Release 260111

opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py

@@ -0,0 +1,75 @@
+import os
+from cffi import FFI
+from typing import Protocol
+
+from opendbc.safety import LEN_TO_DLC
+from opendbc.safety.tests.libsafety.safety_helpers import PandaSafety, setup_safety_helpers
+
+libsafety_dir = os.path.dirname(os.path.abspath(__file__))
+libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
+
+ffi = FFI()
+
+ffi.cdef("""
+typedef struct {
+  unsigned char fd : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char checksum;
+  unsigned char data[64];
+} CANPacket_t;
+""", packed=True)
+
+ffi.cdef("""
+bool safety_rx_hook(CANPacket_t *to_send);
+bool safety_tx_hook(CANPacket_t *to_push);
+int safety_fwd_hook(int bus_num, int addr);
+int set_safety_hooks(uint16_t mode, uint16_t param);
+""")
+
+ffi.cdef("""
+void can_set_checksum(CANPacket_t *packet);
+""")
+
+setup_safety_helpers(ffi)
+
+class CANPacket:
+  reserved: int
+  bus: int
+  data_len_code: int
+  rejected: int
+  returned: int
+  extended: int
+  addr: int
+  data: list[int]
+
+class Panda(PandaSafety, Protocol):
+  # CAN
+  def can_set_checksum(self, p: CANPacket) -> None: ...
+
+  # safety
+  def safety_rx_hook(self, to_send: CANPacket) -> int: ...
+  def safety_tx_hook(self, to_push: CANPacket) -> int: ...
+  def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
+  def set_safety_hooks(self, mode: int, param: int) -> int: ...
+
+
+libsafety: Panda = ffi.dlopen(libsafety_fn)
+
+
+# helpers
+
+def make_CANPacket(addr: int, bus: int, dat):
+  ret = ffi.new('CANPacket_t *')
+  ret[0].extended = 1 if addr >= 0x800 else 0
+  ret[0].addr = addr
+  ret[0].data_len_code = LEN_TO_DLC[len(dat)]
+  ret[0].bus = bus
+  ret[0].data = bytes(dat)
+  libsafety.can_set_checksum(ret)
+
+  return ret

opendbc_repo/opendbc/safety/tests/libsafety/safety_helpers.h

@@ -0,0 +1,183 @@
+void safety_tick_current_safety_config() {
+  safety_tick(&current_safety_config);
+}
+
+bool safety_config_valid() {
+  if (current_safety_config.rx_checks_len <= 0) {
+    printf("missing RX checks\n");
+    return false;
+  }
+
+  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+    const RxCheck addr = current_safety_config.rx_checks[i];
+    bool valid = addr.status.msg_seen && !addr.status.lagging && addr.status.valid_checksum && (addr.status.wrong_counters < MAX_WRONG_COUNTERS) && addr.status.valid_quality_flag;
+    if (!valid) {
+      // printf("i %d seen %d lagging %d valid checksum %d wrong counters %d valid quality flag %d\n", i, addr.status.msg_seen, addr.status.lagging, addr.status.valid_checksum, addr.status.wrong_counters, addr.status.valid_quality_flag);
+      return false;
+    }
+  }
+  return true;
+}
+
+void set_controls_allowed(bool c){
+  controls_allowed = c;
+}
+
+void set_alternative_experience(int mode){
+  alternative_experience = mode;
+}
+
+void set_relay_malfunction(bool c){
+  relay_malfunction = c;
+}
+
+bool get_controls_allowed(void){
+  return controls_allowed;
+}
+
+int get_alternative_experience(void){
+  return alternative_experience;
+}
+
+bool get_relay_malfunction(void){
+  return relay_malfunction;
+}
+
+bool get_gas_pressed_prev(void){
+  return gas_pressed_prev;
+}
+
+void set_gas_pressed_prev(bool c){
+  gas_pressed_prev = c;
+}
+
+bool get_brake_pressed_prev(void){
+  return brake_pressed_prev;
+}
+
+bool get_regen_braking_prev(void){
+  return regen_braking_prev;
+}
+
+bool get_cruise_engaged_prev(void){
+  return cruise_engaged_prev;
+}
+
+void set_cruise_engaged_prev(bool engaged){
+  cruise_engaged_prev = engaged;
+}
+
+bool get_vehicle_moving(void){
+  return vehicle_moving;
+}
+
+bool get_acc_main_on(void){
+  return acc_main_on;
+}
+
+float get_vehicle_speed_min(void){
+  return vehicle_speed.min / VEHICLE_SPEED_FACTOR;
+}
+
+float get_vehicle_speed_max(void){
+  return vehicle_speed.max / VEHICLE_SPEED_FACTOR;
+}
+
+int get_current_safety_mode(void){
+  return current_safety_mode;
+}
+
+int get_current_safety_param(void){
+  return current_safety_param;
+}
+
+void set_timer(uint32_t t){
+  timer.CNT = t;
+}
+
+void set_torque_meas(int min, int max){
+  torque_meas.min = min;
+  torque_meas.max = max;
+}
+
+int get_torque_meas_min(void){
+  return torque_meas.min;
+}
+
+int get_torque_meas_max(void){
+  return torque_meas.max;
+}
+
+void set_torque_driver(int min, int max){
+  torque_driver.min = min;
+  torque_driver.max = max;
+}
+
+int get_torque_driver_min(void){
+  return torque_driver.min;
+}
+
+int get_torque_driver_max(void){
+  return torque_driver.max;
+}
+
+void set_rt_torque_last(int t){
+  rt_torque_last = t;
+}
+
+void set_desired_torque_last(int t){
+  desired_torque_last = t;
+}
+
+void set_desired_angle_last(int t){
+  desired_angle_last = t;
+}
+
+int get_desired_angle_last(void){
+  return desired_angle_last;
+}
+
+void set_angle_meas(int min, int max){
+  angle_meas.min = min;
+  angle_meas.max = max;
+}
+
+int get_angle_meas_min(void){
+  return angle_meas.min;
+}
+
+int get_angle_meas_max(void){
+  return angle_meas.max;
+}
+
+
+// ***** car specific helpers *****
+
+void set_honda_alt_brake_msg(bool c){
+  honda_alt_brake_msg = c;
+}
+
+void set_honda_bosch_long(bool c){
+  honda_bosch_long = c;
+}
+
+int get_honda_hw(void) {
+  return honda_hw;
+}
+
+void set_honda_fwd_brake(bool c){
+  honda_fwd_brake = c;
+}
+
+bool get_honda_fwd_brake(void){
+  return honda_fwd_brake;
+}
+
+void init_tests(void){
+  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
+  alternative_experience = 0;
+  set_timer(0);
+  ts_steer_req_mismatch_last = 0;
+  valid_steer_req_count = 0;
+  invalid_steer_req_count = 0;
+}

