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Sync: commaai/panda:master into sunnypilot/panda:master-new

Browse Source
This commit is contained in:
Jason Wen
2025-02-16 22:04:15 -05:00
committed by GitHub
parent 4ca963345a 2d4a76f227
commit 44a9806bfb
60 changed files with 375 additions and 310 deletions
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4
Dockerfile
View File

@@ -37,11 +37,11 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
# TODO: this should be a "pip install" or not even in this repo at all
RUN git config --global --add safe.directory $PYTHONPATH/panda
ENV OPENDBC_REF="a280fed7a3d250be3a96e626b81b13d8223b704d"
ENV OPENDBC_REF="bdccfc5fecf96bfade8d280b4d2422af0ef584ea"
RUN cd /tmp/ && \
git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
pip3 install --break-system-packages --no-cache-dir Cython numpy && \
pip3 install --break-system-packages --no-cache-dir Cython numpy pycapnp && \
ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
scons -j8 --minimal opendbc/

5
README.md
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@@ -78,7 +78,8 @@ For example, to receive CAN messages:
```
And to send one on bus 0:
``` python
>>> panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
>>> from opendbc.safety import Safety
>>> panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
>>> panda.can_send(0x1aa, b'message', 0)
```
Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
@@ -90,7 +91,7 @@ EOF
sudo udevadm control --reload-rules && sudo udevadm trigger
```
The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions.
The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions.
## Software interface support

2
__init__.py
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@@ -5,7 +5,7 @@ from .python.canhandle import CanHandle # noqa: F401
from .python.utils import logger # noqa: F401
from .python import (Panda, PandaDFU, isotp, # noqa: F401
pack_can_buffer, unpack_can_buffer, calculate_checksum,
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
DLC_TO_LEN, LEN_TO_DLC, CANPACKET_HEAD_SIZE)
# panda jungle

16
board/boards/cuatro.h
View File

@@ -9,13 +9,13 @@
static void cuatro_set_led(uint8_t color, bool enabled) {
switch (color) {
case LED_RED:
set_gpio_output(GPIOD, 15, !enabled);
set_gpio_output(GPIOC, 6, !enabled);
break;
case LED_GREEN:
set_gpio_output(GPIOB, 2, !enabled);
set_gpio_output(GPIOC, 7, !enabled);
break;
case LED_BLUE:
set_gpio_output(GPIOE, 2, !enabled);
set_gpio_output(GPIOC, 9, !enabled);
break;
default:
break;
@@ -79,9 +79,9 @@ static void cuatro_init(void) {
red_chiplet_init();
// init LEDs as open drain
set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOB, 2, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOD, 15, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 6, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 7, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_output_type(GPIOC, 9, OUTPUT_TYPE_OPEN_DRAIN);
// more open drain
set_gpio_output_type(GPIOD, 3, OUTPUT_TYPE_OPEN_DRAIN); // FAN_EN
@@ -135,8 +135,8 @@ static void cuatro_init(void) {
set_gpio_alternate(GPIOC, 0, GPIO_AF8_SAI4); // SAI4_FS_B
set_gpio_alternate(GPIOD, 11, GPIO_AF10_SAI4); // SAI4_SD_A
set_gpio_alternate(GPIOE, 3, GPIO_AF8_SAI4); // SAI4_SD_B
set_gpio_alternate(GPIOE, 4, GPIO_AF2_SAI1); // SAI1_D2
set_gpio_alternate(GPIOE, 5, GPIO_AF2_SAI1); // SAI1_CK2
set_gpio_alternate(GPIOE, 4, GPIO_AF3_DFSDM1); // DFSDM1_DATIN3
set_gpio_alternate(GPIOE, 9, GPIO_AF3_DFSDM1); // DFSDM1_CKOUT
set_gpio_alternate(GPIOE, 6, GPIO_AF10_SAI4); // SAI4_MCLK_B
sound_init();
}

13
board/drivers/fdcan.h
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@@ -19,9 +19,16 @@ static bool can_set_speed(uint8_t can_number) {
}
void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number) {
can_health[can_number].can_core_reset_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
llcan_clear_send(FDCANx);
static uint32_t last_reset = 0U;
uint32_t time = microsecond_timer_get();
// Resetting CAN core is a slow blocking operation, limit frequency
if (get_ts_elapsed(time, last_reset) > 100000U) { // 10 Hz
can_health[can_number].can_core_reset_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
llcan_clear_send(FDCANx);
last_reset = time;
}
}
void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {

4
board/jungle/boards/board_declarations.h
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@@ -9,7 +9,7 @@ typedef void (*board_set_ignition)(bool enabled);
typedef void (*board_set_individual_ignition)(uint8_t bitmask);
typedef void (*board_set_harness_orientation)(uint8_t orientation);
typedef void (*board_set_can_mode)(uint8_t mode);
typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
typedef void (*board_enable_header_pin)(uint8_t pin_num, bool enabled);
typedef float (*board_get_channel_power)(uint8_t channel);
typedef uint16_t (*board_get_sbu_mV)(uint8_t channel, uint8_t sbu);
@@ -28,7 +28,7 @@ struct board {
board_set_individual_ignition set_individual_ignition;
board_set_harness_orientation set_harness_orientation;
board_set_can_mode set_can_mode;
board_enable_can_transciever enable_can_transciever;
board_enable_can_transceiver enable_can_transceiver;
board_enable_header_pin enable_header_pin;
board_get_channel_power get_channel_power;
board_get_sbu_mV get_sbu_mV;

20
board/jungle/boards/board_v1.h
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@@ -18,8 +18,8 @@ void board_v1_set_led(uint8_t color, bool enabled) {
}
}
void board_v1_enable_can_transciever(uint8_t transciever, bool enabled) {
switch (transciever) {
void board_v1_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
set_gpio_output(GPIOC, 1, !enabled);
break;
@@ -33,14 +33,14 @@ void board_v1_enable_can_transciever(uint8_t transciever, bool enabled) {
set_gpio_output(GPIOB, 10, !enabled);
break;
default:
print("Invalid CAN transciever ("); puth(transciever); print("): enabling failed\n");
print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
break;
}
}
void board_v1_set_can_mode(uint8_t mode) {
board_v1_enable_can_transciever(2U, false);
board_v1_enable_can_transciever(4U, false);
board_v1_enable_can_transceiver(2U, false);
board_v1_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
print("Setting normal CAN mode\n");
@@ -52,7 +52,7 @@ void board_v1_set_can_mode(uint8_t mode) {
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
can_mode = CAN_MODE_NORMAL;
board_v1_enable_can_transciever(2U, true);
board_v1_enable_can_transceiver(2U, true);
break;
case CAN_MODE_OBD_CAN2:
print("Setting OBD CAN mode\n");
@@ -64,7 +64,7 @@ void board_v1_set_can_mode(uint8_t mode) {
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
can_mode = CAN_MODE_OBD_CAN2;
board_v1_enable_can_transciever(4U, true);
board_v1_enable_can_transceiver(4U, true);
break;
default:
print("Tried to set unsupported CAN mode: "); puth(mode); print("\n");
@@ -135,9 +135,9 @@ void board_v1_init(void) {
board_v1_set_can_mode(CAN_MODE_NORMAL);
// Enable CAN transcievers
// Enable CAN transceivers
for(uint8_t i = 1; i <= 4; i++) {
board_v1_enable_can_transciever(i, true);
board_v1_enable_can_transceiver(i, true);
}
// Disable LEDs
@@ -171,7 +171,7 @@ board board_v1 = {
.set_individual_ignition = &unused_set_individual_ignition,
.set_harness_orientation = &board_v1_set_harness_orientation,
.set_can_mode = &board_v1_set_can_mode,
.enable_can_transciever = &board_v1_enable_can_transciever,
.enable_can_transceiver = &board_v1_enable_can_transceiver,
.enable_header_pin = &unused_board_enable_header_pin,
.get_channel_power = &board_v1_get_channel_power,
.get_sbu_mV = &board_v1_get_sbu_mV,

