Ford: long safety is default for CAN (#2128)

* ford long safety * same with ford_longitudinal * Update tests/safety/test_ford.py
commaai · Jan 23, 2025 · 1290588 · 1290588
1 parent 73dbcaa
commit 1290588
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Showing 2 changed files with 6 additions and 17 deletions.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -400,6 +400,9 @@ static safety_config ford_init(uint16_t param) {
   ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
 #endif
 
+  // Longitudinal is the default for CAN, and optional for CAN FD w/ ALLOW_DEBUG
+  ford_longitudinal = !ford_canfd || ford_longitudinal;
+
   safety_config ret;
   // FIXME: cppcheck thinks that ford_canfd is always false. This is not true
   // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
@@ -408,6 +411,7 @@ static safety_config ford_init(uint16_t param) {
     ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \
                               BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS);
   } else {
+    // cppcheck-suppress knownConditionTrueFalse
     ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \
                               BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS);
   }

diff --git a/tests/safety/test_ford.py b/tests/safety/test_ford.py
@@ -60,7 +60,6 @@ class Buttons:
 
 
 # Ford safety has four different configurations tested here:
-#  * CAN with stock longitudinal
 #  * CAN with openpilot longitudinal
 #  * CAN FD with stock longitudinal
 #  * CAN FD with openpilot longitudinal
@@ -355,21 +354,6 @@ def test_acc_buttons(self):
         self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
 
 
-class TestFordStockSafety(TestFordSafetyBase):
-  STEER_MESSAGE = MSG_LateralMotionControl
-
-  TX_MSGS = [
-    [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0],
-    [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0],
-  ]
-
-  def setUp(self):
-    self.packer = CANPackerPanda("ford_lincoln_base_pt")
-    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
-    self.safety.init_tests()
-
-
 class TestFordCANFDStockSafety(TestFordSafetyBase):
   STEER_MESSAGE = MSG_LateralMotionControl2
 
@@ -457,7 +441,8 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
   def setUp(self):
     self.packer = CANPackerPanda("ford_lincoln_base_pt")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL)
+    # Make sure we enforce long safety even without long flag for CAN
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
     self.safety.init_tests()