Merge remote-tracking branch 'upstream/master' into ford-lsl

commaai · Oct 26, 2024 · cfd4707 · cfd4707
2 parents 94d410b + 2bd2f2a
commit cfd4707
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Showing 2 changed files with 21 additions and 12 deletions.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -223,6 +223,9 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Signal: CmbbDeny_B_Actl
     bool cmbb_deny = GET_BIT(to_send, 37U);
 
+    // Signal: AccBrkPrchg_B_Rq & AccBrkDecel_B_Rq
+    bool brake_actuation = GET_BIT(to_send, 54U) || GET_BIT(to_send, 55U);
+
     bool violation = false;
     violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS);
     violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS);
@@ -231,6 +234,8 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
     // Safety check for stock AEB
     violation |= cmbb_deny; // do not prevent stock AEB actuation
 
+    violation |= !get_longitudinal_allowed() && brake_actuation;
+
     if (violation) {
       tx = false;
     }

diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -406,12 +406,14 @@ def setUpClass(cls):
       raise unittest.SkipTest
 
   # ACC command
-  def _acc_command_msg(self, gas: float, brake: float, cmbb_deny: bool = False):
+  def _acc_command_msg(self, gas: float, brake: float, brake_actuation: bool, cmbb_deny: bool = False):
     values = {
-      "AccPrpl_A_Rq": gas,                       # [-5|5.23] m/s^2
-      "AccPrpl_A_Pred": gas,                     # [-5|5.23] m/s^2
-      "AccBrkTot_A_Rq": brake,                   # [-20|11.9449] m/s^2
-      "CmbbDeny_B_Actl": 1 if cmbb_deny else 0,  # [0|1] deny AEB actuation
+      "AccPrpl_A_Rq": gas,                              # [-5|5.23] m/s^2
+      "AccPrpl_A_Pred": gas,                            # [-5|5.23] m/s^2
+      "AccBrkTot_A_Rq": brake,                          # [-20|11.9449] m/s^2
+      "AccBrkPrchg_B_Rq": 1 if brake_actuation else 0,  # Pre-charge brake request: 0=No, 1=Yes
+      "AccBrkDecel_B_Rq": 1 if brake_actuation else 0,  # Deceleration request: 0=Inactive, 1=Active
+      "CmbbDeny_B_Actl": 1 if cmbb_deny else 0,         # [0|1] deny AEB actuation
     }
     return self.packer.make_can_msg_panda("ACCDATA", 0, values)
 
@@ -421,25 +423,27 @@ def test_stock_aeb(self):
       self.safety.set_controls_allowed(controls_allowed)
       for cmbb_deny in (True, False):
         should_tx = not cmbb_deny
-        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, cmbb_deny)))
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, controls_allowed, cmbb_deny)))
         should_tx = controls_allowed and not cmbb_deny
-        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, cmbb_deny)))
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, controls_allowed, cmbb_deny)))
 
   def test_gas_safety_check(self):
     for controls_allowed in (True, False):
       self.safety.set_controls_allowed(controls_allowed)
       for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])):
         gas = round(gas, 2)  # floats might not hit exact boundary conditions without rounding
         should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS
-        self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL)))
+        self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL, controls_allowed)))
 
   def test_brake_safety_check(self):
     for controls_allowed in (True, False):
       self.safety.set_controls_allowed(controls_allowed)
-      for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05):
-        brake = round(brake, 2)  # floats might not hit exact boundary conditions without rounding
-        should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL
-        self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake)))
+      for brake_actuation in (True, False):
+        for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05):
+          brake = round(brake, 2)  # floats might not hit exact boundary conditions without rounding
+          should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL
+          should_tx = should_tx and (controls_allowed or not brake_actuation)
+          self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake, brake_actuation)))
 
 
 class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):