20
board/jungle/boards/board_v2.h
View File

@@ -110,8 +110,8 @@ void board_v2_set_harness_orientation(uint8_t orientation) {
}
}
void board_v2_enable_can_transciever(uint8_t transciever, bool enabled) {
switch (transciever) {
void board_v2_enable_can_transceiver(uint8_t transceiver, bool enabled) {
switch (transceiver) {
case 1U:
set_gpio_output(GPIOG, 11, !enabled);
break;
@@ -125,7 +125,7 @@ void board_v2_enable_can_transciever(uint8_t transciever, bool enabled) {
set_gpio_output(GPIOB, 4, !enabled);
break;
default:
print("Invalid CAN transciever ("); puth(transciever); print("): enabling failed\n");
print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
break;
}
}
@@ -139,8 +139,8 @@ void board_v2_enable_header_pin(uint8_t pin_num, bool enabled) {
}
void board_v2_set_can_mode(uint8_t mode) {
board_v2_enable_can_transciever(2U, false);
board_v2_enable_can_transciever(4U, false);
board_v2_enable_can_transceiver(2U, false);
board_v2_enable_can_transceiver(4U, false);
switch (mode) {
case CAN_MODE_NORMAL:
// B12,B13: disable normal mode
@@ -157,7 +157,7 @@ void board_v2_set_can_mode(uint8_t mode) {
set_gpio_pullup(GPIOB, 6, PULL_NONE);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
can_mode = CAN_MODE_NORMAL;
board_v2_enable_can_transciever(2U, true);
board_v2_enable_can_transceiver(2U, true);
break;
case CAN_MODE_OBD_CAN2:
// B5,B6: disable normal mode
@@ -173,7 +173,7 @@ void board_v2_set_can_mode(uint8_t mode) {
set_gpio_pullup(GPIOB, 13, PULL_NONE);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
can_mode = CAN_MODE_OBD_CAN2;
board_v2_enable_can_transciever(4U, true);
board_v2_enable_can_transceiver(4U, true);
break;
default:
break;
@@ -260,9 +260,9 @@ void board_v2_init(void) {
// Normal CAN mode
board_v2_set_can_mode(CAN_MODE_NORMAL);
// Enable CAN transcievers
// Enable CAN transceivers
for(uint8_t i = 1; i <= 4; i++) {
board_v2_enable_can_transciever(i, true);
board_v2_enable_can_transceiver(i, true);
}
// Set to no harness orientation
@@ -321,7 +321,7 @@ board board_v2 = {
.set_individual_ignition = &board_v2_set_individual_ignition,
.set_harness_orientation = &board_v2_set_harness_orientation,
.set_can_mode = &board_v2_set_can_mode,
.enable_can_transciever = &board_v2_enable_can_transciever,
.enable_can_transceiver = &board_v2_enable_can_transceiver,
.enable_header_pin = &board_v2_enable_header_pin,
.get_channel_power = &board_v2_get_channel_power,
.get_sbu_mV = &board_v2_get_sbu_mV,

2
board/jungle/main_comms.h
View File

@@ -226,7 +226,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
break;
// **** 0xf4: Set CAN transceiver enable pin
case 0xf4:
current_board->enable_can_transciever(req->param1, req->param2 > 0U);
current_board->enable_can_transceiver(req->param1, req->param2 > 0U);
break;
// **** 0xf5: Set CAN silent mode
case 0xf5:

5
board/jungle/scripts/loopback_test.py
View File

@@ -5,6 +5,7 @@ import contextlib
import random
from termcolor import cprint
from opendbc.safety import Safety
from panda import Panda, PandaJungle
NUM_PANDAS_PER_TEST = 1
@@ -88,7 +89,7 @@ def can_loopback(sender):
def test_loopback():
# disable safety modes
for panda in pandas:
panda.set_safety_mode(Panda.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Panda.SAFETY_ALLOUTPUT)
panda.set_safety_mode(Safety.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Safety.SAFETY_ALLOUTPUT)
# perform loopback with jungle as a sender
can_loopback(jungle)
@@ -99,7 +100,7 @@ def test_loopback():
# enable safety modes
for panda in pandas:
panda.set_safety_mode(Panda.SAFETY_SILENT)
panda.set_safety_mode(Safety.SAFETY_SILENT)
#################################################################
############################# MAIN ##############################

3
board/jungle/scripts/spam_can.py
View File

@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import os
import random
from opendbc.safety import Safety
from panda import PandaJungle
def get_test_string():
@@ -9,7 +10,7 @@ def get_test_string():
if __name__ == "__main__":
p = PandaJungle()
p.set_safety_mode(PandaJungle.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
print("Spamming all buses...")
while True:

2
board/stm32h7/clock.h
View File

@@ -109,6 +109,8 @@ void clock_init(void) {
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1 | RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL);
// Configure clock source for FDCAN (PLL1Q at 80Mhz)
register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL);
// Configure clock source for DFSDM1
register_set_bits(&(RCC->D2CCIP1R), RCC_D2CCIP1R_DFSDM1SEL);
// Configure clock source for ADC1,2,3 (per_ck(currently HSE))
register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL);
//Enable the Clock Security System

1
board/stm32h7/peripherals.h
View File

@@ -124,6 +124,7 @@ void peripherals_init(void) {
RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC
// Audio
RCC->APB2ENR |= RCC_APB2ENR_DFSDM1EN; // D/S demodulator for mic
RCC->APB4ENR |= RCC_APB4ENR_SAI4EN; // SAI4
// Timers