opendbc_repo/opendbc/safety/tests/libsafety/safety_helpers.py

@@ -0,0 +1,102 @@
+# panda safety helpers, from safety_helpers.c
+from typing import Protocol
+
+def setup_safety_helpers(ffi):
+  ffi.cdef("""
+  void set_controls_allowed(bool c);
+  bool get_controls_allowed(void);
+  bool get_longitudinal_allowed(void);
+  void set_alternative_experience(int mode);
+  int get_alternative_experience(void);
+  void set_relay_malfunction(bool c);
+  bool get_relay_malfunction(void);
+  bool get_gas_pressed_prev(void);
+  void set_gas_pressed_prev(bool);
+  bool get_brake_pressed_prev(void);
+  bool get_regen_braking_prev(void);
+  bool get_acc_main_on(void);
+  float get_vehicle_speed_min(void);
+  float get_vehicle_speed_max(void);
+  int get_current_safety_mode(void);
+  int get_current_safety_param(void);
+
+  void set_torque_meas(int min, int max);
+  int get_torque_meas_min(void);
+  int get_torque_meas_max(void);
+  void set_torque_driver(int min, int max);
+  int get_torque_driver_min(void);
+  int get_torque_driver_max(void);
+  void set_desired_torque_last(int t);
+  void set_rt_torque_last(int t);
+  void set_desired_angle_last(int t);
+  int get_desired_angle_last();
+  void set_angle_meas(int min, int max);
+  int get_angle_meas_min(void);
+  int get_angle_meas_max(void);
+
+  bool get_cruise_engaged_prev(void);
+  void set_cruise_engaged_prev(bool engaged);
+  bool get_vehicle_moving(void);
+  void set_timer(uint32_t t);
+
+  void safety_tick_current_safety_config();
+  bool safety_config_valid();
+
+  void init_tests(void);
+
+  void set_honda_fwd_brake(bool c);
+  bool get_honda_fwd_brake(void);
+  void set_honda_alt_brake_msg(bool c);
+  void set_honda_bosch_long(bool c);
+  int get_honda_hw(void);
+  """)
+
+class PandaSafety(Protocol):
+  def set_controls_allowed(self, c: bool) -> None: ...
+  def get_controls_allowed(self) -> bool: ...
+  def get_longitudinal_allowed(self) -> bool: ...
+  def set_alternative_experience(self, mode: int) -> None: ...
+  def get_alternative_experience(self) -> int: ...
+  def set_relay_malfunction(self, c: bool) -> None: ...
+  def get_relay_malfunction(self) -> bool: ...
+  def get_gas_pressed_prev(self) -> bool: ...
+  def set_gas_pressed_prev(self, c: bool) -> None: ...
+  def get_brake_pressed_prev(self) -> bool: ...
+  def get_regen_braking_prev(self) -> bool: ...
+  def get_acc_main_on(self) -> bool: ...
+  def get_vehicle_speed_min(self) -> int: ...
+  def get_vehicle_speed_max(self) -> int: ...
+  def get_current_safety_mode(self) -> int: ...
+  def get_current_safety_param(self) -> int: ...
+
+  def set_torque_meas(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_torque_meas_min(self) -> int: ...
+  def get_torque_meas_max(self) -> int: ...
+  def set_torque_driver(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_torque_driver_min(self) -> int: ...
+  def get_torque_driver_max(self) -> int: ...
+  def set_desired_torque_last(self, t: int) -> None: ...
+  def set_rt_torque_last(self, t: int) -> None: ...
+  def set_desired_angle_last(self, t: int) -> None: ...
+  def get_desired_angle_last(self) -> int: ...
+  def set_angle_meas(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_angle_meas_min(self) -> int: ...
+  def get_angle_meas_max(self) -> int: ...
+
+  def get_cruise_engaged_prev(self) -> bool: ...
+  def set_cruise_engaged_prev(self, enabled: bool) -> None: ...
+  def get_vehicle_moving(self) -> bool: ...
+  def set_timer(self, t: int) -> None: ...
+
+  def safety_tick_current_safety_config(self) -> None: ...
+  def safety_config_valid(self) -> bool: ...
+
+  def init_tests(self) -> None: ...
+
+  def set_honda_fwd_brake(self, c: bool) -> None: ...
+  def get_honda_fwd_brake(self) -> bool: ...
+  def set_honda_alt_brake_msg(self, c: bool) -> None: ...
+  def set_honda_bosch_long(self, c: bool) -> None: ...
+  def get_honda_hw(self) -> int: ...
+
+