Sync: commaai/opendbc:master into sunnypilot/opendbc:master-new

[devtekve]

Summary by Sourcery

Refactor safety checks and update car values for improved accuracy and maintainability. This includes changes to Ford, Rivian, Hyundai, and other car models, focusing on CAN message handling, steering limits, and firmware matching.

Bug Fixes:

• Fixes issues with counter and checksum checks in various safety configurations.
• Corrects steering angle measurements and rate limits for Ford CAN FD.
• Addresses potential ACC faults and longitudinal control issues in Rivian and Hyundai models.
• Fixes VIN matching logic for Volkswagen MEB platform.
• Fixes steering angle measurements for Toyota LTA.
• Fixes wheel speed measurements for Hyundai CAN-FD

Enhancements:

• Improves steering angle and torque limits for Ford, Nissan, and Toyota.
• Enhances CAN message handling and filtering for Rivian, Hyundai, and GM.
• Updates firmware matching logic for Volkswagen and Rivian.
• Refactors Ford steering limits to account for lateral acceleration.
• Adds support for canceling stock ACC in Rivian.
• Improves steering rate fault prevention for Toyota and Subaru.
• Updates wheel speed measurements for Hyundai CAN-FD

Tests:

• Adds tests for Rivian custom fuzzy fingerprinting.
• Adds tests for max lateral acceleration for Ford CAN FD.
• Updates tests for steering angle measurements for Toyota LTA.
• Updates tests for wheel speed measurements for Hyundai CAN-FD

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request includes several updates to improve car support, safety, and testing. It adds VIN fuzzy matching for Rivian cars, CAN FD support for Hyundai cars, and lateral acceleration limiting for Ford CAN FD vehicles. It also updates safety RX checks to ignore checksum and counter for various car models, updates safety replay to initialize segments correctly and improve logging, and updates safety tests to use assertEqual instead of assertTrue and assertFalse.

Sequence diagram for Rivian ACC cancel

sequenceDiagram
    participant CarController
    participant CarState
    participant CANPacker

    CarController->CarState: CC.cruiseControl.cancel = True
    CarController->CANPacker: create_adas_status(vdm_adas_status, interface_status)
    activate CANPacker
    CANPacker->CarState: VDM_AdasInterfaceStatus = 1 (frames < 5), 0 (frames >= 5)
    CarController->CANPacker: create_adas_status(vdm_adas_status, interface_status)
    deactivate CANPacker
    CarController->CarState: CC.cruiseControl.cancel = False
    CarController->CANPacker: create_adas_status(vdm_adas_status, interface_status)
    activate CANPacker
    CANPacker->CarState: VDM_AdasInterfaceStatus = None
    deactivate CANPacker

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Sequence diagram for Ford curvature limits

sequenceDiagram
    participant CarController
    participant CarState
    participant apply_ford_curvature_limits

    CarController->CarState: actuators.curvature, CS.out.vEgoRaw, CC.latActive
    CarController->apply_ford_curvature_limits: apply_ford_curvature_limits(actuators.curvature, current_curvature, CS.out.vEgoRaw, CC.latActive, CP)
    activate apply_ford_curvature_limits
    apply_ford_curvature_limits->apply_ford_curvature_limits: apply_std_steer_angle_limits(apply_curvature, v_ego_raw, steering_angle, lat_active, ANGLE_LIMITS)
    apply_ford_curvature_limits->apply_ford_curvature_limits: Limit curvature based on lateral acceleration (CANFD)
    deactivate apply_ford_curvature_limits

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Updated class diagram for RivianPlatformConfig

classDiagram
    class RivianPlatformConfig {
        DbcDict dbc_dict
        set[WMI] wmis
        set[ModelLine] lines
        set[ModelYear] years
    }

