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Modular Assistive Driving System (MADS) #40

Merged
merged 109 commits into from
Dec 6, 2024
Merged

Modular Assistive Driving System (MADS) #40

merged 109 commits into from
Dec 6, 2024

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devtekve
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@devtekve devtekve commented Nov 15, 2024 •
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Refactor MADS safety with improved state management

Supported makes

  • Hyundai (+ LKAS button)
  • Toyota (No LKAS button)
  • Honda
  • Ford
  • Chrysler
  • GM
  • Mazda
  • Nissan
  • Subaru
  • Volkswagen
    - [ ] Tesla

Tested real world

  • Hyundai (+ LKAS button)
  • Toyota (No LKAS button)
  • Honda
  • Ford
  • Chrysler
  • GM
  • Mazda
  • Nissan
  • Subaru
  • Volkswagen
    - [ ] Tesla

Note: Real world tests will be deferred to the SP PR

Changes

Core Changes:

  • Introduced a MADSState struct to centralize state management
  • Removed global state variables in favor of structured state
  • Implemented button transition handling with explicit state tracking (PRESSED/RELEASED/NO_CHANGE)
  • Added state flags for button availability detection
  • Simplified lateral control permission logic

Button Handling:

  • Separated main button and LKAS button state tracking
  • Added independent engagement states for each button
  • Improved button press detection across multiple platforms
  • Added support for main and LKAS buttons on Hyundai platforms
  • Modified ACC main state handling

Testing:

  • Added comprehensive test coverage for MADS state transitions
  • Added new MADS-specific test base class for consistent testing across platforms
  • Added mutation testing for state management
  • Extended timeout for mutation tests from 5 to 8 minutes
  • Added extensive button press validation tests
  • Enhanced debugging output in replay drive tests

The refactored code provides a more organized implementation of MADS safety features while maintaining compatibility with existing safety checks.

Relates to:

sunnyhaibin and others added 22 commits September 18, 2024 08:57
This was referenced Nov 15, 2024
Merged
Merged
@sunnyhaibin sunnyhaibin changed the title Feature: Modular Assistive Driving System (MADS) Modular Assistive Driving System (MADS) Nov 21, 2024
@devtekve
Refactor tests to use _speed_msg instead of _user_brake_msg.
e71f084 
Updated the MADS safety tests to utilize the _speed_msg(0) function call in place of _user_brake_msg(False).
@devtekve
Reworking the tests a little for clarity
bf1ca4a
@devtekve
disabling lkas again on toyota temporarily
efe4a7e
@devtekve devtekve marked this pull request as ready for review December 5, 2024 20:03
sunnyhaibin
sunnyhaibin reviewed Dec 5, 2024
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board/safety/safety_subaru.h Outdated Show resolved Hide resolved
board/safety/safety_toyota.h Outdated Show resolved Hide resolved
tests/libpanda/safety_helpers.h Outdated Show resolved Hide resolved
tests/libpanda/safety_helpers.h Outdated Show resolved Hide resolved
tests/safety/test_hyundai.py Outdated Show resolved Hide resolved
board/safety/safety_chrysler.h Outdated Show resolved Hide resolved
board/safety/safety_mazda.h Outdated Show resolved Hide resolved
board/safety/safety_subaru.h Outdated Show resolved Hide resolved
board/safety/safety_subaru_preglobal.h Outdated Show resolved Hide resolved
tests/safety_replay/replay_drive.py Outdated Show resolved Hide resolved
@sunnyhaibin sunnyhaibin merged commit 4c2ccd7 into master-new Dec 6, 2024
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@sunnyhaibin sunnyhaibin deleted the mads-new branch December 6, 2024 00:39
sunnyhaibin added a commit that referenced this pull request Dec 9, 2024
@sunnyhaibin
Revert "Modular Assistive Driving System (MADS) (#40)"
82173b6 
This reverts commit 4c2ccd7.
@sunnyhaibin sunnyhaibin mentioned this pull request Dec 9, 2024
Merged
sunnyhaibin added a commit that referenced this pull request Dec 9, 2024
@sunnyhaibin
Revert "Modular Assistive Driving System (MADS) (#40)" (#54)
9adc171 
This reverts commit 4c2ccd7.
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@sunnyhaibin sunnyhaibin sunnyhaibin approved these changes

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@devtekve @sunnyhaibin