mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-19 09:43:51 +08:00
788e0b5ac9
* it was only checking a specific bit * same check as openpilot * reset on init * unsigned * should fix conflicts * common * comment * Add missing function * Tests * the alternative is a mess typo typo * draft * finish common * works but you need RegenSafetyTest before all other classes * Revert "works but you need RegenSafetyTest before all other classes" This reverts commit 256f3be9a86e2412220d473037d64b84167ae98d. * This works too * need parameterized, subtests nor super() calls correctly reset state * Fix test and comment * comment * another fix... * subclass * ABC * order * fix static analysis * can do this * Revert "can do this" This reverts commit 6bc63a345a2d63019a640092dd9538203e8b213d. * this is nicer, no pylint errors * Update tests/safety/common.py * underscore * dynamically detect and add tests * simpler * only for safety modes with a regen message * check attr * Revert "check attr" This reverts commit bc37a7eedd2269bb3bc77d96762f0f0df6890991. * need to check at test time not class init time
137 lines
4.1 KiB
Python
137 lines
4.1 KiB
Python
import os
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from typing import List
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from cffi import FFI
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can_dir = os.path.dirname(os.path.abspath(__file__))
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libpandasafety_fn = os.path.join(can_dir, "libpandasafety.so")
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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unsigned char reserved : 1;
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unsigned char bus : 3;
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unsigned char data_len_code : 4;
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unsigned char rejected : 1;
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unsigned char returned : 1;
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unsigned char extended : 1;
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unsigned int addr : 29;
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unsigned char data[64];
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} CANPacket_t;
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""", packed=True)
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ffi.cdef("""
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typedef struct
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{
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uint32_t CNT;
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} TIM_TypeDef;
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void set_controls_allowed(bool c);
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bool get_controls_allowed(void);
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bool get_longitudinal_allowed(void);
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void set_alternative_experience(int mode);
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int get_alternative_experience(void);
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void set_relay_malfunction(bool c);
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bool get_relay_malfunction(void);
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void set_gas_interceptor_detected(bool c);
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bool get_gas_interceptor_detected(void);
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int get_gas_interceptor_prev(void);
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bool get_gas_pressed_prev(void);
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bool get_brake_pressed_prev(void);
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bool get_regen_braking_prev(void);
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bool get_acc_main_on(void);
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void set_torque_meas(int min, int max);
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int get_torque_meas_min(void);
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int get_torque_meas_max(void);
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void set_torque_driver(int min, int max);
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int get_torque_driver_min(void);
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int get_torque_driver_max(void);
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void set_desired_torque_last(int t);
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void set_rt_torque_last(int t);
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void set_desired_angle_last(int t);
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bool get_cruise_engaged_prev(void);
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bool get_vehicle_moving(void);
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int get_hw_type(void);
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void set_timer(uint32_t t);
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int safety_rx_hook(CANPacket_t *to_send);
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int safety_tx_hook(CANPacket_t *to_push);
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int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd);
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int set_safety_hooks(uint16_t mode, uint16_t param);
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void safety_tick_current_rx_checks();
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bool addr_checks_valid();
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void init_tests(void);
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void init_tests_honda(void);
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void set_honda_fwd_brake(bool c);
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void set_honda_alt_brake_msg(bool c);
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void set_honda_bosch_long(bool c);
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int get_honda_hw(void);
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""")
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class CANPacket:
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reserved: int
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bus: int
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data_len_code: int
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rejected: int
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returned: int
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extended: int
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addr: int
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data: List[int]
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class PandaSafety:
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def set_controls_allowed(self, c: bool) -> None: ...
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def get_controls_allowed(self) -> bool: ...
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def get_longitudinal_allowed(self) -> bool: ...
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def set_alternative_experience(self, mode: int) -> None: ...
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def get_alternative_experience(self) -> int: ...
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def set_relay_malfunction(self, c: bool) -> None: ...
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def get_relay_malfunction(self) -> bool: ...
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def set_gas_interceptor_detected(self, c: bool) -> None: ...
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def get_gas_interceptor_detected(self) -> bool: ...
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def get_gas_interceptor_prev(self) -> int: ...
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def get_gas_pressed_prev(self) -> bool: ...
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def get_brake_pressed_prev(self) -> bool: ...
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def get_regen_braking_prev(self) -> bool: ...
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def get_acc_main_on(self) -> bool: ...
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def set_torque_meas(self, min: int, max: int) -> None: ... # pylint: disable=redefined-builtin
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def get_torque_meas_min(self) -> int: ...
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def get_torque_meas_max(self) -> int: ...
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def set_torque_driver(self, min: int, max: int) -> None: ... # pylint: disable=redefined-builtin
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def get_torque_driver_min(self) -> int: ...
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def get_torque_driver_max(self) -> int: ...
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def set_desired_torque_last(self, t: int) -> None: ...
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def set_rt_torque_last(self, t: int) -> None: ...
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def set_desired_angle_last(self, t: int) -> None: ...
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def get_cruise_engaged_prev(self) -> bool: ...
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def get_vehicle_moving(self) -> bool: ...
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def get_hw_type(self) -> int: ...
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def set_timer(self, t: int) -> None: ...
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def safety_rx_hook(self, to_send: CANPacket) -> int: ...
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def safety_tx_hook(self, to_push: CANPacket) -> int: ...
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def safety_fwd_hook(self, bus_num: int, to_fwd: CANPacket) -> int: ...
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def set_safety_hooks(self, mode: int, param: int) -> int: ...
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def safety_tick_current_rx_checks(self) -> None: ...
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def addr_checks_valid(self) -> bool: ...
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def init_tests(self) -> None: ...
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def init_tests_honda(self) -> None: ...
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def set_honda_fwd_brake(self, c: bool) -> None: ...
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def set_honda_alt_brake_msg(self, c: bool) -> None: ...
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def set_honda_bosch_long(self, c: bool) -> None: ...
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def get_honda_hw(self) -> int: ...
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libpandasafety: PandaSafety = ffi.dlopen(libpandasafety_fn)
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