkeypatch.ford_nonzero = True - monkeypatch.ford_route22_final_fault = fault - run_actual_producer(ford_joined, monkeypatch, scenario='route22') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_F_150_LIGHTNING_MK1, 66), (CAR.FORD_ESCAPE_MK4_5, 66), - (CAR.FORD_EXPEDITION_MK4, 66), (CAR.FORD_F_150_MK14, 66), (CAR.FORD_RANGER_MK2, 66)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_lightning_cluster_startup_and_aol_recovery(ford_joined, monkeypatch): - monkeypatch.ford_nonzero = True - run_actual_producer(ford_joined, monkeypatch, scenario='configuration-parity') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_F_150_LIGHTNING_MK1, 66)]) -@pytest.mark.parametrize('alpha', [False]) -@pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('topology', ['automatic']) -@pytest.mark.parametrize('armed', [False, True]) -def test_lightning_unarmed_startup_does_not_show_armed_eps_warning(ford_joined, monkeypatch, armed): - monkeypatch.ford_startup_armed = armed - run_actual_producer(ford_joined, monkeypatch, scenario='startup-warning') - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4, 32), (CAR.FORD_F_150_MK14, 66)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -@pytest.mark.parametrize('can_clock_offset_ns', [0, 9_000_000_000]) -def test_angle_transport_batching_keeps_native_spacing(ford_joined, monkeypatch, can_clock_offset_ns): - from opendbc.car import structs - from opendbc.safety.tests.libsafety import libsafety_py - from openpilot.cereal import messaging - - joined = ford_joined - native, safety, ci = joined.native, joined.safety, joined.host.CI - native.arm() - adapter = ci.CC.bp_lat - inputs = adapter.host.inputs - monkeypatch.setattr(inputs, 'update', lambda: None) - monkeypatch.setattr(inputs, 'lateral_snapshot', lambda speed, *, angle=False: None) - monkeypatch.setattr(inputs, 'native_permission', lambda cp, max_age_ns: bool(safety.aol_get_permission_mask() & 1)) - control = structs.CarControl(enabled=True, latActive=True) - control.actuators.curvature = .0001 - state = structs.CarState(canValid=True, vEgoRaw=15., gearShifter=structs.CarState.GearShifter.drive) - state.cruiseState.available = True - queue, echoes, rejected = [], [], [] - active_count = 0 - control_address = 0x3D6 if adapter.canfd else 0x3D3 - last_delivery = 0 - for frame in range(300): - now_us = 1_000_000 + (native.tick + 1) * 10_000 - while queue and queue[0][0] <= now_us: - delivered, address, data, bus = queue.pop(0) - safety.set_timer(delivered) - accepted = safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus - joined.offset, data)) - if not accepted: - rejected.append((frame, hex(address), data.hex())) - elif address == control_address: - active_count += int(((data[0] >> 4) & 7) == 1) if adapter.canfd else int(bool(data[4] & 4)) - echoes.append((delivered * 1000 + can_clock_offset_ns, [(address, data, bus | (0x80 if accepted else 0xC0))])) - native.pump(1, mask=1, speed=15.) - # Exercise the actual interface-to-controller feedback path, including Panda - # bus offsets. Only echoes produced by real native TX acceptance count. - ci.update(echoes) - echoes.clear() - ci.CS.out = state - now_ns = now_us * 1000 - panda = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=now_ns) - panda.pandaStates[0].safetyTxBlocked = len(rejected) - inputs.sm.update_msgs(now_ns / 1e9, [panda.as_reader()]) - _, packets = ci.CC.update(control.as_reader(), ci.CS, now_ns) - for address, data, bus in packets: - if address not in (control_address, 0x3CA): - continue - # A delayed FIFO batch followed by an immediate one compresses a nominal - # 50/30ms send cadence below Panda's unchanged 40/20ms minima. - delivered = max(last_delivery, now_us + (25_000 if frame % 10 == 5 else 0)) - last_delivery = delivered - queue.append((delivered, address, data, bus)) - assert not rejected, rejected[:8] - assert active_count > 25 - safety.aol_set_host_request(0) - native.pump(10, mask=0, speed=15.) - ci.CS.out = state - now_ns = (1_000_000 + native.tick * 10_000) * 1000 - packets = adapter.step_lateral(control, ci.CS, native.packer, ci.CC.CAN, 310, now_ns) - assert packets and safety.aol_get_permission_mask() == 0 - for address, data, bus in packets: - assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus - joined.offset, data)) - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_F_150_MK14, 66)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_stock_forwarding_returns_cannot_starve_angle_reengagement(ford_joined, monkeypatch): - from opendbc.car import structs - from opendbc.car.ford import fordcan - from opendbc.safety.tests.libsafety import libsafety_py - from openpilot.cereal import messaging - - joined = ford_joined - native, safety, ci = joined.native, joined.safety, joined.host.CI - native.arm() - adapter = ci.CC.bp_lat - inputs = adapter.host.inputs - monkeypatch.setattr(inputs, 'update', lambda: None) - monkeypatch.setattr(inputs, 'lateral_snapshot', lambda speed, *, angle=False: None) - monkeypatch.setattr(inputs, 'native_permission', lambda cp, max_age_ns: bool(safety.aol_get_permission_mask() & 1)) - command = structs.CarControl(enabled=True, latActive=True) - command.actuators.curvature = .0001 - state = structs.CarState(canValid=True, vEgoRaw=15., gearShifter=structs.CarState.GearShifter.drive) - state.cruiseState.available = True - echoes = [] - active = [0, 0] - forwarded = 0 - neutral_seen = False - # Genuine camera frames are forwarded only while the real native hook permits - # it. Those forwarded TX returns share the src|0x80 namespace with host TX. - for frame in range(300): - native.pump(1, mask=1, speed=15.) - now_ns = (1_000_000 + native.tick * 10_000) * 1000 - if neutral_seen and frame % 5 == 1: - stock = fordcan.create_lat_ctl2_msg(native.packer, ci.CC.CAN, 0, 0., 0., 0., 0., (frame // 5) % 16) - if safety.safety_fwd_hook(2, stock[0]) == 0: - echoes.append((now_ns, [(stock[0], stock[1], ci.CC.CAN.main | 0x80)])) - forwarded += 1 - ci.update(echoes) - echoes.clear() - ci.CS.out = state - # Preserve native permission while exercising one normal host neutral pause. - # Continued forwarding must not prevent a later real active command. - command.latActive = not 80 <= frame < 130 - panda = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=now_ns) - panda.pandaStates[0].safetyTxBlocked = 0 - inputs.sm.update_msgs(now_ns / 1e9, [panda.as_reader()]) - _, packets = ci.CC.update(command.as_reader(), ci.CS, now_ns) - for address, data, bus in packets: - assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus - joined.offset, data)) - echoes.append((now_ns + 1, [(address, data, bus | 0x80)])) - if address == 0x3D6: - is_active = ((data[0] >> 4) & 7) == 1 - if frame < 80: - active[0] += int(is_active) - elif frame < 130: - neutral_seen |= not is_active - else: - active[1] += int(is_active) - assert forwarded > 2 - assert neutral_seen - assert active[0] > 3 and active[1] > 10, active - assert safety.aol_get_permission_mask() == 1 - - -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18), (CAR.FORD_ESCAPE_MK4, 