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GaloisInc / BESSPIN-Tool-Suite

The core tool of the BESSPIN Framework.
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Fix pedal input/joystic input detection #1217

Closed podhrmic closed 3 years ago

podhrmic commented 3 years ago

Currently the detection continuously resets the simulator. Make it such if a change in the throttle/brake values is detected and the car is in self-driving mode, the self-driving mode is disabled.

podhrmic commented 3 years ago

Cherry picked the changes, should be fixed in #1214 - but needs to be tested

podhrmic commented 3 years ago

Works good. An open question is what happens when a hack is active - for example throttle fixed at 100%, and a driver is driving. Will the algorithm treat it as a pedal inactivity? @EthanJamesLew

dmzimmerman commented 3 years ago

I would hope that "pedal inactivity" means "the pedals are stuck at 0", rather than "the pedals are stuck at any particular value"... but the brake hack fixes the brakes at 0, so the same issue would apply there.

dmzimmerman commented 3 years ago

Is this still an open issue? (and if so, is it maybe the cause of the spurious resets we saw on Tuesday?)

podhrmic commented 3 years ago

I believe the original issue is fixed. The hack issue shouldn't matter as long as you are driving (moving the steering wheel).