From b6644f7a35c0982d5a724a9f11f77bce6db809ad Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 26 Sep 2024 12:35:45 -0700 Subject: [PATCH] revert libpanda with clang (#2044) * revert * adapt this --- SConstruct | 4 ++++ board/safety/safety_ford.h | 28 +++++++++++----------- board/safety/safety_gm.h | 5 ++-- board/safety/safety_hyundai.h | 25 ++++++++------------ board/safety/safety_hyundai_common.h | 5 ++-- board/safety/safety_volkswagen_mqb.h | 16 ++++++------- board/safety/safety_volkswagen_pq.h | 4 ++-- tests/libpanda/SConscript | 35 ++++++++++++++++------------ tests/safety/test.sh | 28 +++++++++++----------- 9 files changed, 78 insertions(+), 72 deletions(-) diff --git a/SConstruct b/SConstruct index 6a97f4c17..11ff21738 100644 --- a/SConstruct +++ b/SConstruct @@ -8,6 +8,10 @@ AddOption('--ubsan', action='store_true', help='turn on UBSan') +AddOption('--coverage', + action='store_true', + help='build with test coverage options') + AddOption('--compile_db', action='store_true', help='build clang compilation database') diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h index 50ff6f713..3ab8827b6 100644 --- a/board/safety/safety_ford.h +++ b/board/safety/safety_ford.h @@ -28,10 +28,10 @@ static uint8_t ford_get_counter(const CANPacket_t *to_push) { if (addr == FORD_BrakeSysFeatures) { // Signal: VehVActlBrk_No_Cnt cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU; - } - if (addr == FORD_Yaw_Data_FD1) { + } else if (addr == FORD_Yaw_Data_FD1) { // Signal: VehRollYaw_No_Cnt cnt = GET_BYTE(to_push, 5); + } else { } return cnt; } @@ -43,10 +43,10 @@ static uint32_t ford_get_checksum(const CANPacket_t *to_push) { if (addr == FORD_BrakeSysFeatures) { // Signal: VehVActlBrk_No_Cs chksum = GET_BYTE(to_push, 3); - } - if (addr == FORD_Yaw_Data_FD1) { + } else if (addr == FORD_Yaw_Data_FD1) { // Signal: VehRollYawW_No_Cs chksum = GET_BYTE(to_push, 4); + } else { } return chksum; } @@ -60,14 +60,14 @@ static uint32_t ford_compute_checksum(const CANPacket_t *to_push) { chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt chksum = 0xFFU - chksum; - } - if (addr == FORD_Yaw_Data_FD1) { + } else if (addr == FORD_Yaw_Data_FD1) { chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf chksum = 0xFFU - chksum; + } else { } return chksum; @@ -79,12 +79,11 @@ static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) { bool valid = false; if (addr == FORD_BrakeSysFeatures) { valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf - } - if (addr == FORD_EngVehicleSpThrottle2) { + } else if (addr == FORD_EngVehicleSpThrottle2) { valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf - } - if (addr == FORD_Yaw_Data_FD1) { + } else if (addr == FORD_Yaw_Data_FD1) { valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf + } else { } return valid; } @@ -317,7 +316,8 @@ static int ford_fwd_hook(int bus_num, int addr) { // Forward all traffic from bus 0 onward bus_fwd = FORD_CAM_BUS; break; - } case FORD_CAM_BUS: { + } + case FORD_CAM_BUS: { if (ford_lkas_msg_check(addr)) { // Block stock LKAS and UI messages bus_fwd = -1; @@ -329,10 +329,12 @@ static int ford_fwd_hook(int bus_num, int addr) { bus_fwd = FORD_MAIN_BUS; } break; - } default: { + } + default: { // No other buses should be in use; fallback to do-not-forward bus_fwd = -1; - break;} + break; + } } return bus_fwd; diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h index 10cb21f32..f0902a921 100644 --- a/board/safety/safety_gm.h +++ b/board/safety/safety_gm.h @@ -227,11 +227,12 @@ static safety_config gm_init(uint16_t