Homogenize Steering Fault Avoidance (#29140)

* fix subaru fault

* try this!

* wip

* try this

* this more or less worked

* this is all under gen2

* that needs to be up there

* comment

* steer_angle

* test

* wip

* wip

* sync

* wip

* cleanup

* remove print

* use sets and fix unittests

* common fault avoidance

* common fault avoidance

* cleanup

* cleanup

* cleanup

* cleanup

* cleanup

* revert subaru to get this part merged

* revert name change

* revert name change

* revert name change

* same as before

* add test case

* also verify zero tolerance

* keep the current behavior

* split into multiple tests for easier debugging

* added comments and remove tests

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Comma Device <device@comma.ai>

selfdrive/car/__init__.py

@@ -132,6 +132,27 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
 
 
+def common_fault_avoidance(measured_value: float, max_value: float, request: int, current_request_frames: int = 0, 
+                                                         max_request_frames: int = 1, cut_request_frames: int = 1):
+  """
+  Several cars have the ability to work around their EPS limits by cutting the
+  request bit of their LKAS message after a certain number of frames above the limit.
+  """
+  
+  # Count up to max_request_frames, at which point we need to cut the request for cut_request_frames to avoid a fault
+  if request and abs(measured_value) >= max_value:
+    current_request_frames += 1
+  else:
+    current_request_frames = 0
+
+  if current_request_frames > max_request_frames:
+    request = 0
+
+  if current_request_frames >= max_request_frames + cut_request_frames:
+    current_request_frames = 0
+  
+  return current_request_frames, request
+
 def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1

selfdrive/car/hyundai/carcontroller.py

@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_driver_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
@@ -64,9 +64,17 @@ class CarController:
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
+    # >90 degree steering fault prevention
+    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(CS.out.steeringAngleDeg, MAX_ANGLE, CC.latActive,
+                                                                      self.angle_limit_counter, MAX_ANGLE_FRAMES,
+                                                                      MAX_ANGLE_CONSECUTIVE_FRAMES)
+    
     if not CC.latActive:
       apply_steer = 0
     
+    # Hold torque with induced temporary fault when cutting the actuation bit
+    torque_fault = CC.latActive and not apply_steer_req
+
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
@@ -94,27 +102,13 @@ class CarController:
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
-    # >90 degree steering fault prevention
-    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
-    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
-      self.angle_limit_counter += 1
-    else:
-      self.angle_limit_counter = 0
-
-    # Cut steer actuation bit for two frames and hold torque with induced temporary fault
-    torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
-    lat_active = CC.latActive and not torque_fault
-
-    if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
-      self.angle_limit_counter = 0
-
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and hda2:
@@ -158,7 +152,7 @@ class CarController:
                 can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                 hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                 left_lane_warning, right_lane_warning))

selfdrive/car/toyota/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, \
+from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
@@ -56,19 +56,11 @@ class CarController:
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
 
-    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(CS.out.steeringRateDeg, MAX_STEER_RATE, CC.latActive,
-    if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
+                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
-      self.steer_rate_counter += 1
-    else:
-      self.steer_rate_counter = 0
 
-    apply_steer_req = 1
+    if not CC.latActive:
-    if not lat_active:
       apply_steer = 0
-      apply_steer_req = 0
-    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-      apply_steer_req = 0
-      self.steer_rate_counter = 0
 
     # *** steer angle ***
     if self.CP.steerControlType == SteerControlType.angle: