Honda safety: better naming

commaai · Jun 4, 2019 · a00a50c · a00a50c
1 parent 95b0109
commit a00a50c
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -8,11 +8,11 @@
 //      brake > 0mph
 
 // these are set in the Honda safety hooks...this is the wrong place
-const int gas_interceptor_threshold = 328;
+const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328;
 int gas_interceptor_detected = 0;
 int brake_prev = 0;
-int gas_prev = 0;
-int gas_interceptor_prev = 0;
+int honda_gas_prev = 0;
+int honda_gas_interceptor_prev = 0;
 int ego_speed = 0;
 // TODO: auto-detect bosch hardware based on CAN messages?
 bool bosch_hardware = false;
@@ -60,21 +60,21 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
     gas_interceptor_detected = 1;
     int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
-    if ((gas_interceptor > gas_interceptor_threshold) &&
-        (gas_interceptor_prev <= gas_interceptor_threshold)) {
+    if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+        (honda_gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
       controls_allowed = 0;
     }
-    gas_interceptor_prev = gas_interceptor;
+    honda_gas_interceptor_prev = gas_interceptor;
   }
 
   // exit controls on rising edge of gas press if no interceptor
   if (!gas_interceptor_detected) {
     if ((to_push->RIR>>21) == 0x17C) {
       int gas = to_push->RDLR & 0xFF;
-      if (gas && !(gas_prev)) {
+      if (gas && !(honda_gas_prev)) {
         controls_allowed = 0;
       }
-      gas_prev = gas;
+      honda_gas_prev = gas;
     }
   }
 }
@@ -89,7 +89,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
+  int pedal_pressed = honda_gas_prev || (honda_gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
                       (brake_prev && ego_speed);
   int current_controls_allowed = controls_allowed && !(pedal_pressed);
 

diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
@@ -51,7 +51,7 @@
 void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int get_brake_prev(void);
-int get_gas_prev(void);
+int get_honda_gas_prev(void);
 void set_honda_alt_brake_msg(bool);
 void set_bosch_hardware(bool);
 

diff --git a/tests/safety/test.c b/tests/safety/test.c
@@ -165,8 +165,8 @@ int get_brake_prev(void){
   return brake_prev;
 }
 
-int get_gas_prev(void){
-  return gas_prev;
+int get_honda_gas_prev(void){
+  return honda_gas_prev;
 }
 
 void set_honda_alt_brake_msg(bool c){
@@ -235,7 +235,7 @@ void init_tests_honda(void){
   ego_speed = 0;
   gas_interceptor_detected = 0;
   brake_prev = 0;
-  gas_prev = 0;
+  honda_gas_prev = 0;
 }
 
 void set_gmlan_digital_output(int to_set){

diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
@@ -133,9 +133,9 @@ def test_not_allow_brake_when_moving(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_prev_gas(self):
-    self.assertFalse(self.safety.get_gas_prev())
+    self.assertFalse(self.safety.get_honda_gas_prev())
     self.safety.honda_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_gas_prev())
+    self.assertTrue(self.safety.get_honda_gas_prev())
 
   def test_disengage_on_gas(self):
     self.safety.set_controls_allowed(1)