opendbc-meb/opendbc/safety/tests/libsafety/safety_helpers.py

# 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_lat_active(void);
  bool get_controls_allowed_lat(void);
  bool get_controls_requested_lat(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_current_safety_param_sp(int param);
  int get_current_safety_param_sp(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);

  bool get_enable_mads(void);
  bool get_disengage_lateral_on_brake(void);
  bool get_pause_lateral_on_brake(void);
  void set_mads_button_press(int mads_button_press);
  void set_controls_allowed_lat(bool c);
  void set_controls_requested_lat(bool c);

  bool get_mads_acc_main(void);
  void set_acc_main_on(bool c);
  int get_mads_button_press(void);
  void mads_set_current_disengage_reason(int reason);
  int mads_get_current_disengage_reason(void);
  int get_temp_debug(void);
  uint32_t get_acc_main_on_mismatches(void);
  void set_mads_params(bool enable_mads, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
  void set_heartbeat_engaged_mads(bool c);
  void mads_heartbeat_engaged_check(void);
  void set_steering_disengage(bool c);
  int get_gas_interceptor_prev(void);
  """)


class PandaSafety(Protocol):
  def set_controls_allowed(self, c: bool) -> None: ...
  def get_controls_allowed(self) -> bool: ...
  def set_controls_allowed_lat(self, c: bool) -> None: ...
  def set_controls_requested_lat(self, c: bool) -> None: ...
  def get_lat_active(self) -> bool: ...
  def get_controls_allowed_lat(self) -> bool: ...
  def get_controls_requested_lat(self) -> bool: ...
  def get_mads_acc_main(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 set_acc_main_on(self, c: bool) -> None: ...
  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_current_safety_param_sp(self, param: int) -> int: ...
  def get_current_safety_param_sp(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: ...

  def set_mads_button_press(self, mads_button_press: int) -> None: ...
  def get_enable_mads(self) -> bool: ...
  def get_disengage_lateral_on_brake(self) -> bool: ...
  def get_pause_lateral_on_brake(self) -> bool: ...

  def get_mads_button_press(self) -> int: ...
  def mads_set_current_disengage_reason(self, reason: int) -> None: ...
  def mads_get_current_disengage_reason(self) -> int: ...
  def get_acc_main_on_mismatches(self) -> int: ...

  def set_mads_params(self, enable_mads: bool, disengage_lateral_on_brake: bool, pause_lateral_on_brake: bool) -> None: ...
  def set_heartbeat_engaged_mads(self, c: bool) -> None: ...
  def mads_heartbeat_engaged_check(self) -> None: ...
  def set_steering_disengage(self, c: bool) -> None: ...
  def get_gas_interceptor_prev(self) -> int: ...
  # def get_temp_debug(self) -> int: ...