Rivian safety: check missing rx addr #1949
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sshane
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devtekve
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Mar 9, 2025
* Hyundai CAN-FD Safety: Update wheel speed signal parsing (commaai#1850) * reimplement * use average wheel speed * fix factor with eEgoRaw * Revert "fix factor with eEgoRaw" This reverts commit 35f3624. * Revert "use average wheel speed" This reverts commit ec4e9c1. * revert to previous * mutation again ugh * mutation you got to be kidding me * nice, this passes test models now --------- Co-authored-by: Shane Smiskol <[email protected]> * Angle safety: test above max angle (commaai#1879) * test test_angle_cmd_when_enabled above max angle and set them * nissan is too high * clean up * more * fingerprint: 2023 Tesla Model Y (HW3) (commaai#1882) * Hyundai CAN FD: ADAS steering API updates (commaai#1873) * Hyundai CAN FD: Steering API updates * comments * comments * keep it for now * not used * should use DBC spec * consistent --------- Co-authored-by: Shane Smiskol <[email protected]> * Remove test_generator from commit hooks (commaai#1883) * angle limits: use a struct (commaai#1885) * struct to prevent forgetting something and make more organized * use it * move all over * clean up * rm * Revert "Hyundai CAN FD: ADAS steering API updates" (commaai#1888) Revert "Hyundai CAN FD: ADAS steering API updates (commaai#1873)" This reverts commit 2a75806. * Hyundai CAN FD: add angle control signals to the DBC (commaai#1887) * restart * fix * missing * remove stuff we don't use * huh * fix * fix fix fix * we haven't seen LKAS with angle yet * this is missing from the new message * ... * more explicit * flip * import * Hyundai CAN FD angle control: add fault signal * Run format_fingerprints.py * Fix Ford CAN FD safety replay (commaai#1889) * safety replay: fix messages on segment boundaries not sorted (commaai#1890) * Update replay_drive.py * warn * no true * tqdm too * master-ci is dead * Replace gcov & lcov with gcovr (commaai#1867) Use gcovr instead of gcov to support exclusion markers. This also replaces lcov, since gcov has far fewer dependencies, can be installed via uv (and looks better if anything). * Ford Q4: limit max curvature from vehicle speed (commaai#1852) * curvature safety: limit to ISO max * . * cmt * implement in carcontroller * MISRAAAAAA * use ~average road roll * stash * clean up * compiles * fix safety replay for ford can fd * always init * stash * fix replay * fix that * safety doesn't consider rate limits when clipping max curvature consider: at the max curvature limit and user gas overrides heavily, max curvature limit might drop quicker than the safet rate limit will allow for * don't limit for CAN * do tests (need to clean up) * stash * rm * clean up tests * fix that * smaller * fix capnp error * because we allow tolerance on the error limiting, we need the same type of tolerance on the max accel curvature to not block * fix a test * fix another * consistent naming * debugging * debug * remove * stash * clean up * clean up * minor * and this * space * misra * doesn't matter here * safety mutation test fix * misra false positive? * rename * ah good catch, these are equivalent * comment * clean up * rename like safety * fix * simpler * not needed * Ford CAN FD: enable safety in release (commaai#1896) CAN FD out of ALLOW_DEBUG * Hyundai CAN FD: test ACC cancel (commaai#1898) * debug * remove debugging * huh * Coverage fixups (commaai#1900) * fixup * test * bye copilot * rev * fix * fix * test again * revert * need * Only run tx hooks on msgs in safety_config.tx_msgs (commaai#1851) * Only run tx hooks on msgs in safety_config.tx_msgs. * 'fix' tests * retrigger checks bc timeouts * not hit * formatting * add back --------- Co-authored-by: Shane Smiskol <[email protected]> * Add Bosch C harness * Ford CAN FD: upstream car docs (commaai#1904) * in upstream * fix tests * Car docs: small cleanup these are the same * Toyota: low speed lockout is a fault only if openpilot longitudinal (commaai#1906) only if long * Ford CAN FD: SecOC is dashcam (commaai#1908) * no tron (2010) * switch to actual ACC message * switch to camera * add logging * Ford CAN FD: fix docs * add CI test artifacts to gitignore (commaai#1916) * Tesla: add Model Y 2022 (HW3) (commaai#1915) add fingerprint * website: use new highlight class (commaai#1920) * highlight * not here * `test_models_trigger.yaml`: add checkout check to prevent opendbc bump fail (commaai#1919) add checkout check to prevent opendbc bump fail * Rivian: add VDM fault signal (commaai#1918) * add VDM fault signal * fix * Rivian: accFaulted comments * Fulfillment parts (commaai#1921) * highlight * not here * changes for fulfilment parts * not used * Tesla: setSpeed is vEgo while disabled (commaai#1923) set set speed to vEgo while inactive * carcontroller cleanup (commaai#1924) * cc cleanup * ?????? * docs: start extra cars clean up (commaai#1925) * support support-type * fix * fix * fix * Rivian safety: minor clean up * Rivian safety: test accel actuation message w/ stock long (commaai#1927) stock longitudinal when stock long too * Rivian: cancel command (commaai#1910) * add candidate cancel command and test * fixes * this was correct * try spacing out the messages * try adas status to acm to cancel * try a bunch of stuff * send the entire range * try faulted * try two faults * try faster * 50hz * Revert "50hz" This reverts commit babcbdf. * no fault on dash * 50hz * see if "unavailable" also works * try sending just 1 * 100 Hz * Revert "100 Hz" This reverts commit 29ae625. * Revert "try sending just 1" This reverts commit 64908eb. * revert other stuff - forgot counter! * Revert "revert other stuff - forgot counter!" This reverts commit 5ce09b7. * try counter * final thing * 100 hz * Revert "100 hz" (faults) This reverts commit bea3977. * nvm we can't do this since the state management to know when openpilot stops sending cancel is too complex * Revert "nvm we can't do this since the state management to know when openpilot stops sending cancel is too complex" This reverts commit 19fb385. * forward through openpilot * try these two * let's also try this * are we doing this right? * temp fault? * ? * try oscillating?! * that works?! * maybe ACM needs to see VDM status rise before VDM can request cancel with a falling edge * try to cancel immediately (1 frame of available) * no counter * cmts * 3 frames * comments * clean up safety * clean up * cc clean up * typo * comments * clean this up too * and this too * Rivian: fix fuzzy test_models failures (commaai#1929) * fix possible gear exception * fix cruise state mismatch * clean up * Rivian: don't show set speed in UI (commaai#1842) * Rivian: don't show set speed in UI * carparam * just use speed * remove a dynamic import fix * Replace @parameterized.expand with @pytest.mark.parametrize to improve test speed (commaai#1930) * Replace @parameterized.expand with @pytest.mark.parametrize for faster test collection This change reduces the opendbc/car/tests/ collection time to ~0.4s. * clean up --------- Co-authored-by: Shane Smiskol <[email protected]> * Tesla: support 0 cruise state speed (commaai#1928) so far only tesla has been seen being able to set to 0 * VW MEB: Reserve safety identifier (commaai#1931) * VW PQ: Add FW for 2012 Jetta Sportwagen TDI (commaai#1712) * Update interface.py * Update fingerprints.py * Revert "Update interface.py" This reverts commit a2abbc0. * HKG: Add FW for 2020 Hyundai Ioniq HEV (commaai#1914) * Update fingerprints.py * 2020 confirmed! * should be fine --------- Co-authored-by: Jason Young <[email protected]> * vin: add parse function (commaai#1935) * parse vin * Update opendbc/car/vin.py * Rivian: values cleanup * Vin helper class (commaai#1937) * TODO: cant pass down due to circular imports * revert * screw it, we can split vin.py and vin_query.py later. this is nicer * Revert "screw it, we can split vin.py and vin_query.py later. this is nicer" This reverts commit 9ddab33. * Rivian: VIN fuzzy fingerprinting (commaai#1821) * add match_fw_to_car_fuzzy * remove comment * fix dbc * format * don't remove... * parse_vin function * test caught bug * safe string accessing --------- Co-authored-by: Shane Smiskol <[email protected]> * safety: checksum and counter are explicitly opt-out (commaai#1939) * this is what we want * rm old * and now counter * need this * toyota * subaru's good * Tesla and Chrysler * Ford * do some find and replace * do the rest * clean up * remove this * rm * not broken but bad * this was wrong! * safety replay: fix torque init * safety replay: start to support Hyundai CAN FD * safety tests: common attrs (commaai#1948) * set FWD_BUS_LOOKUP to most common * this is always assumed to be a number, test models tests mismatches * clean up * and this * Rivian safety: check missing rx addr (commaai#1949) Fix Rivian * Rivian: remove a VDM ACC fault signal (commaai#1951) only what we've triggered * SP fixes for sync-20250309 (#72) * Fix get_params_for_docs call to use correct parameters Updated the function call to match the required arguments by removing the redundant 'model' parameter. This ensures compatibility with the function definition and prevents potential errors. * Add _tx_acc_state_msg method and standardize PT_BUS usage Introduce the _tx_acc_state_msg method in Hyundai safety tests to handle ACC state messaging. Replace hardcoded bus values with the self.PT_BUS variable for consistency and maintainability across SCC_CONTROL messages. * Add MADS heartbeat engaged state validation test Introduce a new test function `test_heartbeat_engaged_mads_check` to verify the behavior of MADS heartbeat engagement logic under varying conditions. This ensures correct state transitions and validates robustness against mismatched heartbeat signals. * Increase timeout for safety mutation tests to 60 minutes Extended the timeout for the entire safety mutation tests workflow and its individual steps from 20 and 10 minutes respectively to 60 minutes. This change ensures that longer-running tests complete successfully without premature termination. * Bring replay_drive from SP into opendbc instead of panda --------- Co-authored-by: Jason Wen <[email protected]> Co-authored-by: Shane Smiskol <[email protected]> Co-authored-by: Trey Moen <[email protected]> Co-authored-by: Eric Brown <[email protected]> Co-authored-by: Adeeb Shihadeh <[email protected]> Co-authored-by: chris dunder <[email protected]> Co-authored-by: Jason Young <[email protected]> Co-authored-by: Lukas <[email protected]> Co-authored-by: Mauricio Alvarez Leon <[email protected]> Co-authored-by: Aniurm <[email protected]> Co-authored-by: insertwittyusername <[email protected]> Co-authored-by: royjr <[email protected]> Co-authored-by: Jason Young <[email protected]>
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From #1903