82
board/stm32h7/sound.h
View File

@@ -1,10 +1,14 @@
#define SOUND_RX_BUF_SIZE 2000U
#define SOUND_RX_BUF_SIZE 1000U
#define SOUND_TX_BUF_SIZE (SOUND_RX_BUF_SIZE/2U)
#define MIC_RX_BUF_SIZE 512U
#define MIC_TX_BUF_SIZE (MIC_RX_BUF_SIZE * 2U)
__attribute__((section(".sram4"))) static uint16_t sound_rx_buf[2][SOUND_RX_BUF_SIZE];
__attribute__((section(".sram4"))) static uint16_t sound_tx_buf[2][SOUND_TX_BUF_SIZE];
__attribute__((section(".sram4"))) static uint32_t mic_rx_buf[2][MIC_RX_BUF_SIZE];
#define SOUND_IDLE_TIMEOUT 4U
static uint8_t sound_idle_count;
static uint8_t mic_idle_count;
void sound_tick(void) {
if (sound_idle_count > 0U) {
@@ -14,6 +18,33 @@ void sound_tick(void) {
register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
}
}
if (mic_idle_count > 0U) {
mic_idle_count--;
if (mic_idle_count == 0U) {
register_clear_bits(&DFSDM1_Channel0->CHCFGR1, DFSDM_CHCFGR1_DFSDMEN);
}
}
}
// Recording processing
static void DMA1_Stream0_IRQ_Handler(void) {
__attribute__((section(".sram4"))) static uint16_t tx_buf[MIC_TX_BUF_SIZE];
DMA1->LIFCR |= 0x7D; // clear flags
// process samples
uint8_t buf_idx = (((DMA1_Stream0->CR & DMA_SxCR_CT) >> DMA_SxCR_CT_Pos) == 1U) ? 0U : 1U;
for (uint16_t i=0U; i < MIC_RX_BUF_SIZE; i++) {
tx_buf[2U*i] = ((mic_rx_buf[buf_idx][i] >> 16U) & 0xFFFFU);
tx_buf[(2U*i)+1U] = tx_buf[2U*i];
}
BDMA->IFCR |= BDMA_IFCR_CGIF1;
BDMA_Channel1->CCR &= ~BDMA_CCR_EN;
register_set(&BDMA_Channel1->CM0AR, (uint32_t) tx_buf, 0xFFFFFFFFU);
BDMA_Channel1->CNDTR = MIC_TX_BUF_SIZE;
BDMA_Channel1->CCR |= BDMA_CCR_EN;
}
// Playback processing
@@ -45,13 +76,22 @@ static void BDMA_Channel0_IRQ_Handler(void) {
register_set(&DMA1_Stream1->CR, (1UL - tx_buf_idx) << DMA_SxCR_CT_Pos, DMA_SxCR_CT_Msk);
register_set_bits(&DMA1_Stream1->CR, DMA_SxCR_EN);
}
sound_idle_count = 4U;
sound_idle_count = SOUND_IDLE_TIMEOUT;
}
// manage mic state
if (mic_idle_count == 0U) {
register_set_bits(&DFSDM1_Channel0->CHCFGR1, DFSDM_CHCFGR1_DFSDMEN);
DFSDM1_Filter0->FLTCR1 |= DFSDM_FLTCR1_RSWSTART;
}
mic_idle_count = SOUND_IDLE_TIMEOUT;
sound_tick();
}
void sound_init(void) {
REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 64U, FAULT_INTERRUPT_RATE_SOUND_DMA)
REGISTER_INTERRUPT(BDMA_Channel0_IRQn, BDMA_Channel0_IRQ_Handler, 128U, FAULT_INTERRUPT_RATE_SOUND_DMA)
REGISTER_INTERRUPT(DMA1_Stream0_IRQn, DMA1_Stream0_IRQ_Handler, 128U, FAULT_INTERRUPT_RATE_SOUND_DMA)
// Init DAC
register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU);
@@ -78,6 +118,10 @@ void sound_init(void) {
TIM5->CNT = 0U; TIM5->SR = 0U;
TIM5->CR1 |= TIM_CR1_CEN;
// sync both SAIs
register_set(&SAI4->GCR, (0b10UL << SAI_GCR_SYNCOUT_Pos), SAI_GCR_SYNCIN_Msk | SAI_GCR_SYNCOUT_Msk);
register_set(&SAI1->GCR, (3U << SAI_GCR_SYNCIN_Pos), SAI_GCR_SYNCIN_Msk | SAI_GCR_SYNCOUT_Msk);
// stereo audio in
register_set(&SAI4_Block_B->CR1, SAI_xCR1_DMAEN | (0b00UL << SAI_xCR1_SYNCEN_Pos) | (0b100U << SAI_xCR1_DS_Pos) | (0b11U << SAI_xCR1_MODE_Pos), 0x0FFB3FEFU);
register_set(&SAI4_Block_B->CR2, (0b001U << SAI_xCR2_FTH_Pos), 0xFFFBU);
@@ -93,7 +137,37 @@ void sound_init(void) {
register_set(&DMAMUX2_Channel0->CCR, 16U, DMAMUX_CxCR_DMAREQ_ID_Msk); // SAI4_B_DMA
register_set_bits(&BDMA_Channel0->CCR, BDMA_CCR_EN);
// mic output
register_set(&SAI4_Block_A->CR1, SAI_xCR1_DMAEN | (0b01UL << SAI_xCR1_SYNCEN_Pos) | (0b100UL << SAI_xCR1_DS_Pos) | (0b10UL << SAI_xCR1_MODE_Pos), 0x0FFB3FEFU);
register_set(&SAI4_Block_A->CR2, 0U, 0xFFFBU);
register_set(&SAI4_Block_A->FRCR, (31U << SAI_xFRCR_FRL_Pos), 0x7FFFFU);
register_set(&SAI4_Block_A->SLOTR, (0b11UL << SAI_xSLOTR_SLOTEN_Pos) | (1UL << SAI_xSLOTR_NBSLOT_Pos) | (0b01U << SAI_xSLOTR_SLOTSZ_Pos), 0xFFFF0FDFU); // NBSLOT definition is vague
// init DFSDM for PDM mic
register_set(&DFSDM1_Channel0->CHCFGR1, (76UL << DFSDM_CHCFGR1_CKOUTDIV_Pos) | DFSDM_CHCFGR1_CHEN, 0xC0FFF1EFU); // CH0 controls the clock
register_set(&DFSDM1_Channel3->CHCFGR1, (0b01UL << DFSDM_CHCFGR1_SPICKSEL_Pos) | (0b00U << DFSDM_CHCFGR1_SITP_Pos) | DFSDM_CHCFGR1_CHEN, 0x0000F1EFU); // SITP determines sample edge
register_set(&DFSDM1_Channel3->CHCFGR2, (2U << DFSDM_CHCFGR2_DTRBS_Pos), 0xFFFFFFF7U);
register_set(&DFSDM1_Filter0->FLTFCR, (0U << DFSDM_FLTFCR_IOSR_Pos) | (64UL << DFSDM_FLTFCR_FOSR_Pos) | (4UL << DFSDM_FLTFCR_FORD_Pos), 0xE3FF00FFU);
register_set(&DFSDM1_Filter0->FLTCR1, DFSDM_FLTCR1_FAST | (3UL << DFSDM_FLTCR1_RCH_Pos) | DFSDM_FLTCR1_RDMAEN | DFSDM_FLTCR1_RCONT | DFSDM_FLTCR1_DFEN, 0x672E7F3BU);
// DMA (DFSDM1 -> memory)
register_set(&DMA1_Stream0->PAR, (uint32_t) &DFSDM1_Filter0->FLTRDATAR, 0xFFFFFFFFU);
register_set(&DMA1_Stream0->M0AR, (uint32_t)mic_rx_buf[0], 0xFFFFFFFFU);
register_set(&DMA1_Stream0->M1AR, (uint32_t)mic_rx_buf[1], 0xFFFFFFFFU);
DMA1_Stream0->NDTR = MIC_RX_BUF_SIZE;
register_set(&DMA1_Stream0->CR, DMA_SxCR_DBM | (0b10UL << DMA_SxCR_MSIZE_Pos) | (0b10UL << DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_TCIE, 0x01FFFFFFU);
register_set(&DMAMUX1_Channel0->CCR, 101U, DMAMUX_CxCR_DMAREQ_ID_Msk); // DFSDM1_DMA0
register_set_bits(&DMA1_Stream0->CR, DMA_SxCR_EN);
DMA1->LIFCR |= 0x7D; // clear flags
// DMA (memory -> SAI4)
register_set(&BDMA_Channel1->CPAR, (uint32_t) &(SAI4_Block_A->DR), 0xFFFFFFFFU);
register_set(&BDMA_Channel1->CCR, (0b01UL << BDMA_CCR_MSIZE_Pos) | (0b01UL << BDMA_CCR_PSIZE_Pos) | BDMA_CCR_MINC | (0b1U << BDMA_CCR_DIR_Pos), 0xFFFEU);
register_set(&DMAMUX2_Channel1->CCR, 15U, DMAMUX_CxCR_DMAREQ_ID_Msk); // SAI4_A_DMA
// enable all initted blocks
register_set_bits(&SAI4_Block_A->CR1, SAI_xCR1_SAIEN);
register_set_bits(&SAI4_Block_B->CR1, SAI_xCR1_SAIEN);
NVIC_EnableIRQ(BDMA_Channel0_IRQn);
NVIC_EnableIRQ(DMA1_Stream0_IRQn);
}

11
examples/query_fw_versions.py
View File

@@ -1,9 +1,11 @@
#!/usr/bin/env python3
import argparse
from tqdm import tqdm
from panda import Panda
from opendbc.car.carlog import carlog
from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
SESSION_TYPE, DATA_IDENTIFIER_TYPE
from opendbc.safety import Safety
from panda import Panda
if __name__ == "__main__":
parser = argparse.ArgumentParser()
@@ -18,6 +20,9 @@ if __name__ == "__main__":
parser.add_argument('-s', '--serial', help="Serial number of panda to use")
args = parser.parse_args()
if args.debug:
carlog.setLevel('DEBUG')
if args.addr:
addrs = [int(args.addr, base=16)]
else:
@@ -59,7 +64,7 @@ if __name__ == "__main__":
exit()
panda = Panda(serial=args.serial)
panda.set_safety_mode(Panda.SAFETY_ELM327, 1 if args.no_obd else 0)
panda.set_safety_mode(Safety.SAFETY_ELM327, 1 if args.no_obd else 0)
print("querying addresses ...")
with tqdm(addrs) as t:
for addr in t:
@@ -77,7 +82,7 @@ if __name__ == "__main__":
for sub_addr in sub_addrs:
sub_addr_str = hex(sub_addr) if sub_addr is not None else None
t.set_description(f"{hex(addr)}, {sub_addr_str}")
uds_client = UdsClient(panda, addr, rx_addr, bus, sub_addr=sub_addr, timeout=0.2, debug=args.debug)
uds_client = UdsClient(panda, addr, rx_addr, bus, sub_addr=sub_addr, timeout=0.2)
# Check for anything alive at this address, and switch to the highest
# available diagnostic session without security access
try:

3
examples/query_vin_and_stats.py
View File

@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import time
import struct
from opendbc.safety import Safety
from panda import Panda
from hexdump import hexdump
from panda.python.isotp import isotp_send, isotp_recv
@@ -30,7 +31,7 @@ def get_supported_pids():
if __name__ == "__main__":
panda = Panda()
panda.set_safety_mode(Panda.SAFETY_ELM327)
panda.set_safety_mode(Safety.SAFETY_ELM327)
panda.can_clear(0)
# 09 02 = Get VIN

5
examples/tesla_tester.py
View File

@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import binascii
from opendbc.safety import Safety
from panda import Panda
def tesla_tester():
@@ -13,7 +14,7 @@ def tesla_tester():
# Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT
# Careful, as this will let us send any CAN messages we want (which could be very bad!)
print("Setting Panda to output mode...")
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more.
# For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
@@ -26,7 +27,7 @@ def tesla_tester():
#Back to safety...
print("Disabling output on Panda...")
p.set_safety_mode(Panda.SAFETY_SILENT)
p.set_safety_mode(Safety.SAFETY_SILENT)
print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")