32)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_unrelated_native_rejection_does_not_reset_granted_angle(ford_joined, monkeypatch): - from types import SimpleNamespace - from opendbc.car import structs - from opendbc.car.ford import fordcan - from opendbc.safety.tests.libsafety import libsafety_py - from openpilot.cereal import messaging - - joined = ford_joined - native, safety = joined.native, joined.safety - native.arm() - adapter = joined.host.CI.CC.bp_lat - inputs = adapter.host.inputs - monkeypatch.setattr(inputs, 'update', lambda: None) - monkeypatch.setattr(inputs, 'lateral_snapshot', lambda speed, *, angle=False: None) - monkeypatch.setattr(inputs, 'native_permission', lambda cp, max_age_ns: bool(safety.aol_get_permission_mask() & 1)) - control = structs.CarControl(enabled=True, latActive=True) - control.actuators.curvature = .0001 - state = structs.CarState(canValid=True, vEgoRaw=15., gearShifter=structs.CarState.GearShifter.drive) - state.cruiseState.available = True - source = SimpleNamespace(out=state, lat_ctl_lim_stat=0) - blocked = active_after = 0 - rejected = False - for frame in range(180): - native.pump(1, mask=1, speed=15.) - now = (1_000_000 + native.tick * 10_000) * 1000 - if frame == 80: - # LONG is independently denied. Its real rejection must not erase LAT. - message = fordcan.create_acc_msg(native.packer, joined.host.CI.CC.CAN, True, 1., 1., False, False, v_ego_kph=50.) - address, data, bus = message - assert not safety.get_controls_allowed() - assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus - joined.offset, data)) - assert safety.aol_get_permission_mask() == 1 - adapter.observe_can([(now, [(address, data, bus | 0xC0)])], bus) - blocked += 1 - rejected = True - panda = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=now) - panda.pandaStates[0].safetyTxBlocked = blocked - inputs.sm.update_msgs(now / 1e9, [panda.as_reader()]) - packets = adapter.step_lateral(control, source, native.packer, joined.host.CI.CC.CAN, frame, now) - packets += adapter.step_lka(native.packer, joined.host.CI.CC.CAN, now) - for address, data, bus in packets: - assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus - joined.offset, data)), (frame, hex(address), data.hex()) - if address in (0x3D3, 0x3D6) and frame >= 80: - active = ((data[4] >> 2) & 7) if address == 0x3D3 else ((data[0] >> 4) & 7) - assert active == 1, 'Unrelated LONG rejection reset independently granted steering' - active_after += 1 - assert rejected and active_after > 10 diff --git a/openpilot/starpilot/tests/test_ford_ci_registration.py b/openpilot/starpilot/tests/test_ford_ci_registration.py index 2cf9aa7084..3a176d8bcf 100644 --- a/openpilot/starpilot/tests/test_ford_ci_registration.py +++ b/openpilot/starpilot/tests/test_ford_ci_registration.py @@ -4,8 +4,7 @@ from tools.ci import run_vehicle_tests as runner FAMILY_TARGETS = ( - 'opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py', - 'opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py', + 'opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py', 'openpilot/starpilot/tests/test_ford_configuration_parity.py', 'openpilot/starpilot/tests/test_ford_configuration_admission.py', 'openpilot/starpilot/tests/test_ford_release_long_preferences.py', @@ -23,12 +22,12 @@ def test_both_actual_ci_selectors_collect_all_qualified_ford_configuration_contr for path in FAMILY_TARGETS: assert path in selected assert (runner.ROOT / path).is_file() + # RELEASE CAN FD Alpha: the stock CAN FD long word runs its complete positive contract on the release library release = runner.targets_for('safety-release') - prefix = 'opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py::' - assert prefix + 'TestFordMachELongReleaseExtended' in release - assert prefix + 'TestFordMachELongReleaseDenied' not in release + prefix = 'opendbc_repo/opendbc/safety/tests/test_ford.py::' + assert prefix + 'TestFordCANFDLongitudinalSafety' in release source = ast.parse((runner.ROOT / prefix.split('::', 1)[0]).read_text()) - assert any(isinstance(node, ast.ClassDef) and node.name == 'TestFordMachELongReleaseExtended' for node in source.body) + assert any(isinstance(node, ast.ClassDef) and node.name == 'TestFordCANFDLongitudinalSafety' for node in source.body) def test_actual_host_collector_discovers_release_ui_guards(tmp_path): diff --git a/openpilot/starpilot/tests/test_ford_configuration_admission.py b/openpilot/starpilot/tests/test_ford_configuration_admission.py index 6cb2072d0c..875fdeae38 100644 --- a/openpilot/starpilot/tests/test_ford_configuration_admission.py +++ b/openpilot/starpilot/tests/test_ford_configuration_admission.py @@ -25,7 +25,11 @@ def test_exact_dual_owner_and_manual_identity(identity, base, alpha, manual): word = base | int(alpha) | (256 if manual else 0) assert cp.safetyConfigs[-1].safetyParam == word assert qualified(cp, marked_only=True) and native_matches_cp(cp, 6, word) - for field, value in [('safetyParam', word ^ 256), ('safetyParam', word | 512), ('safetyModel', structs.CarParams.SafetyModel.noOutput)]: + # bits 9-14 are the BluePilot lateral library's; bit 15 belongs to no one + bluepilot = cp.as_reader().as_builder() + bluepilot.safetyConfigs[-1].safetyParam = word | 0x4000 + assert qualified(bluepilot, marked_only=True) and native_matches_cp(bluepilot, 6, word | 0x4000) + for field, value in [('safetyParam', word ^ 256), ('safetyParam', word | 0x8000), ('safetyModel', structs.CarParams.SafetyModel.noOutput)]: bad = cp.as_reader().as_builder() setattr(bad.safetyConfigs[-1], field, value) assert not qualified(bad) and not native_matches_cp(bad, 6, word) @@ -53,13 +57,13 @@ def test_marked_manual_policy_survives_cards_alternative_experience_reset(): fp = gen_empty_fingerprint() cp = CarInterface.get_params(FORD_FACTORIES[0][0], fp, [], False, False, False) initial = policy_for(cp) - assert cp.safetyConfigs[-1].safetyParam == 32 and initial.safety_param_addition == 256 + assert cp.safetyConfigs[-1].safetyParam == 0 and initial.safety_param_addition == 256 cp.safetyConfigs[-1].safetyParam |= initial.safety_param_addition cp.alternativeExperience |= initial.alternative_experience_addition - assert native_matches_cp(cp, 6, 288) + assert native_matches_cp(cp, 6, 256) cp.alternativeExperience = 0 # Car resets this before reapplying saved settings. recovered = policy_for(cp) assert recovered.intent_supported and recovered.safety_param_addition == 256 cp.safetyConfigs[-1].safetyParam |= recovered.safety_param_addition cp.alternativeExperience |= recovered.alternative_experience_addition - assert native_matches_cp(cp, 6, 288) + assert native_matches_cp(cp, 6, 256) diff --git a/openpilot/starpilot/tests/test_ford_configuration_parity.py b/openpilot/starpilot/tests/test_ford_configuration_parity.py index 193b7fc21e..76007f5a20 100644 --- a/openpilot/starpilot/tests/test_ford_configuration_parity.py +++ b/openpilot/starpilot/tests/test_ford_configuration_parity.py @@ -9,17 +9,12 @@ from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, for @pytest.fixture(autouse=True) def