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update unsafeMode to alternativeExperience #23995

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Merged
adeebshihadeh merged 5 commits into from
Mar 24, 2022
Merged

update unsafeMode to alternativeExperience #23995

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82d31ec
update unsafeMode to alternativeExperience
sshane Mar 18, 2022
6739e94
fix
sshane Mar 18, 2022
910ee29
fix
sshane Mar 18, 2022
a2dfa38
bump submodules
adeebshihadeh Mar 24, 2022
53a2a3d
Merge branch 'master' of github.com:commaai/openpilot into alternativ…
adeebshihadeh Mar 24, 2022
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2 changes: 1 addition & 1 deletion cereal
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Submodule cereal updated from 447d8b to e94649
2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 14 files
+3 −3 board/health.h
+1 −1 board/safety.h
+4 −4 board/safety/safety_ford.h
+2 −2 board/safety/safety_gm.h
+4 −4 board/safety/safety_honda.h
+6 −8 board/safety_declarations.h
+3 −3 board/usb_comms.h
+2 −2 python/__init__.py
+6 −6 tests/safety/common.py
+2 −2 tests/safety/libpandasafety_py.py
+5 −5 tests/safety/test.c
+4 −4 tests/safety/test_gm.py
+9 −9 tests/safety/test_honda.py
+5 −5 tests/safety/test_toyota.py
8 changes: 4 additions & 4 deletions selfdrive/boardd/boardd.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
int safety_param;

auto safety_configs = car_params.getSafetyConfigs();
uint16_t unsafe_mode = car_params.getUnsafeMode();
uint16_t alternative_experience = car_params.getAlternativeExperience();
for (uint32_t i = 0; i < pandas.size(); i++) {
auto panda = pandas[i];

Expand All @@ -174,8 +174,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
safety_param = 0;
}

LOGW("panda %d: setting safety model: %d, param: %d, unsafe mode: %d", i, (int)safety_model, safety_param, unsafe_mode);
panda->set_unsafe_mode(unsafe_mode);
LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
panda->set_alternative_experience(alternative_experience);
panda->set_safety_model(safety_model, safety_param);
}

Expand Down Expand Up @@ -362,7 +362,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
ps.setUnsafeMode(health.unsafe_mode_pkt);
ps.setAlternativeExperience(health.alternative_experience_pkt);
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));

// Convert faults bitset to capnp list
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/boardd/panda.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -251,8 +251,8 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}

void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
usb_write(0xdf, unsafe_mode, 0);
void Panda::set_alternative_experience(uint16_t alternative_experience) {
usb_write(0xdf, alternative_experience, 0);
}

cereal::PandaState::PandaType Panda::get_hw_type() {
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/boardd/panda.h
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ class Panda {
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
void set_unsafe_mode(uint16_t unsafe_mode);
void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
void set_fan_speed(uint16_t fan_speed);
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
get_one_can(self.can_sock)

self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
self.CP.unsafeMode = 0 # see panda/board/safety_declarations.h for allowed values
self.CP.alternativeExperience = 0 # see panda/board/safety_declarations.h for allowed values

# read params
self.is_metric = params.get_bool("IsMetric")
Expand Down Expand Up @@ -260,7 +260,7 @@ def update_events(self, CS):
if i < len(self.CP.safetyConfigs):
safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
pandaState.unsafeMode != self.CP.unsafeMode
pandaState.alternativeExperience != self.CP.alternativeExperience
else:
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES

Expand Down