85
python/__init__.py
View File

@@ -101,47 +101,8 @@ ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_
class ALTERNATIVE_EXPERIENCE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
ALLOW_AEB = 16
# sunnypilot
ENABLE_MADS = 2 ** 10
DISENGAGE_LATERAL_ON_BRAKE = 2 ** 11
class Panda:
# matches cereal.car.CarParams.SafetyModel
SAFETY_SILENT = 0
SAFETY_HONDA_NIDEC = 1
SAFETY_TOYOTA = 2
SAFETY_ELM327 = 3
SAFETY_GM = 4
SAFETY_HONDA_BOSCH_GIRAFFE = 5
SAFETY_FORD = 6
SAFETY_HYUNDAI = 8
SAFETY_CHRYSLER = 9
SAFETY_TESLA = 10
SAFETY_SUBARU = 11
SAFETY_MAZDA = 13
SAFETY_NISSAN = 14
SAFETY_VOLKSWAGEN_MQB = 15
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SAFETY_NOOUTPUT = 19
SAFETY_HONDA_BOSCH = 20
SAFETY_VOLKSWAGEN_PQ = 21
SAFETY_SUBARU_PREGLOBAL = 22
SAFETY_HYUNDAI_LEGACY = 23
SAFETY_HYUNDAI_COMMUNITY = 24
SAFETY_STELLANTIS = 25
SAFETY_FAW = 26
SAFETY_BODY = 27
SAFETY_HYUNDAI_CANFD = 28
SERIAL_DEBUG = 0
SERIAL_ESP = 1
SERIAL_LIN1 = 2
@@ -188,50 +149,6 @@ class Panda:
HARNESS_STATUS_NORMAL = 1
HARNESS_STATUS_FLIPPED = 2
# first byte is for EPS scaling factor
FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
FLAG_TOYOTA_LTA = (4 << 8)
FLAG_TOYOTA_SECOC = (8 << 8)
FLAG_HONDA_ALT_BRAKE = 1
FLAG_HONDA_BOSCH_LONG = 2
FLAG_HONDA_NIDEC_ALT = 4
FLAG_HONDA_RADARLESS = 8
FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2
FLAG_HYUNDAI_LONG = 4
FLAG_HYUNDAI_CAMERA_SCC = 8
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_HYUNDAI_ESCC = 512
FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE = 1024
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
FLAG_TESLA_RAVEN = 4
FLAG_VOLKSWAGEN_LONG_CONTROL = 1
FLAG_CHRYSLER_RAM_DT = 1
FLAG_CHRYSLER_RAM_HD = 2
FLAG_SUBARU_GEN2 = 1
FLAG_SUBARU_LONG = 2
FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
FLAG_NISSAN_ALT_EPS_BUS = 1
FLAG_NISSAN_LEAF = 512
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
FLAG_FORD_LONG_CONTROL = 1
FLAG_FORD_CANFD = 2
def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
self._disable_checks = disable_checks
@@ -795,7 +712,7 @@ class Panda:
def set_power_save(self, power_save_enabled=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
def set_safety_mode(self, mode=0, param=0): # Safety.SAFETY_SILENT
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
def set_obd(self, obd):

9
tests/black_white_loopback_test.py
View File

@@ -9,6 +9,7 @@ import os
import time
import random
import argparse
from opendbc.safety import Safety
from panda import Panda
def get_test_string():
@@ -47,8 +48,8 @@ def run_test(sleep_duration):
raise Exception("Connect white/grey and black panda to run this test!")
# disable safety modes
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# test health packet
print("black panda health", black_panda.health())
@@ -62,9 +63,9 @@ def run_test(sleep_duration):
print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
# Toggle relay
black_panda.set_safety_mode(Panda.SAFETY_SILENT)
black_panda.set_safety_mode(Safety.SAFETY_SILENT)
time.sleep(1)
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
time.sleep(1)

9
tests/black_white_relay_endurance.py
View File

@@ -10,6 +10,7 @@ import time
import random
import argparse
from opendbc.safety import Safety
from panda import Panda
def get_test_string():
@@ -48,8 +49,8 @@ def run_test(sleep_duration):
raise Exception("Connect white/grey and black panda to run this test!")
# disable safety modes
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# test health packet
print("black panda health", black_panda.health())
@@ -69,9 +70,9 @@ def run_test(sleep_duration):
if (time.time() - temp_start_time) > 3600 * 6:
# Toggle relay
black_panda.set_safety_mode(Panda.SAFETY_SILENT)
black_panda.set_safety_mode(Safety.SAFETY_SILENT)
time.sleep(1)
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
time.sleep(1)
temp_start_time = time.time()

9
tests/black_white_relay_test.py
View File

@@ -9,6 +9,7 @@ import time
import random
import argparse
from opendbc.safety import Safety
from panda import Panda
def get_test_string():
@@ -50,8 +51,8 @@ def run_test(sleep_duration):
raise Exception("Connect white/grey and black panda to run this test!")
# disable safety modes
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# test health packet
print("black panda health", black_panda.health())
@@ -60,7 +61,7 @@ def run_test(sleep_duration):
# test black -> other
while True:
# Switch on relay
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
time.sleep(0.05)
if not test_buses(black_panda, other_panda, (0, False, [0])):
@@ -68,7 +69,7 @@ def run_test(sleep_duration):
raise Exception("Open error")
# Switch off relay
black_panda.set_safety_mode(Panda.SAFETY_SILENT)
black_panda.set_safety_mode(Safety.SAFETY_SILENT)
time.sleep(0.05)
if not test_buses(black_panda, other_panda, (0, False, [0, 2])):

5
tests/bulk_write_test.py
View File

@@ -4,6 +4,7 @@ import time
import threading
from typing import Any
from opendbc.safety import Safety
from panda import Panda
JUNGLE = "JUNGLE" in os.environ
@@ -30,9 +31,9 @@ if __name__ == "__main__":
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1]) # type: ignore
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
receiver.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# Start transmisson
threading.Thread(target=flood_tx, args=(sender,)).start()

3
tests/can_printer.py
View File

@@ -4,6 +4,7 @@ import time
from collections import defaultdict
import binascii
from opendbc.safety import Safety
from panda import Panda
# fake
@@ -16,7 +17,7 @@ def can_printer():
time.sleep(1)
p.can_clear(0xFFFF)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
start = sec_since_boot()
lp = sec_since_boot()

7
tests/canfd/test_canfd.py
View File

@@ -3,6 +3,7 @@ import os
import time
import random
from collections import defaultdict
from opendbc.safety import Safety
from panda import Panda, calculate_checksum, DLC_TO_LEN
from panda import PandaJungle
from panda.tests.hitl.helpers import time_many_sends
@@ -44,14 +45,14 @@ def panda_init(serial, enable_canfd=False, enable_non_iso=False):
p.set_can_data_speed_kbps(bus, 2000)
if enable_non_iso:
p.set_canfd_non_iso(bus, True)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
return p
def test_canfd_throughput(p, p_recv=None):
two_pandas = p_recv is not None
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
if two_pandas:
p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_recv.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# enable output mode
else:
p.set_can_loopback(True)

3
tests/echo.py
View File

@@ -1,11 +1,12 @@
#!/usr/bin/env python3
from opendbc.safety import Safety
from panda import Panda
# This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle.
# It sends a reversed response back for every message received containing b"test".
if __name__ == "__main__":
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
p.set_power_save(False)
while True:

3
tests/elm_car_simulator.py
View File

@@ -10,6 +10,7 @@ import time
import threading
from collections import deque
from opendbc.safety import Safety
from panda import Panda
def lin_checksum(dat):
@@ -61,7 +62,7 @@ class ELMCarSimulator():
self.__on = on
def start(self):
self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
self.panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
if self.__lin_enable:
self.__lin_monitor_thread.start()
if self.__can_enable:

