consolidate libsafety files (#2808)

* consolidate libsafety files

* cleanup

* even less

* E is silly

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -1,9 +1,7 @@
 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 SafetyHelpers, setup_safety_helpers
 
 libsafety_dir = os.path.dirname(os.path.abspath(__file__))
 libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
@@ -23,40 +21,68 @@ typedef struct {
   unsigned char data[64];
 } CANPacket_t;
 """, packed=True)
+class CANPacket:
+  pass
 
 ffi.cdef("""
 bool safety_rx_hook(CANPacket_t *msg);
 bool safety_tx_hook(CANPacket_t *msg);
 int safety_fwd_hook(int bus_num, int addr);
 int set_safety_hooks(uint16_t mode, uint16_t param);
+
+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_steering_disengage_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);
 """)
 
-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 LibSafety(SafetyHelpers, Protocol):
-  def safety_rx_hook(self, msg: CANPacket) -> int: ...
-  def safety_tx_hook(self, msg: CANPacket) -> int: ...
-  def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
-  def set_safety_hooks(self, mode: int, param: int) -> int: ...
-
-
+class LibSafety:
+  pass
 libsafety: LibSafety = 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

opendbc/safety/tests/libsafety/safety.c

@@ -4,5 +4,195 @@
 #include "opendbc/safety/board/can.h"
 #include "opendbc/safety/safety.h"
 
-// libsafety stuff
-#include "opendbc/safety/tests/libsafety/safety_helpers.h"
+#include <stdio.h>
+
+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_steering_disengage_prev(void){
+  return steering_disengage_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;
+
+  // assumes autopark on safety mode init to avoid a fault. get rid of that for testing
+  tesla_autopark = false;
+}

opendbc/safety/tests/libsafety/safety_helpers.h

@@ -1,192 +0,0 @@
-#include <stdio.h>
-
-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_steering_disengage_prev(void){
-  return steering_disengage_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;
-
-  // assumes autopark on safety mode init to avoid a fault. get rid of that for testing
-  tesla_autopark = false;
-}

opendbc/safety/tests/libsafety/safety_helpers.py

@@ -1,103 +0,0 @@
-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_steering_disengage_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 SafetyHelpers(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_steering_disengage_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: ...

pyproject.toml

@@ -98,6 +98,7 @@ select = [
   "INP001",
 ]
 ignore = [
+  "E302", "E305",  # too restrictive
   "W292",
   "E741",
   "E402",