Ford: simplify curvature error safety #1864
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/home/runner/work/opendbc/opendbc/opendbc/safety/safety.h:722:47: warning: Survived: Replaced >= with > [cxx_ge_to_gt]
const int delta = (desired_angle_last >= 0) ? delta_angle_down_relaxed : delta_angle_up_relaxed;
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@maxime-desroches is there a way to ignore a mutant? I can kill it, but the resulting code is redundant and not clear why it's there |
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| lowest_desired_angle = MIN(MAX(lowest_desired_angle, angle_meas.min - limits.max_angle_error - 1), highest_desired_angle_lower); | ||
| highest_desired_angle = MAX(MIN(highest_desired_angle, angle_meas.max + limits.max_angle_error + 1), lowest_desired_angle_lower); | ||
| // the MAX is to allow the desired angle to hit the edge of the bounds and not require going under it | ||
| if (desired_angle_last > highest_desired_angle_error) { |
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if this were desired_angle_last >= highest_desired_angle_error, the behavior is the same as the else block at the bottom
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This reverts commit e9b1685.
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* stash
* stash
* finally pass
* fixes
* and
* simplify into two ifs
* simplify and add comment
* clean up safety
* not here
* probably a misra thng
* TODO
* clean up
* consistent
* fix one safety mutation case, good catch!
* no down
* fix
* misra
* fix a mutation case
* forgot test
* fix two more mutations:
/home/runner/work/opendbc/opendbc/opendbc/safety/safety.h:722:47: warning: Survived: Replaced >= with > [cxx_ge_to_gt]
const int delta = (desired_angle_last >= 0) ? delta_angle_down_relaxed : delta_angle_up_relaxed;
* i mean this works but it's much less clear
* this isn't entirely correct anyway
* stash
* Revert "stash"
This reverts commit 27f6a64.
* clean up
* more
* more clear
* nop
* more
* to allow
* this sucks
* can also try this
* nope
* ?
* Revert "?"
This reverts commit e9b1685.
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verified via safety replay running safety replay and commaai/openpilot#34720