configuration_topology(monkeypatch, topology, request): monkeypatch.ford_topology = topology - monkeypatch.ford_pinion = request.node.callspec.params.get('pinion', False) if request.node.name.startswith(('test_brake_retains_lateral_with_native_first_feedback', 'test_cancel_retains_lateral_with_native_first_feedback', 'test_gas_first_engagement_native_cadence', 'test_first_main_gas_native_cadence', 'test_native_rejected_ui_cannot_replace_stock_cluster')): monkeypatch.ford_native_10hz = True - monkeypatch.ford_angle = request.node.callspec.params['angle'] - if request.node.name.startswith('test_recorded_radar_creep_enters_native_stopping'): - monkeypatch.ford_angle = request.node.callspec.params['angle'] if request.node.name.startswith('test_route49_first_main_engagement'): monkeypatch.ford_first_main = True - monkeypatch.ford_angle = request.node.callspec.params['angle'] @pytest.mark.parametrize('identity', FORD_FACTORIES) @@ -34,26 +29,23 @@ def test_actual_configuration_lifecycle(ford_joined, monkeypatch): @pytest.mark.parametrize('alpha', [False]) @pytest.mark.parametrize('hands_free', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -@pytest.mark.parametrize('angle', [False, True]) -def test_route49_first_main_engagement_arms_before_cruise_cancel(ford_joined, monkeypatch, angle): +def test_route49_first_main_engagement_arms_before_cruise_cancel(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='route49') @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_brake_retains_lateral_with_native_first_feedback(ford_joined, monkeypatch, angle): +def test_brake_retains_lateral_with_native_first_feedback(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='brake-native-cadence') @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [False, True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_cancel_retains_lateral_with_native_first_feedback(ford_joined, monkeypatch, angle): +def test_cancel_retains_lateral_with_native_first_feedback(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='cancel-native-cadence') @@ -61,8 +53,7 @@ def test_cancel_retains_lateral_with_native_first_feedback(ford_joined, monkeypa @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -@pytest.mark.parametrize('angle', [False, True]) -def test_recorded_radar_creep_enters_native_stopping(ford_joined, angle): +def test_recorded_radar_creep_enters_native_stopping(ford_joined): import json import gzip from pathlib import Path @@ -124,18 +115,16 @@ def test_recorded_radar_creep_enters_native_stopping(ford_joined, angle): @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_gas_first_engagement_native_cadence(ford_joined, monkeypatch, angle): +def test_gas_first_engagement_native_cadence(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='route22') @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_first_main_gas_native_cadence(ford_joined, monkeypatch, angle): +def test_first_main_gas_native_cadence(ford_joined, monkeypatch): monkeypatch.ford_main_off_warmup = True run_actual_producer(ford_joined, monkeypatch, scenario='route22') @@ -143,9 +132,8 @@ def test_first_main_gas_native_cadence(ford_joined, monkeypatch, angle): @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_cancel_retains_lateral_with_native_first_feedback_while_gas_held(ford_joined, monkeypatch, angle, topology): +def test_cancel_retains_lateral_with_native_first_feedback_while_gas_held(ford_joined, monkeypatch, topology): monkeypatch.ford_native_10hz = True monkeypatch.ford_cancel_gas = True run_actual_producer(ford_joined, monkeypatch, scenario='cancel-native-cadence') @@ -180,43 +168,10 @@ def test_neutral_display_waits_for_same_batch_inactive_steering(ford_joined, mon @pytest.mark.parametrize('hands_free', [False]) @pytest.mark.parametrize('topology', ['automatic']) @pytest.mark.parametrize('fault', ['heartbeat', 'source-loss']) -@pytest.mark.parametrize('angle', [True]) -def test_native_rejected_ui_cannot_replace_stock_cluster(ford_joined, monkeypatch, fault, angle): +def test_native_rejected_ui_cannot_replace_stock_cluster(ford_joined, monkeypatch, fault): monkeypatch.ford_native_10hz = True monkeypatch.ford_route22_final_fault = fault run_actual_producer(ford_joined, monkeypatch, scenario='route22') assert ford_joined.rejected_ui_packets assert all(address in (0x18A, 0x3D8) for _, address in ford_joined.rejected_ui_packets) - -@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('angle', [True]) -@pytest.mark.parametrize('pinion', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_brake_retains_lateral_with_native_first_feedback_pinion_route1f(ford_joined, monkeypatch, angle, pinion): - run_actual_producer(ford_joined, monkeypatch, scenario='brake-native-cadence') - assert ford_joined.pedal_cancel_active_packets > 0 - - -@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('angle', [True]) -@pytest.mark.parametrize('pinion', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_cancel_retains_lateral_with_native_first_feedback_pinion_route1f(ford_joined, monkeypatch, angle, pinion): - run_actual_producer(ford_joined, monkeypatch, scenario='cancel-native-cadence') - assert ford_joined.pedal_cancel_active_packets > 0 - - -@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) -@pytest.mark.parametrize('alpha', [True]) -@pytest.mark.parametrize('hands_free', [True]) -@pytest.mark.parametrize('angle', [True]) -@pytest.mark.parametrize('pinion', [True]) -@pytest.mark.parametrize('topology', ['automatic']) -def test_gas_first_engagement_native_cadence_pinion_route1f(ford_joined, monkeypatch, angle, pinion): - run_actual_producer(ford_joined, monkeypatch, scenario='route22') - assert ford_joined.pedal_cancel_active_packets > 0 diff --git a/openpilot/starpilot/tests/test_ford_manual_ordinary.py b/openpilot/starpilot/tests/test_ford_manual_ordinary.py deleted file mode 100644 index b518159631..0000000000 --- a/openpilot/starpilot/tests/test_ford_manual_ordinary.py +++ /dev/null @@ -1,46 +0,0 @@ -"""Manual AOL marking cannot replace existing ordinary/angle configuration words.""" -from pathlib import Path -from unittest.mock import patch -import pytest -from opendbc.car import car_helpers, gen_empty_fingerprint, structs -from opendbc.car.ford.values import CAR -from openpilot.cereal import messaging -from openpilot.common.params import Params -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.car import card as card_module - - -@pytest.mark.parametrize('identity,fd', [(CAR.FORD_ESCAPE_MK4, False), (CAR.FORD_MUSTANG_MACH_E_MK1, True)]) -@pytest.mark.parametrize('alpha', [False, True]) -@pytest.mark.parametrize('release', [False, True]) -@pytest.mark.parametrize('offset', [0, 4]) -def test_actual_manual_angle_startup_preserves_original_unmarked_owner(identity, fd, alpha, release, offset, monkeypatch): - monkeypatch.setenv('SIMULATION', '1') - monkeypatch.setenv('REPLAY', '1') - monkeypatch.setenv('AOL_REPLAY_RUNTIME', '0') - fp = gen_empty_fingerprint() - fp[offset + 2].update({0x3D6: 8, 0x186: 8}) - observed = (identity, fp, '0' * 17, [], structs.CarParams.FingerprintSource.can, True) - with