10
tests/hitl/2_health.py
View File

@@ -1,6 +1,8 @@
import time
import pytest
from opendbc.car.hyundai.values import HyundaiSafetyFlags
from opendbc.safety import Safety
from panda import Panda
@@ -36,10 +38,10 @@ def test_hw_type(p):
def test_heartbeat(p, panda_jungle):
panda_jungle.set_ignition(True)
# TODO: add more cases here once the tests aren't super slow
p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
p.set_safety_mode(mode=Safety.SAFETY_HYUNDAI, param=HyundaiSafetyFlags.FLAG_HYUNDAI_LONG)
p.send_heartbeat()
assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
assert p.health()['safety_mode'] == Safety.SAFETY_HYUNDAI
assert p.health()['safety_param'] == HyundaiSafetyFlags.FLAG_HYUNDAI_LONG
# shouldn't do anything once we're in a car safety mode
p.set_heartbeat_disabled()
@@ -48,7 +50,7 @@ def test_heartbeat(p, panda_jungle):
h = p.health()
assert h['heartbeat_lost']
assert h['safety_mode'] == Panda.SAFETY_SILENT
assert h['safety_mode'] == Safety.SAFETY_SILENT
assert h['safety_param'] == 0
assert h['controls_allowed'] == 0

7
tests/hitl/3_usb_to_can.py
View File

@@ -1,11 +1,12 @@
import time
from flaky import flaky
from opendbc.safety import Safety
from panda import Panda
from panda.tests.hitl.helpers import time_many_sends
def test_can_loopback(p):
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
for bus in (0, 1, 2):
@@ -30,7 +31,7 @@ def test_can_loopback(p):
def test_reliability(p):
MSG_COUNT = 100
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
p.set_can_speed_kbps(0, 1000)
@@ -60,7 +61,7 @@ def test_reliability(p):
@flaky(max_runs=6, min_passes=1)
def test_throughput(p):
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# enable CAN loopback mode
p.set_can_loopback(True)

14
tests/hitl/4_can_loopback.py
View File

@@ -6,7 +6,7 @@ import threading
from flaky import flaky
from collections import defaultdict
from panda import Panda
from opendbc.safety import Safety
from panda.tests.hitl.conftest import PandaGroup
from panda.tests.hitl.helpers import time_many_sends, get_random_can_messages, clear_can_buffers
@@ -27,7 +27,7 @@ def test_send_recv(p, panda_jungle):
print(f"two pandas bus {bus}, 100 messages at speed {speed:4d}, comp speed is {comp_kbps:7.2f}, {saturation_pct:6.2f}%")
# Run tests in both directions
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
test(p, panda_jungle)
test(panda_jungle, p)
@@ -84,7 +84,7 @@ def test_latency(p, panda_jungle):
.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))
# Run tests in both directions
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
test(p, panda_jungle)
test(panda_jungle, p)
@@ -126,12 +126,12 @@ def test_gen2_loopback(p, panda_jungle):
print("Bus:", bus, "address:", addr, "OBD:", obd, "OK")
# Run tests in both directions
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
test(p, panda_jungle)
test(panda_jungle, p)
# Test extended frame address with ELM327 mode
p.set_safety_mode(Panda.SAFETY_ELM327)
p.set_safety_mode(Safety.SAFETY_ELM327)
test(p, panda_jungle, 0x18DB33F1)
test(panda_jungle, p, 0x18DB33F1)
@@ -153,7 +153,7 @@ def test_bulk_write(p, panda_jungle):
packet += [[0xaa, msg, 0], [0xaa, msg, 1], [0xaa, msg, 2]] * NUM_MESSAGES_PER_BUS
# Disable timeout
panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
panda.can_send_many(packet, timeout=0)
print(f"Done sending {4 * NUM_MESSAGES_PER_BUS} messages!", time.monotonic())
print(panda.health())
@@ -175,7 +175,7 @@ def test_bulk_write(p, panda_jungle):
raise Exception("Did not receive all messages!")
def test_message_integrity(p):
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
for i in range(250):
sent_msgs = defaultdict(set)

11
tests/hitl/6_safety.py
View File

@@ -1,10 +1,11 @@
import time
from opendbc.safety import Safety
from panda import Panda
def test_safety_nooutput(p):
p.set_safety_mode(Panda.SAFETY_SILENT)
p.set_safety_mode(Safety.SAFETY_SILENT)
p.set_can_loopback(True)
# send a message on bus 0
@@ -20,10 +21,10 @@ def test_safety_nooutput(p):
def test_canfd_safety_modes(p):
# works on all pandas
p.set_safety_mode(Panda.SAFETY_TOYOTA)
assert p.health()['safety_mode'] == Panda.SAFETY_TOYOTA
p.set_safety_mode(Safety.SAFETY_TOYOTA)
assert p.health()['safety_mode'] == Safety.SAFETY_TOYOTA
# shouldn't be able to set a CAN-FD safety mode on non CAN-FD panda
p.set_safety_mode(Panda.SAFETY_HYUNDAI_CANFD)
expected_mode = Panda.SAFETY_HYUNDAI_CANFD if p.get_type() in Panda.H7_DEVICES else Panda.SAFETY_SILENT
p.set_safety_mode(Safety.SAFETY_HYUNDAI_CANFD)
expected_mode = Safety.SAFETY_HYUNDAI_CANFD if p.get_type() in Panda.H7_DEVICES else Safety.SAFETY_SILENT
assert p.health()['safety_mode'] == expected_mode

3
tests/hitl/9_harness.py
View File

@@ -2,6 +2,7 @@ import time
import pytest
import itertools
from opendbc.safety import Safety
from panda import Panda
from panda.tests.hitl.conftest import PandaGroup
@@ -19,7 +20,7 @@ def test_harness_status(p, panda_jungle):
# between the tests.
for ignition, orientation in itertools.product([True, False], [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]):
print()
p.set_safety_mode(Panda.SAFETY_ELM327)
p.set_safety_mode(Safety.SAFETY_ELM327)
panda_jungle.set_harness_orientation(orientation)
panda_jungle.set_ignition(ignition)

3
tests/loopback_test.py
View File

@@ -6,6 +6,7 @@ import random
import argparse
from itertools import permutations
from opendbc.safety import Safety
from panda import Panda
def get_test_string():
@@ -25,7 +26,7 @@ def run_test_w_pandas(pandas, sleep_duration):
print("H", h)
for hh in h:
hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
hh.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# test both directions
for ho in permutations(list(range(len(h))), r=2):

5
tests/message_drop_test.py
View File

@@ -7,6 +7,7 @@ import itertools
import threading
from typing import Any
from opendbc.safety import Safety
from panda import Panda
JUNGLE = "JUNGLE" in os.environ
@@ -44,9 +45,9 @@ if __name__ == "__main__":
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1])
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
receiver.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
sender.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
# Start transmisson
threading.Thread(target=flood_tx, args=(sender,)).start()

5
tests/relay_test.py
View File

@@ -1,15 +1,16 @@
#!/usr/bin/env python
import time
from opendbc.safety import Safety
from panda import Panda
p = Panda()
while True:
p.set_safety_mode(Panda.SAFETY_TOYOTA)
p.set_safety_mode(Safety.SAFETY_TOYOTA)
p.send_heartbeat()
print("ON")
time.sleep(1)
p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
p.set_safety_mode(Safety.SAFETY_NOOUTPUT)
p.send_heartbeat()
print("OFF")
time.sleep(1)

2
tests/safety/common.py
View File

@@ -6,7 +6,7 @@ import numpy as np
from collections.abc import Callable
from opendbc.can.packer import CANPacker # pylint: disable=import-error
from panda import ALTERNATIVE_EXPERIENCE
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.mads_common import MadsCommonBase

10
tests/safety/hyundai_common.py
View File

@@ -1,9 +1,9 @@
import unittest
from opendbc.car.hyundai.values import HyundaiSafetyFlags
import panda.tests.safety.common as common
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import make_msg
from panda import Panda
class Buttons:
@@ -148,7 +148,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
with self.subTest("enable_mads", mads_enabled=enable_mads):
for main_cruise_toggleable in (True, False):
with self.subTest("main_cruise_toggleable", main_cruise_toggleable=main_cruise_toggleable):
main_cruise_toggleable_flag = Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE if main_cruise_toggleable else 0
main_cruise_toggleable_flag = HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE if main_cruise_toggleable else 0
self.safety.set_safety_hooks(default_safety_mode, default_safety_param | main_cruise_toggleable_flag)
# Test initial state
@@ -180,7 +180,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
for enable_mads in (True, False):
with self.subTest("enable_mads", mads_enabled=enable_mads):
main_cruise_toggleable_flag = Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
main_cruise_toggleable_flag = HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
self.safety.set_safety_hooks(default_safety_mode, default_safety_param | main_cruise_toggleable_flag)
self._mads_states_cleanup()
@@ -213,7 +213,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
for enable_mads in (True, False):
with self.subTest("enable_mads", mads_enabled=enable_mads):
main_cruise_toggleable_flag = Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
main_cruise_toggleable_flag = HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
self.safety.set_safety_hooks(default_safety_mode, default_safety_param | main_cruise_toggleable_flag)
self._mads_states_cleanup()
@@ -254,7 +254,7 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
"""Test that mismatch counter resets when states resync"""
for enable_mads in (True, False):
with self.subTest("enable_mads", mads_enabled=enable_mads):
main_cruise_toggleable_flag = Panda.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
main_cruise_toggleable_flag = HyundaiSafetyFlags.FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE
self.safety.set_safety_hooks(default_safety_mode, default_safety_param | main_cruise_toggleable_flag)
self._mads_states_cleanup()