param) { {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM; + if (gm_hw == GM_ASCM) { gm_long_limits = &GM_ASCM_LONG_LIMITS; - } - if (gm_hw == GM_CAM) { + } else if (gm_hw == GM_CAM) { gm_long_limits = &GM_CAM_LONG_LIMITS; + } else { } #ifdef ALLOW_DEBUG diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h index cc2fd8c6b..3e9d23216 100644 --- a/board/safety/safety_hyundai.h +++ b/board/safety/safety_hyundai.h @@ -49,19 +49,16 @@ static uint8_t hyundai_get_counter(const CANPacket_t *to_push) { uint8_t cnt = 0; if (addr == 0x260) { cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U; - } - if (addr == 0x386) { + } else if (addr == 0x386) { cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6); - } - if (addr == 0x394) { + } else if (addr == 0x394) { cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U; - } - if (addr == 0x421) { + } else if (addr == 0x421) { cnt = GET_BYTE(to_push, 7) & 0xFU; - } - if (addr == 0x4F1) { + } else if (addr == 0x4F1) { cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU; - } + } else { + } return cnt; } @@ -71,15 +68,13 @@ static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) { uint8_t chksum = 0; if (addr == 0x260) { chksum = GET_BYTE(to_push, 7) & 0xFU; - } - if (addr == 0x386) { + } else if (addr == 0x386) { chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6); - } - if (addr == 0x394) { + } else if (addr == 0x394) { chksum = GET_BYTE(to_push, 6) & 0xFU; - } - if (addr == 0x421) { + } else if (addr == 0x421) { chksum = GET_BYTE(to_push, 7) >> 4; + } else { } return chksum; } diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h index ee2ee32f2..d83b39640 100644 --- a/board/safety/safety_hyundai_common.h +++ b/board/safety/safety_hyundai_common.h @@ -118,9 +118,10 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) { if (len == 24) { crc ^= 0x819dU; - } - if (len == 32) { + } else if (len == 32) { crc ^= 0x9f5bU; + } else { + } return crc; diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h index 1484cd5b0..40f7cbccc 100644 --- a/board/safety/safety_volkswagen_mqb.h +++ b/board/safety/safety_volkswagen_mqb.h @@ -45,19 +45,17 @@ static uint32_t volkswagen_mqb_compute_crc(const CANPacket_t *to_push) { uint8_t counter = volkswagen_mqb_get_counter(to_push); if (addr == MSG_LH_EPS_03) { crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter]; - } - if (addr == MSG_ESP_05) { + } else if (addr == MSG_ESP_05) { crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter]; - } - if (addr == MSG_TSK_06) { + } else if (addr == MSG_TSK_06) { crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter]; - } - if (addr == MSG_MOTOR_20) { + } else if (addr == MSG_MOTOR_20) { crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter]; - } - if (addr == MSG_GRA_ACC_01) { + } else if (addr == MSG_GRA_ACC_01) { crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter]; - } + } else { + // Undefined CAN message, CRC check expected to fail + } crc = volkswagen_crc8_lut_8h2f[crc]; return (uint8_t)(crc ^ 0xFFU); diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h index 8fc811eba..75979a514 100644 --- a/board/safety/safety_volkswagen_pq.h +++ b/board/safety/safety_volkswagen_pq.h @@ -26,9 +26,9 @@ static uint8_t volkswagen_pq_get_counter(const CANPacket_t *to_push) { if (addr == MSG_LENKHILFE_3) { counter = (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4; - } - if (addr == MSG_GRA_NEU) { + } else if (addr == MSG_GRA_NEU) { counter = (uint8_t)(GET_BYTE(to_push, 2) & 0xF0U) >> 4; + } else { } return counter; diff --git