OpenpilotPrefix(): - saved = Params() - for key, value in [('OpenpilotEnabledToggle', True), ('AlwaysOnLateral', False), ('SafeMode', False), - ('AlphaLongitudinalEnabled', alpha), ('IsReleaseBranch', release), ('FordHumanTurnDetection', False)]: - saved.put_bool(key, value, block=True) - Path(saved.get_param_path('FordLateralMode')).write_bytes(b'1') - with patch.object(car_helpers, 'fingerprint', return_value=observed), \ - patch.object(card_module, 'can_comm_callbacks', return_value=(lambda *args: [], lambda frames: None)), \ - patch.object(card_module.messaging, 'recv_one_retry', return_value=messaging.new_message('can', 1)): - host = card_module.Car() - try: - assert host.CP.transmissionType == structs.CarParams.TransmissionType.manual - assert host.CP.alternativeExperience == 0 and host.aol_card_intent is None - assert host.CP.minEnableSpeed == pytest.approx(20 * .44704) - assert host.CP.safetyConfigs[-1].safetyParam == 128 + (2 if fd else 0) + int(alpha and not release) - assert host.CP.openpilotLongitudinalControl == bool(alpha and not release) - assert host.CI.CC.bp_lat is not None - if offset: - assert host.CP.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput - assert host.CP.safetyConfigs[0].safetyParam == 0 - assert saved.get_bool('AlphaLongitudinalEnabled') == alpha - finally: - host.vehicle_startup.close() diff --git a/openpilot/starpilot/tests/test_ford_neutral_display.py b/openpilot/starpilot/tests/test_ford_neutral_display.py index 8db67a233c..516eb676ec 100644 --- a/openpilot/starpilot/tests/test_ford_neutral_display.py +++ b/openpilot/starpilot/tests/test_ford_neutral_display.py @@ -4,15 +4,13 @@ from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, for @pytest.fixture(autouse=True) def configuration(monkeypatch, request): - monkeypatch.ford_angle = request.node.callspec.params['angle'] monkeypatch.ford_topology = request.node.callspec.params['topology'] @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_main_off_neutral_cluster_and_actual_native_reengagement(ford_joined, monkeypatch, angle, topology): +def test_main_off_neutral_cluster_and_actual_native_reengagement(ford_joined, monkeypatch, topology): monkeypatch.ford_native_10hz = True run_actual_producer(ford_joined, monkeypatch, scenario='neutral-main-cadence') diff --git a/openpilot/starpilot/tests/test_ford_recorded_departure.py b/openpilot/starpilot/tests/test_ford_recorded_departure.py index fb724414ff..5d62dc3a60 100644 --- a/openpilot/starpilot/tests/test_ford_recorded_departure.py +++ b/openpilot/starpilot/tests/test_ford_recorded_departure.py @@ -20,7 +20,6 @@ from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, for @pytest.fixture(autouse=True) def topology_settings(monkeypatch, request): monkeypatch.ford_topology = request.node.callspec.params.get('topology', 'automatic') - monkeypatch.ford_angle = request.node.callspec.params.get('angle', False) @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @@ -106,9 +105,8 @@ def _motion_payloads(payloads, sample): @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_recorded_departure_with_real_cem_stop_hold(ford_joined, monkeypatch, angle, topology): +def test_recorded_departure_with_real_cem_stop_hold(ford_joined, monkeypatch, topology): # Stop acquisition and clocks use the existing caller fixture. Departure # geometry, filtered speed and radar values are recorded; MCU timing is synthetic. samples = [sample for sample in _samples() if 334.29 <= sample['routeSeconds'] <= 334.95] diff --git a/openpilot/starpilot/tests/test_ford_recorded_lifecycle.py b/openpilot/starpilot/tests/test_ford_recorded_lifecycle.py index 010f3f5b83..6ce6e1019a 100644 --- a/openpilot/starpilot/tests/test_ford_recorded_lifecycle.py +++ b/openpilot/starpilot/tests/test_ford_recorded_lifecycle.py @@ -9,7 +9,7 @@ from opendbc.car.ford.values import CAR from openpilot.starpilot.tests.ford_lifecycle_helpers import ford_joined as ford_joined, run_actual_producer -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) +@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 2)]) @pytest.mark.parametrize('alpha', [False]) @pytest.mark.parametrize('hands_free', [False, True]) @pytest.mark.parametrize('overlap', [False, True], ids=['isolated-eps', 'braking-during-eps']) @@ -17,21 +17,21 @@ def test_route24_accelerator_at_engagement_full_brake_stock_off_fault_reverse_an run_actual_producer(ford_joined, monkeypatch, scenario='route24-mixed-eps' if overlap else 'route24') -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) +@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 2)]) @pytest.mark.parametrize('alpha', [False]) @pytest.mark.parametrize('hands_free', [False, True]) def test_route2a_new_engagement_after_previous_native_session_retains_aol_on_stock_off(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='route2a') -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) +@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 2)]) @pytest.mark.parametrize('alpha', [False]) @pytest.mark.parametrize('hands_free', [False, True]) def test_ford_main_only_rearm_after_previous_session_uses_current_feedback(ford_joined, monkeypatch): run_actual_producer(ford_joined, monkeypatch, scenario='route2a-main') -@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 18)]) +@pytest.mark.parametrize('identity', [(CAR.FORD_MUSTANG_MACH_E_MK1, 2)]) @pytest.mark.parametrize('alpha', [False]) @pytest.mark.parametrize('hands_free', [False, True]) def test_fault_at_main_edge_cannot_replay_after_native_health_recovers(ford_joined, monkeypatch): diff --git a/openpilot/starpilot/tests/test_ford_release_long_preferences.py b/openpilot/starpilot/tests/test_ford_release_long_preferences.py index 2891bf62cf..27030658ad 100644 --- a/openpilot/starpilot/tests/test_ford_release_long_preferences.py +++ b/openpilot/starpilot/tests/test_ford_release_long_preferences.py @@ -47,7 +47,7 @@ def test_release_opt_in_off_invalid_safe_mode_debug_and_disabled_stay_unchanged( assert prepare_release_long(cp, saved(tmp_path, alpha, safe), is_release=release, enabled=enabled) is cp -@pytest.mark.parametrize('restriction', ['secoc', 'extra-panda', 'angle', 'foreign-brand']) +@pytest.mark.parametrize('restriction', ['secoc', 'extra-panda', 'foreign-brand']) def test_release_never_promotes_unowned_configuration(restriction, tmp_path): fp = gen_empty_fingerprint() fp[0][0x5A] = 8 @@ -55,8 +55,6 @@ def test_release_never_promotes_unowned_configuration(restriction, tmp_path): cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fp, [], False, True, False) if restriction == 'extra-panda': cp.