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Rivian: fix fuzzy test_models failures #1929

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merged 3 commits into from
Mar 6, 2025
Merged

Rivian: fix fuzzy test_models failures #1929

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fb81f6d
fix possible gear exception
sshane Mar 6, 2025
b9a4727
fix cruise state mismatch
sshane Mar 6, 2025
2a22fbd
clean up
sshane Mar 6, 2025
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4 changes: 3 additions & 1 deletion opendbc/car/rivian/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
from opendbc.car.rivian.values import DBC, GEAR_MAP
from opendbc.car.common.conversions import Conversions as CV

GearShifter = structs.CarState.GearShifter


class CarState(CarStateBase):
def __init__(self, CP):
Expand Down Expand Up @@ -62,7 +64,7 @@ def update(self, can_parsers) -> structs.CarState:
cp.vl["VDM_AdasSts"]["VDM_AdasFaultStatus"] in (2, 3)) # 2=Cntr_Fault, 3=Imps_Cmd

# Gear
ret.gearShifter = GEAR_MAP[int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"])]
ret.gearShifter = GEAR_MAP.get(int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"]), GearShifter.unknown)

# Doors
ret.doorOpen = (cp_adas.vl["IndicatorLights"]["RearDriverDoor"] != 2 or
Expand Down
14 changes: 7 additions & 7 deletions opendbc/car/rivian/values.py
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Expand Up @@ -44,13 +44,13 @@ class CAR(Platforms):
]
)

GEAR_MAP = [
structs.CarState.GearShifter.unknown,
structs.CarState.GearShifter.park,
structs.CarState.GearShifter.reverse,
structs.CarState.GearShifter.neutral,
structs.CarState.GearShifter.drive,
]
GEAR_MAP = {
0: structs.CarState.GearShifter.unknown,
1: structs.CarState.GearShifter.park,
2: structs.CarState.GearShifter.reverse,
3: structs.CarState.GearShifter.neutral,
4: structs.CarState.GearShifter.drive,
}


class CarControllerParams:
Expand Down
3 changes: 2 additions & 1 deletion opendbc/safety/safety/safety_rivian.h
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Expand Up @@ -39,7 +39,8 @@ static void rivian_rx_hook(const CANPacket_t *to_push) {
if (bus == 2) {
// Cruise state
if (addr == 0x100) {
pcm_cruise_check(GET_BIT(to_push, 21U));
const int feature_status = GET_BYTE(to_push, 2) >> 5U;
pcm_cruise_check(feature_status == 1);
}
}
}
Expand Down
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