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File-Level Changes

Change	Details	Files
Refactors Ford steering limits to use a macro and adds lateral acceleration limiting for CAN FD.	Introduces a FORD_LIMITS macro to define steering limits based on lateral acceleration. Adds angle_is_curvature flag to AngleSteeringLimits struct to indicate curvature-based limits. Implements lateral acceleration limiting for Ford CAN FD vehicles. Updates steer_angle_cmd_checks to include lateral acceleration checks. Defines FORD_CANFD_STEERING_LIMITS with angle_is_curvature set to true. Uses FORD_CANFD_STEERING_LIMITS for safety checks on FORD_LateralMotionControl2 messages.	opendbc/safety/safety/safety_ford.h opendbc/safety/tests/test_ford.py
Updates Rivian safety to block stock ACC messages when longitudinal control is enabled and fixes cruise control checks.	Blocks VDM_AdasSts messages on bus 0 when longitudinal control is enabled. Updates cruise control checks to use feature_status instead of a single bit. Removes longitudinal control check in rivian_tx_hook. Adds VDM_AdasSts to the list of transmitted messages. Adds ignore_checksum and ignore_counter to Rivian RX checks. Adds a test for VDM_AdasSts message transmission. Removes LONGITUDINAL flag from TestRivianLongitudinalSafety.	opendbc/safety/safety/safety_rivian.h opendbc/safety/tests/test_rivian.py
Adds VIN fuzzy matching for Rivian cars.	Adds RivianPlatformConfig dataclass to include WMI, model line, and model year. Adds match_fw_to_car_fuzzy function to match firmware to Rivian cars based on VIN. Adds WMI, ModelLine, and ModelYear enums for Rivian VIN decoding. Adds a test case for Rivian VIN fuzzy matching.	opendbc/car/rivian/values.py opendbc/car/rivian/tests/test_rivian.py opendbc/car/vin.py
Adds support for canceling stock ACC on Rivian cars.	Adds create_adas_status function to create VDM_AdasSts messages. Adds logic to RivianCarController to send VDM_AdasSts messages for ACC cancellation. Adds vdm_adas_status to CarState to store the last received VDM_AdasSts message.	opendbc/car/rivian/riviancan.py opendbc/car/rivian/carcontroller.py opendbc/car/rivian/carstate.py
Adds CAN FD support for Hyundai cars.	Adds CANFD_LKA_STEERING and CANFD_LKA_STEERING_ALT flags to HyundaiFlags. Adds logic to create_steering_messages to handle CAN FD steering messages. Adds logic to create_acc_control to handle CAN FD ACC messages. Adds CANFD_ALT_BUTTONS flag to HyundaiFlags. Adds logic to create_button_messages to handle CAN FD button messages. Updates RX checks in safety_hyundai_canfd.h to remove checksum checks and add ignore flags. Adds a test case for ACC cancel message transmission.	opendbc/car/hyundai/values.py opendbc/car/hyundai/hyundaicanfd.py opendbc/car/hyundai/carcontroller.py opendbc/safety/safety/safety_hyundai_canfd.h opendbc/safety/tests/test_hyundai_canfd.py
Updates safety RX checks to ignore checksum and counter for various car models.	Adds ignore_checksum and ignore_counter fields to CanMsgCheck struct. Updates RX checks in safety_honda.h, safety_chrysler.h, safety_gm.h, safety_toyota.h, safety_volkswagen_mqb.h, safety_volkswagen_pq.h, safety_subaru.h, safety_tesla.h, and safety_mazda.h to ignore checksum and counter checks for certain messages.	opendbc/safety/safety_declarations.h opendbc/safety/safety/safety_honda.h opendbc/safety/safety/safety_chrysler.h opendbc/safety/safety/safety_gm.h opendbc/safety/safety/safety_toyota.h opendbc/safety/safety/safety_volkswagen_mqb.h opendbc/safety/safety/safety_volkswagen_pq.h opendbc/safety/safety/safety_subaru.h opendbc/safety/safety/safety_tesla.h opendbc/safety/safety/safety_mazda.h
Updates Ford car controller to limit curvature based on lateral acceleration for CAN FD vehicles.	Adds apply_ford_curvature_limits function to limit curvature based on lateral acceleration. Updates CarController.update to use apply_ford_curvature_limits for CAN FD vehicles. Adds MAX_LATERAL_ACCEL constant for lateral acceleration limit. Adds ANGLE_LIMITS to CarControllerParams.	opendbc/car/ford/carcontroller.py
Updates Toyota car controller to use ANGLE_LIMITS.	Adds ANGLE_LIMITS to CarControllerParams. Updates CarController.update to use ANGLE_LIMITS.	opendbc/car/toyota/carcontroller.py opendbc/car/toyota/values.py
Updates Nissan car controller to use ANGLE_LIMITS.	Adds ANGLE_LIMITS to CarControllerParams. Updates CarController.update to use ANGLE_LIMITS.	opendbc/car/nissan/carcontroller.py opendbc/car/nissan/values.py
Updates Tesla car controller to use ANGLE_LIMITS.	Adds ANGLE_LIMITS to CarControllerParams. Updates CarController.update to use ANGLE_LIMITS.	opendbc/car/tesla/carcontroller.py opendbc/car/tesla/values.py
Updates safety replay to initialize segments correctly and improve logging.	Updates init_segment to print a message when no steering messages are found. Updates replay_drive to sort messages by logMonoTime. Updates replay_drive to use tqdm for progress bar. Updates replay_drive to pass a list of messages to replay_drive instead of a LogReader.	opendbc/safety/tests/safety_replay/helpers.py opendbc/safety/tests/safety_replay/replay_drive.py
Updates safety tests to remove FWD_BUS_LOOKUP and add STANDSTILL_THRESHOLD where missing.	Removes FWD_BUS_LOOKUP from various safety tests. Adds STANDSTILL_THRESHOLD to TestRivianSafetyBase. Adds FWD_BUS_LOOKUP = {} to TestDefaultRxHookBase. Adds FWD_BUS_LOOKUP = {} to TestBody. Adds FWD_BUS_LOOKUP = {} to TestElm327.	opendbc/safety/tests/test_rivian.py opendbc/safety/tests/test_defaults.py opendbc/safety/tests/test_body.py opendbc/safety/tests/test_elm327.py
Updates safety tests to use assertEqual instead of assertTrue and assertFalse.	Updates various safety tests to use assertEqual instead of assertTrue and assertFalse.	opendbc/safety/tests/test_ford.py opendbc/safety/tests/test_hyundai_canfd.py opendbc/safety/tests/test_rivian.py opendbc/safety/tests/test_toyota.py
Updates safety tests to use pytest.mark.parametrize instead of parameterized.expand.	Updates test_fw_fingerprint.py and test_can_fingerprint.py to use pytest.mark.parametrize instead of parameterized.expand.	opendbc/car/tests/test_fw_fingerprint.py opendbc/car/tests/test_can_fingerprint.py
Updates test.sh to use gcovr for coverage reports.	Updates test.sh to use gcovr for coverage reports. Removes old coverage report generation code.	opendbc/safety/tests/test.sh
Updates CARS.md to remove Under review status.	Updates CARS.md to remove Under review status for Ford F-150, Mustang Mach-E, and Ranger.	docs/CARS.md
Updates CARS_template.md to include SupportType.	Updates CARS_template.md to include SupportType.	opendbc/car/docs.py opendbc/car/CARS_template.md

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[devtekve]

Note: The safety mutation failure is expected
commaai#1852 (comment)

[rav4kumar]

tested