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0]] - elif restriction == 'angle': - cp.safetyConfigs[-1].safetyParam = 130 elif restriction == 'foreign-brand': cp.brand = 'hyundai' assert prepare_release_long(cp, saved(tmp_path), is_release=True, enabled=True) is cp diff --git a/openpilot/starpilot/tests/test_ford_standstill_brake.py b/openpilot/starpilot/tests/test_ford_standstill_brake.py index 6bb7f1f9cf..36d9132a04 100644 --- a/openpilot/starpilot/tests/test_ford_standstill_brake.py +++ b/openpilot/starpilot/tests/test_ford_standstill_brake.py @@ -4,16 +4,14 @@ from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, for @pytest.fixture(autouse=True) def configuration(monkeypatch, request): - monkeypatch.ford_angle = request.node.callspec.params['angle'] monkeypatch.ford_topology = request.node.callspec.params['topology'] @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]]) @pytest.mark.parametrize('alpha', [True]) @pytest.mark.parametrize('hands_free', [False, True]) -@pytest.mark.parametrize('angle', [False, True]) @pytest.mark.parametrize('topology', ['automatic', 'manual-multi']) -def test_native_first_brake_while_already_stopped(ford_joined, monkeypatch, angle, topology): +def test_native_first_brake_while_already_stopped(ford_joined, monkeypatch, topology): monkeypatch.ford_standstill_brake = True monkeypatch.ford_native_first_pedal = True monkeypatch.ford_native_10hz = True diff --git a/openpilot/starpilot/tests/test_vehicle_preferences_api.py b/openpilot/starpilot/tests/test_vehicle_preferences_api.py index a8852b4e0c..c3846db01e 100644 --- a/openpilot/starpilot/tests/test_vehicle_preferences_api.py +++ b/openpilot/starpilot/tests/test_vehicle_preferences_api.py @@ -4,7 +4,7 @@ from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences def test_original_positional_preferences_do_not_enable_door_features(): - values = (True, False, True, False, True, False, True, False, True, False, True, False, True, 1, 1) + values = (True, False, True, False, True, False, True, False, True, False, True, False, True, 1) preferences = VehicleStartupPreferences(*values) names = ( 'toyota_auto_hold', @@ -21,7 +21,6 @@ def test_original_positional_preferences_do_not_enable_door_features(): 'gm_camera_pedal', 'toyota_filter', 'gm_longitudinal_tune', - 'ford_lateral_mode', ) assert tuple(getattr(preferences, name) for name in names) == values assert not preferences.toyota_lock_doors and not preferences.toyota_unlock_doors diff --git a/openpilot/starpilot/ui/feature_settings_owner.py b/openpilot/starpilot/ui/feature_settings_owner.py index e01ffe067d..74f1a0d5c3 100644 --- a/openpilot/starpilot/ui/feature_settings_owner.py +++ b/openpilot/starpilot/ui/feature_settings_owner.py @@ -53,8 +53,7 @@ from openpilot.starpilot.saved_source import read_saved from openpilot.starpilot.ui.wheel_feature import WheelFeature, PREFIX as WHEEL_PREFIX from openpilot.starpilot.longitudinal.output_max import KEY as OUTPUT_MAX_KEY from openpilot.starpilot.ui.tesla_screen_feature import TeslaScreenFeature, KEYS as TESLA_SCREEN_KEYS -from openpilot.starpilot.ui.ford_lateral_feature import FordLateralFeature, FordClusterFeature -from openpilot.starpilot.ui.ford_pinion_feature import FordPinionFeature +from openpilot.starpilot.ui.ford_cluster_feature import FordClusterFeature from openpilot.starpilot.ui.preap_radar_feature import PreAPRadarFeature, KEYS as PREAP_RADAR_KEYS, capability as preap_radar_capability from openpilot.starpilot.ui.gm_tune_feature import GmTuneFeature, GmTruckFeature, GmEvPresetFeature from openpilot.starpilot.car.gm.tune_preferences import KEY as GM_TUNE_KEY @@ -1024,8 +1023,6 @@ class FeatureSettingsOwner: vehicle_fingerprint=self.vehicle_fingerprint(), dependencies=learning.sources)) elif page == FeaturePage.TORQUE: title = "Steering and Torque" - rows.extend(FordLateralFeature(self).rows(parked)) - rows.extend(FordPinionFeature(self).rows(parked)) rows.extend(FordClusterFeature(self).rows(parked)) controller_row = self.controller.row() if controller_row is not None: @@ -1351,10 +1348,6 @@ class FeatureSettingsOwner: return self._apply_lateral_pause(request) if key == "FordHandsFreeCluster": return FordClusterFeature(self).apply(request) - if key == "FordPrefSteerAngleCurvature": - return FordPinionFeature(self).apply(request) - if key == "FordLateralMode": - return FordLateralFeature(self).apply(request) if key == "TurnAssist": return self._apply_turn_assist(request) if key == 'LateralControllerSelection': diff --git a/openpilot/starpilot/ui/ford_cluster_feature.py b/openpilot/starpilot/ui/ford_cluster_feature.py new file mode 100644 index 0000000000..f10a4d2cd6 --- /dev/null +++ b/openpilot/starpilot/ui/ford_cluster_feature.py @@ -0,0 +1,48 @@ +"""Ford hands-free cluster display preference shared by Galaxy and the native feature presentation.""" +from openpilot.starpilot.saved_document import commit_exact +from openpilot.starpilot.ui.feature_settings_state import FeatureRow + + +class FordClusterFeature: + """Shared native/Galaxy saved display preference for Ford CAN-FD profiles.""" + def __init__(self, owner): + self.owner = owner + + def capability(self): + from openpilot.starpilot.car.ford.cluster_preferences import qualified + cp = self.owner.vehicle_params() + try: + if cp is None or not qualified(cp): + return None + return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl), + tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs)) + except (AttributeError, TypeError, ValueError, OverflowError): + return None + + def rows(self, parked): + from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice + capability = self.capability() + if capability is None: + return () + value, raw, readable, valid = read_choice(self.owner.params) + return (FeatureRow(KEY, "Ford hands-free cluster display", CHOICES[value] if valid else "Invalid saved choice", raw, + choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and readable, + capability=capability, repair_value="" if valid else CHOICES[0], default_value=CHOICES[0], + reason="Changes the active cluster icon only; driver attention requirements remain unchanged."),) + + def apply(self, request): + from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice + value = next((code for code, label in CHOICES.items() if label == request.value), None) + if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction): + return False + + def authorized(): + capability = self.capability() + _, raw, readable, valid = read_choice(self.owner.params) + return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and + self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and + capability == request.capability and readable and raw == request.expected and (valid or value == 0)) + + result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected, + authorized=authorized, temp_prefix=".ford-cluster-") + return result.committed and result.verified diff --git a/openpilot/starpilot/ui/ford_lateral_feature.py b/openpilot/starpilot/ui/ford_lateral_feature.py deleted file mode 100644 index 7c749c47ec..0000000000 --- a/openpilot/starpilot/ui/ford_lateral_feature.py +++ /dev/null @@ -1,115 +0,0 @@ -"""One saved Ford enum shared by Galaxy and the native feature presentation.""" -from opendbc.bluepilot_lateral.hosts.starpilot import supported -from opendbc.car import structs -from opendbc.car.ford.aol import qualified as aol_qualified -from openpilot.starpilot.car.ford.lateral_preferences import KEY, CHOICES, read_choice -from openpilot.starpilot.saved_source import read_saved -from openpilot.starpilot.saved_document import commit_exact -from openpilot.starpilot.ui.feature_settings_state import FeatureRow - - -class FordLateralFeature: - def __init__(self, owner): - self.owner = owner - - def capability(self): - cp = self.owner.vehicle_params() - try: - if cp is None: - return None - if not supported(cp): - if not aol_qualified(cp, marked_only=True): - return None - next_drive = structs.CarParams(**cp.to_dict()) - next_drive.alternativeExperience = 0 - if not supported(next_drive): - return None - return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl), - bool(cp.pcmCruise), str(cp.steerControlType), bool(cp.passive), bool(cp.dashcamOnly), bool(cp.notCar), - tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs)) - except (AttributeError, TypeError, ValueError, OverflowError): - return None - - def dependencies(self): - values = [] - for key in ("SafeMode", "AlwaysOnLateral"): - raw, readable = read_saved(self.owner.params, key, 8) - if not readable or raw not in ((None, b"0") if key == "SafeMode" else (None, b"0", b"1")): - return None - values.append((key, raw)) - return tuple(values) - - def rows(self, parked): - capability = self.capability() - if capability is None: - return () - value, raw, readable, valid = read_choice(self.owner.params) - dependencies = self.dependencies() - return (FeatureRow(KEY, "Ford steering controller", CHOICES[value] if valid else "Invalid saved choice", raw, - choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and - readable and dependencies is not None, capability=capability, - dependencies=dependencies or (), repair_value="" if valid else CHOICES[0], default_value=CHOICES[0], - reason="Applies next drive. BluePilot angle works with Always On Lateral. Safe Mode must be off."),) - - def apply(self, request): - value = next((code for code, label in CHOICES.items() if label == request.value), None) - if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction): - return False - - def authorized(): - capability = self.capability() - _, raw, readable, valid = read_choice(self.owner.params) - dependencies = self.dependencies() - return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and - self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and - capability == request.capability and dependencies is not None and dependencies == request.dependencies and - readable and raw == request.expected and (valid or value == 0)) - - result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected, - authorized=authorized, temp_prefix=".ford-lateral-") - return result.committed and result.verified - - -class FordClusterFeature: - """Shared native/Galaxy saved display preference for Ford CAN-FD profiles.""" - def __init__(self, owner): - self.owner = owner - - def capability(self): - from openpilot.starpilot.car.ford.cluster_preferences import qualified - cp = self.owner.vehicle_params() - try: - if cp is None or not qualified(cp): - return None - return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl), - tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs)) - except (AttributeError, TypeError, ValueError, OverflowError): - return None - - def rows(self, parked): - from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice - capability = self.capability() - if capability is None: - return () - value, raw, readable, valid = read_choice(self.owner.params) - return (FeatureRow(KEY, "Ford hands-free cluster display", CHOICES[value] if valid else "Invalid saved choice", raw, - choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and readable, - capability=capability, repair_value="" if valid else CHOICES[0], default_value=CHOICES[0], - reason="Changes the active cluster icon only; driver attention requirements remain unchanged."),) - - def apply(self, request): - from openpilot.starpilot.car.ford.cluster_preferences import KEY, CHOICES, read_choice - value = next((code for code, label in CHOICES.items() if label == request.value), None) - if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction): - return False - - def authorized(): - capability = self.capability() - _, raw, readable, valid = read_choice(self.owner.params) - return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and - self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and - capability == request.capability and readable and raw == request.expected and (valid or value == 0)) - - result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected, - authorized=authorized, temp_prefix=".ford-cluster-") - return result.committed and result.verified diff --git a/openpilot/starpilot/ui/ford_pinion_feature.py b/openpilot/starpilot/ui/ford_pinion_feature.py deleted file mode 100644 index 6c8419c431..0000000000 --- a/openpilot/starpilot/ui/ford_pinion_feature.py +++ /dev/null @@ -1,74 +0,0 @@ -"""Parked, init-only pinion measurement preference shared by native UI and Galaxy.""" -from opendbc.car.ford.aol import qualified as aol_qualified -from opendbc.car.ford.pinion import KEY -from openpilot.starpilot.saved_source import read_saved -from openpilot.starpilot.saved_document import commit_exact -from openpilot.starpilot.ui.feature_settings_state import FeatureRow - -CHOICES = {0: "Off", 1: "On"} - - -def read_choice(params): - raw, readable = read_saved(params, KEY, 8) - valid = readable and raw in (None, b"0", b"1") - return int(valid and raw == b"1"), raw, readable, valid - - -class FordPinionFeature: - def __init__(self, owner): - self.owner = owner - - def capability(self): - cp = self.owner.vehicle_params() - try: - if cp is None: - return None - from opendbc.car.ford.pinion import GEOMETRY - if cp.carFingerprint not in GEOMETRY or not aol_qualified(cp): - return None - return (str(cp.carFingerprint), int(cp.flags), int(cp.alternativeExperience), bool(cp.openpilotLongitudinalControl), - bool(cp.pcmCruise), str(cp.steerControlType), bool(cp.passive), bool(cp.dashcamOnly), bool(cp.notCar), - tuple((str(c.safetyModel), int(c.safetyParam)) for c in cp.safetyConfigs)) - except (AttributeError, TypeError, ValueError, OverflowError): - return None - - def dependencies(self): - values = [] - for key in ("SafeMode", "AlwaysOnLateral"): - raw, readable = read_saved(self.owner.params, key, 8) - if not readable or raw not in ((None, b"0") if key == "SafeMode" else (None, b"0", b"1")): - return None - values.append((key, raw)) - return tuple(values) - - def rows(self, parked): - capability = self.capability() - if capability is None: - return () - value, raw, readable, valid = read_choice(self.owner.params) - dependencies = self.dependencies() - return (FeatureRow(KEY, "Use Pinion Yaw Sensor", CHOICES[value] if valid else "Invalid saved choice", raw, - choices=tuple(CHOICES.values()), available=parked and self.owner.authority("parked_preferences") and - readable and dependencies is not None, capability=capability, - dependencies=dependencies or (), repair_value="" if valid else CHOICES[0], default_value=CHOICES[0], - reason="Off by default. Uses steering-pinion curvature instead of RCM yaw in control and Panda safety. " - + "Applies next vehicle startup; Safe Mode must be off."),) - - def apply(self, request): - value = next((code for code, label in CHOICES.items() if label == request.value), None) - if (request.key != KEY or value is None or request.related_source is not None or request.display_unit or request.direction): - return False - - def authorized(): - capability = self.capability() - _, raw, readable, valid = read_choice(self.owner.params) - dependencies = self.dependencies() - return (self.owner.authority("parked_preferences") and bool(request.vehicle_fingerprint) and - self.owner.vehicle_fingerprint() == request.vehicle_fingerprint and capability is not None and - capability == request.capability and dependencies is not None and dependencies == request.dependencies and - readable and raw == request.expected and (valid or value == 0)) - - result = commit_exact(self.owner.params, key=KEY, max_bytes=8, raw=str(value).encode(), expected=request.expected, - authorized=authorized, temp_prefix=".ford-pinion-") - return result.committed and result.verified - diff --git a/openpilot/starpilot/vehicle_preferences.py b/openpilot/starpilot/vehicle_preferences.py index 332747aa04..5eb1881a68 100644 --- a/openpilot/starpilot/vehicle_preferences.py +++ b/openpilot/starpilot/vehicle_preferences.py @@ -42,8 +42,6 @@ class VehicleStartupPreferences: gm_camera_pedal: bool = True toyota_filter: bool = True gm_longitudinal_tune: int = 0 - ford_lateral_mode: int = 0 - ford_pinion: bool = field(default=False, kw_only=True) toyota_lock_doors: bool = False toyota_unlock_doors: bool = False toyota_radar_mode: int = 0 @@ -52,7 +50,6 @@ class VehicleStartupPreferences: @classmethod def read(cls, params, *, enabled: bool): - from openpilot.starpilot.car.ford.lateral_preferences import selected as ford_mode from openpilot.starpilot.car.toyota.radar_preferences import selected as toyota_radar_mode from openpilot.starpilot.car.gm.tune_preferences import selected_tune from openpilot.starpilot.car.tesla.preap_preferences import stock_configuration @@ -114,9 +111,7 @@ class VehicleStartupPreferences: subaru_sng=bool(enabled and readable and safe in (None, b"0") and read_saved(params, "SubaruSNG", 8) == (b"1", True)), subaru_software_cruise=bool(enabled and readable and safe in (None, b"0") and read_saved(params, "SubaruRedneckCruise", 8) == (b"1", True)), toyota_radar_mode=toyota_radar_mode(params, enabled=enabled), - ford_lateral_mode=ford_mode(params, enabled=enabled), - ford_pinion=bool(enabled and read_saved(params, "SafeMode", 8) in ((None, True), (b"0", True)) and - read_saved(params, "FordPrefSteerAngleCurvature", 8) == (b"1", True)), tesla_screen=screen, + tesla_screen=screen, tesla_screen_brake=screen_brake, toyota_auto_hold=toyota, toyota_sng=bool(enabled and readable and safe in (None, b"0") and read_saved(params, "SNGHack", 8) == (b"1", True)), jeep_brake_hold=jeep_hold, @@ -225,10 +220,6 @@ class VehicleStartupPreferences: apply_toyota_auto_hold(cp, self.toyota_auto_hold) from opendbc.car.toyota.ars510_preferences import apply_radar_mode apply_radar_mode(cp, self.toyota_radar_mode) - from opendbc.bluepilot_lateral.hosts.starpilot import select as select_ford_lateral - select_ford_lateral(cp, self.ford_lateral_mode) - from opendbc.car.ford.pinion import select as select_pinion - select_pinion(cp, self.ford_pinion) return cp def finalize(self, cp) -> None: diff --git a/tools/ci/custom_pytest_workloads.json b/tools/ci/custom_pytest_workloads.json index d73d887134..77e990b2a4 100644 --- a/tools/ci/custom_pytest_workloads.json +++ b/tools/ci/custom_pytest_workloads.json @@ -2012,12 +2012,6 @@ "cases": 64, "seconds": 15.568039 }, - "openpilot/starpilot/tests/test_ford_bluepilot_aol.py": { - "basis": "Exact 65660a4 hosted main40623875380: all 149 nodes passed, 264.354436s setup/call/teardown; 25% estimate margin, retaining any higher same-source prior estimate. Scheduling only; no test deadline change.", - "blob": "0c39bf229eb908d3ba63abd9f57e3c0e68a48c0b", - "cases": 149, - "seconds": 330.443045 - }, "openpilot/starpilot/tests/test_ford_ci_registration.py": { "basis": "Separate complete AOL reference from same6eb source; not custom wall-time measurement", "blob": "8065ac29f007fc2d14ce32fe81e8e5ff456ddd6a", diff --git a/tools/ci/lifecycle_workloads.json b/tools/ci/lifecycle_workloads.json index 6798b69a14..92e51826f1 100644 --- a/tools/ci/lifecycle_workloads.json +++ b/tools/ci/lifecycle_workloads.json @@ -481,16 +481,6 @@ "seconds": 0.05543316599994341, "source_sha256": "65ad26851e9e115e8b3c9d6a57ccb72295619fa16d22a2e32261bae6e434ea77" }, - "opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py": { - "cases": 2, - "seconds": 0.17583017300006532, - "source_sha256": "dbd0af4c30c2c6ab163ddf5f31af75670d31efee1586a21a62f193a1f25043a8" - }, - "opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py": { - "cases": 78, - "seconds": 0.16058086799961302, - "source_sha256": "f7ea0ed06811453431e3b3aa8eb11cb7138293ca89c87deac09b95f2e6ad3803" - }, "openpilot/starpilot/aol/tests/test_gv70_two_panda_long.py": { "cases": 22, "seconds": 0.013164143999915723, @@ -778,34 +768,6 @@ "shard": 8, "results_sha256": "a14538044b22704179bab89d0f9ded3a4f90480c14d4ea9c76047f933d2e48c5" } - }, - "openpilot/starpilot/tests/test_ford_bluepilot_aol.py": { - "cases": 133, - "seconds": 274.055069753, - "source_sha256": "ef4d8ff607cedc41c2cf88375a707c0eecaaab623d1a6ba8c8bb3aeb13391e68", - "reference": { - "basis": "Maximum of complete same-source whole-module hosted measurements; phase time only, no grouping or deadline changes.", - "source_blob": "ce0ee89600b5b608eb2c905a43c0c8ec8db5cc0b", - "measurements": [ - { - "revision": "12dab8c31dd362a6198b9f2bb55facdf7dd34a9f", - "run_id": 40449589613, - "artifact_id": 12710448232, - "shard": 19, - "suite": "custom-pytest", - "seconds": 274.055069753 - }, - { - "revision": "5f84b6c763b9aa185ed4e169a63b058a4cbce3d9", - "run_id": 40477003765, - "artifact_id": 12722625581, - "shard": 8, - "suite": "aol-lifecycle", - "seconds": 266.7861787670016, - "results_sha256": "ab0b19b17563bd052360b59cac490415407f5c0196fa3762219a960e3a426cc1" - } - ] - } } }, "reference": { diff --git a/tools/ci/run_safety_qualification.py b/tools/ci/run_safety_qualification.py index 1e114e0621..51c5e2107a 100644 --- a/tools/ci/run_safety_qualification.py +++ b/tools/ci/run_safety_qualification.py @@ -463,7 +463,6 @@ class Gate: from opendbc.safety.tests.libsafety import libsafety_py libsafety_py.load(sys.argv[1]) suite = unittest.TestLoader().discover('.', pattern='test_*.py') -suite.addTests(unittest.TestLoader().loadTestsFromName('opendbc.bluepilot_lateral.tests.test_angle_native')) """ + UNITTEST_ACCOUNTING code, text = self.run("unittest", [self.python, "-c", suite_script, str(native)], cwd=SAFETY_TESTS) summary = parse_unittest_summary(text) diff --git a/tools/ci/run_vehicle_tests.py b/tools/ci/run_vehicle_tests.py index e6c76005e7..9b47ad0151 100644 --- a/tools/ci/run_vehicle_tests.py +++ b/tools/ci/run_vehicle_tests.py @@ -25,9 +25,6 @@ from tools.ci import lifecycle_shards, vehicle_pytest # The emitted selected_test_ids record exact parametrized configurations. AOL_LIFECYCLE_TARGETS = ( "opendbc_repo/opendbc/car/hyundai/tests/test_torque_ev_deferred_takeover.py", - 'openpilot/starpilot/tests/test_ford_bluepilot_aol.py', - 'opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py', - 'opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py', 'openpilot/starpilot/aol/tests/test_hkg_early_long_withdrawal.py', 'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py', 'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py', @@ -59,8 +56,7 @@ AOL_LIFECYCLE_TARGETS = ( 'openpilot/starpilot/aol/tests/test_hkg_native_admission.py', 'openpilot/starpilot/aol/tests/test_native_observation_admission.py', 'openpilot/starpilot/aol/tests/test_forte_physical_arm_join.py', - 'opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py', - 'opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py', + 'opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py', 'openpilot/starpilot/aol/tests/test_hkg_cancel_joined.py', 'openpilot/starpilot/aol/tests/test_gv70_two_panda_long.py', 'openpilot/starpilot/longitudinal/tests/test_gv70_stopping_parity.py', @@ -229,10 +225,6 @@ DEBUG_SAFETY_CLASS_TARGETS = { "opendbc_repo/opendbc/safety/tests/test_hyundai_ev9_long.py": ( "opendbc_repo/opendbc/safety/tests/test_hyundai_ev9_long.py::TestEv9LongDebugContract", ), - "opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py": ( - "opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py::TestFordMachEExtended", - "opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py::TestFordMachEDebugLongExtended", - ), "opendbc_repo/opendbc/safety/tests/test_hyundai_main_rearm.py": ( "opendbc_repo/opendbc/safety/tests/test_hyundai_main_rearm.py::TestHkgMainDebug", ), @@ -244,9 +236,6 @@ DEBUG_SAFETY_CLASS_TARGETS = { RELEASE_TARGETS = ( - 'openpilot/starpilot/tests/test_ford_bluepilot_aol.py', - 'opendbc_repo/opendbc/bluepilot_lateral/tests/test_angle_core.py', - 'opendbc_repo/opendbc/safety/tests/test_ford_bluepilot_aol.py', 'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py', 'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py', 'opendbc_repo/opendbc/car/toyota/tests/test_matrix_filter.py', @@ -271,8 +260,7 @@ RELEASE_TARGETS = ( 'opendbc_repo/opendbc/safety/tests/test_toyota_radar_lta_pedal.py', 'opendbc_repo/opendbc/safety/tests/test_toyota_prius_retrofit_advert.py', 'opendbc_repo/opendbc/car/hyundai/tests/test_long_cp_copy.py', - 'opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py', - 'opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py', + 'opendbc_repo/opendbc/safety/tests/test_ford_canfd_display.py', "opendbc_repo/opendbc/safety/tests/test_toyota_prius_advert.py", 'opendbc_repo/opendbc/safety/tests/test_hyundai_gv60_long.py::TestGV60LongReleaseDenied', 'openpilot/starpilot/tests/test_ford_configuration_parity.py', @@ -394,15 +382,9 @@ RELEASE_TARGETS = ( "opendbc_repo/opendbc/car/ford/tests/test_aol_startup.py", "openpilot/starpilot/tests/test_ford_aol_intent.py", "opendbc_repo/opendbc/safety/tests/test_ford_aol.py", - "opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py::TestFordMachEExtended", - "opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py::TestFordMachELongReleaseExtended", + "opendbc_repo/opendbc/safety/tests/test_ford.py::TestFordCANFDLongitudinalSafety", "opendbc_repo/opendbc/car/ford/tests/test_added_firmware_identity.py", "opendbc_repo/opendbc/car/ford/tests/test_required_source_health.py", - "opendbc_repo/opendbc/car/ford/tests/test_blend_settings.py", - "opendbc_repo/opendbc/car/ford/tests/test_blend_settings_startup.py", - "opendbc_repo/opendbc/car/ford/tests/test_production_extensions.py", - "opendbc_repo/opendbc/car/ford/tests/test_generic_canfd.py", - "opendbc_repo/opendbc/safety/tests/test_ford_generic_canfd_extended.py", "opendbc_repo/opendbc/car/hyundai/tests/test_blended_stock_aol.py", "openpilot/starpilot/aol/tests/test_nexo_stock_aol.py", "opendbc_repo/opendbc/safety/tests/test_nexo_stock_aol.py", diff --git a/tools/ci/safety_pytest_coverage.py b/tools/ci/safety_pytest_coverage.py index 72521d0e8f..60cf6914d7 100644 --- a/tools/ci/safety_pytest_coverage.py +++ b/tools/ci/safety_pytest_coverage.py @@ -31,8 +31,7 @@ def targets_for_coverage(root=ROOT): selected.add(f'{relative}::{node.name}') # These existing end-to-end callers bind the supplied library. Other vehicle suites # deliberately compile distinct DEBUG/RELEASE artifacts and retain their own gates. - for relative in ('opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py', - 'openpilot/starpilot/car/nissan/tests/test_aol.py', + for relative in ('openpilot/starpilot/car/nissan/tests/test_aol.py', 'openpilot/starpilot/car/rivian/tests/test_aol_native.py'): if (root / relative).is_file(): selected.add(relative) diff --git a/tools/ci/tests/test_safety_qualification.py b/tools/ci/tests/test_safety_qualification.py index b0e3ad30a1..0ee89d9ccf 100644 --- a/tools/ci/tests/test_safety_qualification.py +++ b/tools/ci/tests/test_safety_qualification.py @@ -95,8 +95,7 @@ class TestSafetyQualificationRunner(TestCase): def test_coverage_catalog_includes_native_pytest_and_external_callers(self): from tools.ci import safety_pytest_coverage as coverage selected = coverage.targets_for_coverage(qualification.ROOT) - for name in ('opendbc_repo/opendbc/car/ford/tests/test_pinion_measurement.py', - 'opendbc_repo/opendbc/safety/tests/test_tesla_preap_pedal.py::test_actual_registered_priming_rate_absolute_bus_and_counter_bounds', + for name in ('opendbc_repo/opendbc/safety/tests/test_tesla_preap_pedal.py::test_actual_registered_priming_rate_absolute_bus_and_counter_bounds', 'openpilot/starpilot/car/nissan/tests/test_aol.py', 'openpilot/starpilot/car/rivian/tests/test_aol_native.py'): self.assertIn(name, selected) @@ -220,7 +219,7 @@ class TestSafetyQualificationRunner(TestCase): self.assertEqual(len(libraries.builds[0]['source_sha256']), 64) libraries.load(variant) module.load.assert_called_with(variant.resolve()) - params = root / 'opendbc_repo/opendbc/bluepilot_lateral/params/limits.h' + params = root / 'opendbc_repo/opendbc/bluepilot_lateral/safety/ford.h' params.parent.mkdir(parents=True) params.write_text('changed native include') with self.assertRaisesRegex(RuntimeError, 'sources changed before loading'): diff --git a/tools/ci/tests/test_vehicle_ci.py b/tools/ci/tests/test_vehicle_ci.py index d809ebdf22..3ef2be5e90 100644 --- a/tools/ci/tests/test_vehicle_ci.py +++ b/tools/ci/tests/test_vehicle_ci.py @@ -292,7 +292,6 @@ class TestVehicleCollection(unittest.TestCase): self.assertIn(target, debug) self.assertIn(target, release) self.assertIn("opendbc_repo/opendbc/safety/tests/test_hyundai_ev9_long.py", mixed) - self.assertIn("opendbc_repo/opendbc/safety/tests/test_ford_mach_e_extended.py", mixed) def test_interfaces_do_not_mislabel_historical_route_test_base(self): root = Path(__file__).resolve().parents[3]