a/tests/libpanda/SConscript b/tests/libpanda/SConscript index fc33d85d3..2ad405f5e 100644 --- a/tests/libpanda/SConscript +++ b/tests/libpanda/SConscript @@ -1,13 +1,14 @@ -import os import platform -COVERAGE_FLAGS = [ - '-fprofile-instr-generate', - '-fcoverage-mapping', -] +CC = 'gcc' +system = platform.system() +if system == 'Darwin': + # gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be + # distinguishable from system one - which acts as a symlink to clang + CC += '-13' env = Environment( - CC='clang', + CC=CC, CFLAGS=[ '-nostdlib', '-fno-builtin', @@ -17,19 +18,14 @@ env = Environment( ], CPPPATH=[".", "../../board/"], ) -if platform.system() == "Darwin": +if system == "Darwin": env.PrependENVPath('PATH', '/opt/homebrew/bin') -TICI = os.path.isfile('/TICI') -AGNOS = TICI -if AGNOS: - env['CC'] = 'gcc' -else: - env['CFLAGS'] += COVERAGE_FLAGS - env['LINKFLAGS'] += COVERAGE_FLAGS - if GetOption('mutation'): + env['CC'] = 'clang-17' flags = [ + '-fprofile-instr-generate', + '-fcoverage-mapping', '-fpass-plugin=/usr/lib/mull-ir-frontend-17', '-g', '-grecord-command-line', @@ -47,3 +43,12 @@ if GetOption('ubsan'): panda = env.SharedObject("panda.os", "panda.c") libpanda = env.SharedLibrary("libpanda.so", [panda]) + +if GetOption('coverage'): + env.Append( + CFLAGS=["-fprofile-arcs", "-ftest-coverage", "-fprofile-abs-path",], + LIBS=["gcov"], + ) + # GCC note file is generated by compiler, ensure we build it, and allow scons to clean it up + AlwaysBuild(panda) + env.SideEffect("panda.gcno", panda) diff --git a/tests/safety/test.sh b/tests/safety/test.sh index 173c5b5c6..13703b26a 100755 --- a/tests/safety/test.sh +++ b/tests/safety/test.sh @@ -4,31 +4,31 @@ set -e DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR -rm -f safety_*.profraw safety.profdata -scons -j$(nproc) -D +# reset coverage data and generate gcc note file +rm -f ../libpanda/*.gcda +scons -j$(nproc) -D --coverage # run safety tests and generate coverage data HW_TYPES=( 6 9 ) for hw_type in "${HW_TYPES[@]}"; do echo "Testing HW_TYPE: $hw_type" - LLVM_PROFILE_FILE="safety_%m.profraw" HW_TYPE=$hw_type pytest test_*.py + HW_TYPE=$hw_type pytest test_*.py done -# generate coverage report -llvm-profdata-17 merge -sparse safety_*.profraw -o safety.profdata - -# open html report +# generate and open report if [ "$1" == "--report" ]; then - llvm-cov-17 show -format=html -show-branches=count -instr-profile=safety.profdata ../libpanda/libpanda.so -sources ../../board/safety/safety_*.h ../../board/safety.h -o coverage_report - sensible-browser coverage_report/index.html + geninfo ../libpanda/ -o coverage.info + genhtml coverage.info -o coverage-out + sensible-browser coverage-out/index.html fi -# test line coverage -INCOMPLETE_COVERAGE=$(llvm-cov-17 report -show-region-summary=false -show-branch-summary=false -instr-profile=safety.profdata ../libpanda/libpanda.so -sources ../../board/safety/safety_*.h ../../board/safety.h | awk '$7 != "100.00%"' | head -n -1) -if [ ! $(echo "$INCOMPLETE_COVERAGE" | wc -l) -eq 2 ]; then - echo "FAILED: Some files have less than 100% line coverage:" +# test coverage +GCOV_OUTPUT=$(gcov -n ../libpanda/panda.c) +INCOMPLETE_COVERAGE=$(echo "$GCOV_OUTPUT" | paste -s -d' \n' | grep -E "File.*(safety\/safety_.*)|(safety)\.h" | grep -v "100.00%" || true) +if [ -n "$INCOMPLETE_COVERAGE" ]; then + echo "FAILED: Some files have less than 100% coverage:" echo "$INCOMPLETE_COVERAGE" exit 1 else - echo "SUCCESS: All checked files have 100% line coverage!" + echo "SUCCESS: All checked files have 100% coverage!" fi