4
tests/safety/test_body.py
View File

@@ -3,7 +3,7 @@ import unittest
import panda.tests.safety.common as common
from panda import Panda
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import CANPackerPanda
@@ -15,7 +15,7 @@ class TestBody(common.PandaSafetyTest):
def setUp(self):
self.packer = CANPackerPanda("comma_body")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_BODY, 0)
self.safety.set_safety_hooks(Safety.SAFETY_BODY, 0)
self.safety.init_tests()
def _motors_data_msg(self, speed_l, speed_r):

10
tests/safety/test_chrysler.py
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.car.chrysler.values import ChryslerSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -27,7 +29,7 @@ class TestChryslerSafety(common.PandaCarSafetyTest, common.MotorTorqueSteeringSa
def setUp(self):
self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
self.safety.set_safety_hooks(Safety.SAFETY_CHRYSLER, 0)
self.safety.init_tests()
def _button_msg(self, cancel=False, resume=False):
@@ -97,7 +99,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
def setUp(self):
self.packer = CANPackerPanda("chrysler_ram_dt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
self.safety.set_safety_hooks(Safety.SAFETY_CHRYSLER, ChryslerSafetyFlags.FLAG_CHRYSLER_RAM_DT)
self.safety.init_tests()
def _speed_msg(self, speed):
@@ -125,7 +127,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
def setUp(self):
self.packer = CANPackerPanda("chrysler_ram_hd_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD)
self.safety.set_safety_hooks(Safety.SAFETY_CHRYSLER, ChryslerSafetyFlags.FLAG_CHRYSLER_RAM_HD)
self.safety.init_tests()
def _speed_msg(self, speed):

10
tests/safety/test_defaults.py
View File

@@ -3,7 +3,7 @@ import unittest
import panda.tests.safety.common as common
from panda import Panda
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
@@ -20,7 +20,7 @@ class TestNoOutput(TestDefaultRxHookBase):
def setUp(self):
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_NOOUTPUT, 0)
self.safety.set_safety_hooks(Safety.SAFETY_NOOUTPUT, 0)
self.safety.init_tests()
@@ -29,7 +29,7 @@ class TestSilent(TestNoOutput):
def setUp(self):
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_SILENT, 0)
self.safety.set_safety_hooks(Safety.SAFETY_SILENT, 0)
self.safety.init_tests()
@@ -40,7 +40,7 @@ class TestAllOutput(TestDefaultRxHookBase):
def setUp(self):
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0)
self.safety.set_safety_hooks(Safety.SAFETY_ALLOUTPUT, 0)
self.safety.init_tests()
def test_spam_can_buses(self):
@@ -65,7 +65,7 @@ class TestAllOutputPassthrough(TestAllOutput):
def setUp(self):
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 1)
self.safety.set_safety_hooks(Safety.SAFETY_ALLOUTPUT, 1)
self.safety.init_tests()

5
tests/safety/test_elm327.py
View File

@@ -3,7 +3,8 @@ import unittest
import panda.tests.safety.common as common
from panda import DLC_TO_LEN, Panda
from opendbc.safety import Safety
from panda import DLC_TO_LEN
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.test_defaults import TestDefaultRxHookBase
@@ -18,7 +19,7 @@ class TestElm327(TestDefaultRxHookBase):
def setUp(self):
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_ELM327, 0)
self.safety.set_safety_hooks(Safety.SAFETY_ELM327, 0)
self.safety.init_tests()
def test_tx_hook(self):

9
tests/safety/test_ford.py
View File

@@ -4,8 +4,9 @@ import random
import unittest
import panda.tests.safety.common as common
from opendbc.car.ford.values import FordSafetyFlags
from panda import Panda
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import CANPackerPanda
@@ -378,7 +379,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
self.safety.set_safety_hooks(Safety.SAFETY_FORD, FordSafetyFlags.FLAG_FORD_CANFD)
self.safety.init_tests()
@@ -455,7 +456,7 @@ class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
# Make sure we enforce long safety even without long flag for CAN
self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0)
self.safety.set_safety_hooks(Safety.SAFETY_FORD, 0)
self.safety.init_tests()
@@ -470,7 +471,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
def setUp(self):
self.packer = CANPackerPanda("ford_lincoln_base_pt")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
self.safety.set_safety_hooks(Safety.SAFETY_FORD, FordSafetyFlags.FLAG_FORD_LONG_CONTROL | FordSafetyFlags.FLAG_FORD_CANFD)
self.safety.init_tests()

12
tests/safety/test_gm.py
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.car.gm.values import GMSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -97,7 +99,7 @@ class TestGmSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSaf
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
self.safety.set_safety_hooks(Safety.SAFETY_GM, 0)
self.safety.init_tests()
def _pcm_status_msg(self, enable):
@@ -157,7 +159,7 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
self.safety.set_safety_hooks(Safety.SAFETY_GM, 0)
self.safety.init_tests()
@@ -187,7 +189,7 @@ class TestGmCameraSafety(TestGmCameraSafetyBase):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
self.safety.set_safety_hooks(Safety.SAFETY_GM, GMSafetyFlags.FLAG_GM_HW_CAM)
self.safety.init_tests()
def test_buttons(self):
@@ -219,7 +221,7 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
self.safety.set_safety_hooks(Safety.SAFETY_GM, GMSafetyFlags.FLAG_GM_HW_CAM | GMSafetyFlags.FLAG_GM_HW_CAM_LONG)
self.safety.init_tests()

19
tests/safety/test_honda.py
View File

@@ -2,7 +2,8 @@
import unittest
import numpy as np
from panda import Panda
from opendbc.car.honda.values import HondaSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda, MAX_WRONG_COUNTERS
@@ -310,7 +311,7 @@ class TestHondaNidecSafetyBase(HondaBase):
def setUp(self):
self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_NIDEC, 0)
self.safety.init_tests()
def _send_brake_msg(self, brake, aeb_req=0, bus=0):
@@ -400,7 +401,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
def setUp(self):
self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_NIDEC, HondaSafetyFlags.FLAG_HONDA_NIDEC_ALT)
self.safety.init_tests()
def _acc_state_msg(self, main_on):
@@ -465,7 +466,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
"""
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_ALT_BRAKE)
self.safety.init_tests()
def _user_brake_msg(self, brake):
@@ -487,7 +488,7 @@ class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase):
"""
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, 0)
self.safety.init_tests()
@@ -514,7 +515,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG)
self.safety.init_tests()
def _send_gas_brake_msg(self, gas, accel):
@@ -574,7 +575,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS)
self.safety.init_tests()
@@ -585,7 +586,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS | HondaSafetyFlags.FLAG_HONDA_ALT_BRAKE)
self.safety.init_tests()
@@ -599,7 +600,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
def setUp(self):
super().setUp()
self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG)
self.safety.set_safety_hooks(Safety.SAFETY_HONDA_BOSCH, HondaSafetyFlags.FLAG_HONDA_RADARLESS | HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG)
self.safety.init_tests()
def _accel_msg(self, accel):

22
tests/safety/test_hyundai.py
View File

@@ -1,7 +1,9 @@
#!/usr/bin/env python3
import random
import unittest
from panda import Panda
from opendbc.car.hyundai.values import HyundaiSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -72,7 +74,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.Dri
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, 0)
self.safety.init_tests()
def _button_msg(self, buttons, main_button=0, bus=0):
@@ -131,7 +133,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.Dri
for hyundai_longitudinal in (True, False):
with self.subTest("hyundai_longitudinal", hyundai_longitudinal=hyundai_longitudinal):
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0 if hyundai_longitudinal else Panda.FLAG_HYUNDAI_LONG)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, 0 if hyundai_longitudinal else HyundaiSafetyFlags.FLAG_HYUNDAI_LONG)
for should_turn_acc_main_on in (True, False):
with self.subTest("acc_main_on", should_turn_acc_main_on=should_turn_acc_main_on):
self._rx(self._acc_state_msg(should_turn_acc_main_on)) # Send the ACC state message
@@ -148,7 +150,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_ALT_LIMITS)
self.safety.init_tests()
@@ -159,7 +161,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC)
self.safety.init_tests()
def test_pcm_main_cruise_state_availability(self):
@@ -178,7 +180,7 @@ class TestHyundaiLegacySafety(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 0)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_LEGACY, 0)
self.safety.init_tests()
@@ -186,7 +188,7 @@ class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 1)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_LEGACY, 1)
self.safety.init_tests()
def _user_gas_msg(self, gas):
@@ -198,7 +200,7 @@ class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 2)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_LEGACY, 2)
self.safety.init_tests()
def _user_gas_msg(self, gas):
@@ -216,7 +218,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_LONG)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -262,7 +264,7 @@ class TestHyundaiLongitudinalESCCSafety(HyundaiLongitudinalBase, TestHyundaiSafe
def setUp(self):
self.packer = CANPackerPanda("hyundai_kia_generic")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_ESCC)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI, HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_ESCC)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

57
tests/safety/test_hyundai_canfd.py
View File

@@ -1,7 +1,9 @@
#!/usr/bin/env python3
from parameterized import parameterized_class
import unittest
from panda import Panda
from opendbc.car.hyundai.values import HyundaiSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -112,19 +114,23 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM)
self.safety.init_tests()
@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
pass
@@ -132,13 +138,17 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
@parameterized_class([
# Radar SCC, test with long flag to ensure flag is not respected until it is supported
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
# Camera SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC},
])
class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
@@ -147,7 +157,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
self.safety.init_tests()
def _button_msg(self, buttons, main_button=0, bus=1):
@@ -186,7 +196,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()
@@ -206,8 +216,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS |
HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
self.safety.init_tests()
@@ -228,7 +238,8 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2 |
HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -246,9 +257,9 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
# Tests HDA1 longitudinal for ICE, hybrid, EV
@parameterized_class([
# Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG},
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS},
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiSafetyFlags.FLAG_HYUNDAI_LONG | HyundaiSafetyFlags.FLAG_HYUNDAI_HYBRID_GAS},
])
class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
@@ -272,7 +283,7 @@ class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base
def setUp(self):
self.packer = CANPackerPanda("hyundai_canfd")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
self.safety.set_safety_hooks(Safety.SAFETY_HYUNDAI_CANFD, HyundaiSafetyFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
self.safety.init_tests()
def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

4
tests/safety/test_mazda.py
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -30,7 +30,7 @@ class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafe
def setUp(self):
self.packer = CANPackerPanda("mazda_2017")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0)
self.safety.set_safety_hooks(Safety.SAFETY_MAZDA, 0)
self.safety.init_tests()
def _torque_meas_msg(self, torque):

10
tests/safety/test_nissan.py
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.car.nissan.values import NissanSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -29,7 +31,7 @@ class TestNissanSafety(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest
def setUp(self):
self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0)
self.safety.set_safety_hooks(Safety.SAFETY_NISSAN, 0)
self.safety.init_tests()
def _angle_cmd_msg(self, angle: float, enabled: bool):
@@ -94,7 +96,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
def setUp(self):
self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS)
self.safety.set_safety_hooks(Safety.SAFETY_NISSAN, NissanSafetyFlags.FLAG_NISSAN_ALT_EPS_BUS)
self.safety.init_tests()
def _acc_state_msg(self, main_on):
@@ -107,7 +109,7 @@ class TestNissanLeafSafety(TestNissanSafety):
def setUp(self):
self.packer = CANPackerPanda("nissan_leaf_2018_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_LEAF)
self.safety.set_safety_hooks(Safety.SAFETY_NISSAN, NissanSafetyFlags.FLAG_NISSAN_LEAF)
self.safety.init_tests()
def _user_brake_msg(self, brake):

12
tests/safety/test_subaru.py
View File

@@ -1,7 +1,9 @@
#!/usr/bin/env python3
import enum
import unittest
from panda import Panda
from opendbc.car.subaru.values import SubaruSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -75,7 +77,7 @@ class TestSubaruSafetyBase(common.PandaCarSafetyTest):
def setUp(self):
self.packer = CANPackerPanda("subaru_global_2017_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, self.FLAGS)
self.safety.set_safety_hooks(Safety.SAFETY_SUBARU, self.FLAGS)
self.safety.init_tests()
def _set_prev_torque(self, t):
@@ -198,17 +200,17 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
FLAGS = Panda.FLAG_SUBARU_GEN2
FLAGS = SubaruSafetyFlags.FLAG_SUBARU_GEN2
TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
FLAGS = Panda.FLAG_SUBARU_LONG
FLAGS = SubaruSafetyFlags.FLAG_SUBARU_LONG
TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)
class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
FLAGS = Panda.FLAG_SUBARU_LONG | Panda.FLAG_SUBARU_GEN2
FLAGS = SubaruSafetyFlags.FLAG_SUBARU_LONG | SubaruSafetyFlags.FLAG_SUBARU_GEN2
TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + gen2_long_additional_tx_msgs()
def _rdbi_msg(self, did: int):

8
tests/safety/test_subaru_preglobal.py
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.car.subaru.values import SubaruSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -28,7 +30,7 @@ class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSt
def setUp(self):
self.packer = CANPackerPanda(self.DBC)
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, self.FLAGS)
self.safety.set_safety_hooks(Safety.SAFETY_SUBARU_PREGLOBAL, self.FLAGS)
self.safety.init_tests()
def _set_prev_torque(self, t):
@@ -62,7 +64,7 @@ class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSt
class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
FLAGS = SubaruSafetyFlags.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
DBC = "subaru_outback_2019_generated"

12
tests/safety/test_tesla.py
View File

@@ -1,7 +1,9 @@
#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from opendbc.car.tesla.values import TeslaSafetyFlags
from opendbc.safety import Safety
import panda.tests.safety.common as common
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import CANPackerPanda
@@ -77,7 +79,7 @@ class TestTeslaSteeringSafety(TestTeslaSafety, common.AngleSteeringSafetyTest):
def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, 0)
self.safety.set_safety_hooks(Safety.SAFETY_TESLA, 0)
self.safety.init_tests()
def _angle_cmd_msg(self, angle: float, enabled: bool):
@@ -112,7 +114,7 @@ class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN)
self.safety.set_safety_hooks(Safety.SAFETY_TESLA, TeslaSafetyFlags.FLAG_TESLA_RAVEN)
self.safety.init_tests()
def _angle_meas_msg(self, angle: float):
@@ -165,7 +167,7 @@ class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_can")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL)
self.safety.set_safety_hooks(Safety.SAFETY_TESLA, TeslaSafetyFlags.FLAG_TESLA_LONG_CONTROL)
self.safety.init_tests()
@@ -177,7 +179,7 @@ class TestTeslaPTLongitudinalSafety(TestTeslaLongitudinalSafety):
def setUp(self):
self.packer = CANPackerPanda("tesla_powertrain")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN)
self.safety.set_safety_hooks(Safety.SAFETY_TESLA, TeslaSafetyFlags.FLAG_TESLA_LONG_CONTROL | TeslaSafetyFlags.FLAG_TESLA_POWERTRAIN)
self.safety.init_tests()

15
tests/safety/test_toyota.py
View File

@@ -4,7 +4,8 @@ import random
import unittest
import itertools
from panda import Panda
from opendbc.car.toyota.values import ToyotaSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -145,7 +146,7 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE)
self.safety.init_tests()
@@ -165,7 +166,7 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_LTA)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaSafetyFlags.FLAG_TOYOTA_LTA)
self.safety.init_tests()
# Only allow LKA msgs with no actuation
@@ -267,7 +268,7 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
def setUp(self):
self.packer = CANPackerPanda("toyota_new_mc_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_ALT_BRAKE)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE)
self.safety.init_tests()
def _user_brake_msg(self, brake):
@@ -312,7 +313,7 @@ class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToy
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL)
self.safety.init_tests()
@@ -321,7 +322,7 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
def setUp(self):
self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_LTA)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaSafetyFlags.FLAG_TOYOTA_LTA)
self.safety.init_tests()
@@ -334,7 +335,7 @@ class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
def setUp(self):
self.packer = CANPackerPanda("toyota_secoc_pt_generated")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_SECOC)
self.safety.set_safety_hooks(Safety.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaSafetyFlags.FLAG_TOYOTA_SECOC)
self.safety.init_tests()
# This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work

7
tests/safety/test_volkswagen_mqb.py
View File

@@ -1,10 +1,11 @@
#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
MAX_ACCEL = 2.0
MIN_ACCEL = -3.5
@@ -143,7 +144,7 @@ class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety):
def setUp(self):
self.packer = CANPackerPanda("vw_mqb_2010")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
self.safety.set_safety_hooks(Safety.SAFETY_VOLKSWAGEN_MQB, 0)
self.safety.init_tests()
def test_spam_cancel_safety_check(self):
@@ -165,7 +166,7 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
def setUp(self):
self.packer = CANPackerPanda("vw_mqb_2010")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.set_safety_hooks(Safety.SAFETY_VOLKSWAGEN_MQB, VolkswagenSafetyFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.init_tests()
# stock cruise controls are entirely bypassed under openpilot longitudinal control

8
tests/safety/test_volkswagen_pq.py
View File

@@ -1,6 +1,8 @@
#!/usr/bin/env python3
import unittest
from panda import Panda
from opendbc.car.volkswagen.values import VolkswagenSafetyFlags
from opendbc.safety import Safety
from panda.tests.libpanda import libpanda_py
import panda.tests.safety.common as common
from panda.tests.safety.common import CANPackerPanda
@@ -125,7 +127,7 @@ class TestVolkswagenPqStockSafety(TestVolkswagenPqSafety):
def setUp(self):
self.packer = CANPackerPanda("vw_golf_mk4")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
self.safety.set_safety_hooks(Safety.SAFETY_VOLKSWAGEN_PQ, 0)
self.safety.init_tests()
def test_spam_cancel_safety_check(self):
@@ -147,7 +149,7 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAcce
def setUp(self):
self.packer = CANPackerPanda("vw_golf_mk4")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.set_safety_hooks(Safety.SAFETY_VOLKSWAGEN_PQ, VolkswagenSafetyFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
self.safety.init_tests()
# stock cruise controls are entirely bypassed under openpilot longitudinal control

39
tests/safety_replay/helpers.py
View File

@@ -1,5 +1,6 @@
from opendbc.car.toyota.values import ToyotaSafetyFlags
from opendbc.safety import Safety
import panda.tests.libpanda.libpanda_py as libpanda_py
from panda import Panda
def to_signed(d, bits):
ret = d
@@ -9,49 +10,49 @@ def to_signed(d, bits):
def is_steering_msg(mode, param, addr):
ret = False
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
if mode in (Safety.SAFETY_HONDA_NIDEC, Safety.SAFETY_HONDA_BOSCH):
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
elif mode == Panda.SAFETY_GM:
elif mode == Safety.SAFETY_TOYOTA:
ret = addr == (0x191 if param & ToyotaSafetyFlags.FLAG_TOYOTA_LTA else 0x2E4)
elif mode == Safety.SAFETY_GM:
ret = addr == 384
elif mode == Panda.SAFETY_HYUNDAI:
elif mode == Safety.SAFETY_HYUNDAI:
ret = addr == 832
elif mode == Panda.SAFETY_CHRYSLER:
elif mode == Safety.SAFETY_CHRYSLER:
ret = addr == 0x292
elif mode == Panda.SAFETY_SUBARU:
elif mode == Safety.SAFETY_SUBARU:
ret = addr == 0x122
elif mode == Panda.SAFETY_FORD:
elif mode == Safety.SAFETY_FORD:
ret = addr == 0x3d3
elif mode == Panda.SAFETY_NISSAN:
elif mode == Safety.SAFETY_NISSAN:
ret = addr == 0x169
return ret
def get_steer_value(mode, param, to_send):
torque, angle = 0, 0
if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
if mode in (Safety.SAFETY_HONDA_NIDEC, Safety.SAFETY_HONDA_BOSCH):
torque = (to_send.data[0] << 8) | to_send.data[1]
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_TOYOTA:
if param & Panda.FLAG_TOYOTA_LTA:
elif mode == Safety.SAFETY_TOYOTA:
if param & ToyotaSafetyFlags.FLAG_TOYOTA_LTA:
angle = (to_send.data[1] << 8) | to_send.data[2]
angle = to_signed(angle, 16)
else:
torque = (to_send.data[1] << 8) | (to_send.data[2])
torque = to_signed(torque, 16)
elif mode == Panda.SAFETY_GM:
elif mode == Safety.SAFETY_GM:
torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
torque = to_signed(torque, 11)
elif mode == Panda.SAFETY_HYUNDAI:
elif mode == Safety.SAFETY_HYUNDAI:
torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
elif mode == Panda.SAFETY_CHRYSLER:
elif mode == Safety.SAFETY_CHRYSLER:
torque = (((to_send.data[0] & 0x7) << 8) | to_send.data[1]) - 1024
elif mode == Panda.SAFETY_SUBARU:
elif mode == Safety.SAFETY_SUBARU:
torque = ((to_send.data[3] & 0x1F) << 8) | to_send.data[2]
torque = -to_signed(torque, 13)
elif mode == Panda.SAFETY_FORD:
elif mode == Safety.SAFETY_FORD:
angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
elif mode == Panda.SAFETY_NISSAN:
elif mode == Safety.SAFETY_NISSAN:
angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6)
angle = -angle + (1310 * 100)
return torque, angle

2
tests/safety_replay/replay_drive.py
View File

@@ -3,7 +3,7 @@ import argparse
import os
from collections import Counter, defaultdict
from panda.python import ALTERNATIVE_EXPERIENCE
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from panda.tests.libpanda import libpanda_py
from panda.tests.safety_replay.helpers import package_can_msg, init_segment

3
tests/som/on-device.py
View File

@@ -2,6 +2,7 @@
import os
import time
from opendbc.safety import Safety
from panda import Panda
@@ -12,7 +13,7 @@ if __name__ == "__main__":
with Panda(disable_checks=False) as p:
if not flag_set:
p.set_heartbeat_disabled()
p.set_safety_mode(Panda.SAFETY_ELM327, 30)
p.set_safety_mode(Safety.SAFETY_ELM327, 30)
flag_set = True
# shutdown when told

5
tests/som/test_bootkick.py
View File

@@ -1,6 +1,7 @@
import time
import pytest
from opendbc.safety import Safety
from panda import Panda, PandaJungle
PANDA_SERIAL = "28002d000451323431333839"
@@ -48,7 +49,7 @@ def setup_state(panda, jungle, state):
jungle.set_panda_individual_power(OBDC_PORT, 1)
wait_for_boot(panda, jungle)
set_som_shutdown_flag(panda)
panda.set_safety_mode(Panda.SAFETY_SILENT)
panda.set_safety_mode(Safety.SAFETY_SILENT)
panda.send_heartbeat()
wait_for_som_shutdown(panda, jungle)
else:
@@ -82,7 +83,7 @@ def wait_for_full_poweroff(jungle, timeout=30):
def check_som_boot_flag(panda):
h = panda.health()
return h['safety_mode'] == Panda.SAFETY_ELM327 and h['safety_param'] == 30
return h['safety_mode'] == Safety.SAFETY_ELM327 and h['safety_param'] == 30
def set_som_shutdown_flag(panda):
panda.set_can_data_speed_kbps(0, 1000)

3
tests/spam_can.py
View File

@@ -2,6 +2,7 @@
import os
import random
from opendbc.safety import Safety
from panda import Panda
def get_test_string():
@@ -9,7 +10,7 @@ def get_test_string():
if __name__ == "__main__":
p = Panda()
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
print("Spamming all buses...")
while True:

3
tests/standalone_test.py
View File

@@ -2,6 +2,7 @@
import struct
import time
from opendbc.safety import Safety
from panda import Panda
if __name__ == "__main__":
@@ -15,7 +16,7 @@ if __name__ == "__main__":
t2 = time.time()
print("100 requests took %.2f ms" % ((t2 - t1) * 1000))
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
a = 0
while True:

5
tests/usbprotocol/test_comms.py
View File

@@ -2,7 +2,8 @@
import random
import unittest
from panda import Panda, DLC_TO_LEN, USBPACKET_MAX_SIZE, pack_can_buffer, unpack_can_buffer
from opendbc.safety import Safety
from panda import DLC_TO_LEN, USBPACKET_MAX_SIZE, pack_can_buffer, unpack_can_buffer
from panda.tests.libpanda import libpanda_py
lpp = libpanda_py.libpanda
@@ -101,7 +102,7 @@ class TestPandaComms(unittest.TestCase):
def test_can_send_usb(self):
lpp.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0)
lpp.set_safety_hooks(Safety.SAFETY_ALLOUTPUT, 0)
for bus in range(3):
with self.subTest(bus=bus):