Merge branch 'master' into tesla

Dockerfile

@@ -37,7 +37,7 @@ 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="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

board/jungle/scripts/can_health.py

@@ -1,13 +1,29 @@
 #!/usr/bin/env python3
-
 import time
+import re
 from panda import PandaJungle
 
+RED = '\033[91m'
+GREEN = '\033[92m'
+
+def colorize_errors(value):
+  if isinstance(value, str):
+    if re.search(r'(?i)No error', value):
+      return f'{GREEN}{value}\033[0m'
+    elif re.search(r'(?i)(?<!No error\s)(err|error)', value):
+      return f'{RED}{value}\033[0m'
+  return str(value)
+
 if __name__ == "__main__":
   jungle = PandaJungle()
 
   while True:
+    print(chr(27) + "[2J") # clear screen
+    print("Connected to " + ("internal panda" if jungle.is_internal() else "External panda") + f" id: {jungle.get_serial()[0]}: {jungle.get_version()}")
     for bus in range(3):
-      print(bus, jungle.can_health(bus))
+      print(f"\nBus {bus}:")
+      health = jungle.can_health(bus)
+      for key, value in health.items():
+        print(f"{key}: {colorize_errors(value)}  ", end=" ")
     print()
     time.sleep(1)

board/jungle/scripts/can_printer.py

@@ -12,22 +12,27 @@ def sec_since_boot():
 
 def can_printer():
   p = PandaJungle()
+  print(f"Connected to: {p._serial}: {p.get_version()}")
+  time.sleep(1)
+
+  p.can_clear(0xFFFF)
 
   start = sec_since_boot()
   lp = sec_since_boot()
   msgs = defaultdict(list)
-  canbus = int(os.getenv("CAN", "0"))
+  canbus = os.getenv("CAN")
   while True:
     can_recv = p.can_recv()
-    for address, dat, src  in can_recv:
+    for address,dat, src in can_recv:
-      if src == canbus:
+      if canbus is None or str(src) == canbus:
-        msgs[address].append(dat)
+        msgs[address].append((dat, src))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)):
+      for k, v in sorted(msgs.items()):
-        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
+        last_msg, last_src = v[-1]
+        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
       print(dd)
       lp = sec_since_boot()
 

board/jungle/scripts/spam_can.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import os
+import random
+from panda import PandaJungle
+
+def get_test_string():
+  return b"test" + os.urandom(10)
+
+if __name__ == "__main__":
+  p = PandaJungle()
+
+  p.set_safety_mode(PandaJungle.SAFETY_ALLOUTPUT)
+
+  print("Spamming all buses...")
+  while True:
+    at = random.randint(1, 2000)
+    st = get_test_string()[0:8]
+    bus = random.randint(0, 2)
+    p.can_send(at, st, bus)
+    # print("Sent message on bus: ", bus)

board/safety/safety_toyota.h

@@ -3,8 +3,16 @@
 #include "safety_declarations.h"
 
 // Stock longitudinal
-#define TOYOTA_COMMON_TX_MSGS                                                                                     \
+#define TOYOTA_BASE_TX_MSGS \
-  {0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
+  {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
+
+#define TOYOTA_COMMON_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 5}, \
+
+#define TOYOTA_COMMON_SECOC_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 8}, {0x131, 0, 8}, \
 
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
   TOYOTA_COMMON_TX_MSGS                                                                                                                     \
@@ -16,10 +24,13 @@
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                        \
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
-  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
+  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U},                                         \
-  {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
+           {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}},                                \
-           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
+  {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U},                                        \
+           {0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
+           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}},                                      \
 
+static bool toyota_secoc = false;
 static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
 static bool toyota_lta = false;
@@ -87,14 +98,31 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    // exit controls on rising edge of gas press
+    // exit controls on rising edge of gas press, if not alternative experience
-    if (addr == 0x1D2) {
+    // exit controls on rising edge of brake press
-      // 5th bit is CRUISE_ACTIVE
+    if (toyota_secoc) {
-      bool cruise_engaged = GET_BIT(to_push, 5U);
+      if (addr == 0x176) {
-      pcm_cruise_check(cruise_engaged);
+        bool cruise_engaged = GET_BIT(to_push, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
-
+        pcm_cruise_check(cruise_engaged);
-      // sample gas pedal
+      }
-      gas_pressed = !GET_BIT(to_push, 4U);
+      if (addr == 0x116) {
+        gas_pressed = GET_BYTE(to_push, 1) != 0U;  // GAS_PEDAL.GAS_PEDAL_USER
+      }
+      if (addr == 0x101) {
+        brake_pressed = GET_BIT(to_push, 3U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_rav4_prime_generated.dbc)
+      }
+    } else {
+      if (addr == 0x1D2) {
+        bool cruise_engaged = GET_BIT(to_push, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
+        pcm_cruise_check(cruise_engaged);
+        gas_pressed = !GET_BIT(to_push, 4U);  // PCM_CRUISE.GAS_RELEASED
+      }
+      if (!toyota_alt_brake && (addr == 0x226)) {
+        brake_pressed = GET_BIT(to_push, 37U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
+      }
+      if (toyota_alt_brake && (addr == 0x224)) {
+        brake_pressed = GET_BIT(to_push, 5U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_new_mc_pt_generated.dbc)
+      }
     }
 
     // sample speed
@@ -111,12 +139,6 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
       UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6);
     }
 
-    // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
-    if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
-      uint8_t bit = (addr == 0x224) ? 5U : 37U;
-      brake_pressed = GET_BIT(to_push, bit);
-    }
-
     bool stock_ecu_detected = addr == 0x2E4;  // STEERING_LKA
     if (!toyota_stock_longitudinal && (addr == 0x343)) {
       stock_ecu_detected = true;  // ACC_CONTROL
@@ -203,7 +225,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       }
     }
 
-    // LTA angle steering check
+    // STEERING_LTA angle steering check
     if (addr == 0x191) {
       // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
       bool lta_request = GET_BIT(to_send, 0U);
@@ -251,6 +273,20 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       }
     }
 
+    // STEERING_LTA_2 angle steering check (SecOC)
+    if (toyota_secoc && (addr == 0x131)) {
+      // SecOC cars block any form of LTA actuation for now
+      bool lta_request = GET_BIT(to_send, 3U);  // STEERING_LTA_2.STEER_REQUEST
+      bool lta_request2 = GET_BIT(to_send, 0U);  // STEERING_LTA_2.STEER_REQUEST_2
+      int lta_angle_msb = GET_BYTE(to_send, 2);  // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
+      int lta_angle_lsb = GET_BYTE(to_send, 3);  // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
+
+      bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
+      if (actuation) {
+        tx = false;
+      }
+    }
+
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
       int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
@@ -286,6 +322,10 @@ static safety_config toyota_init(uint16_t param) {
     TOYOTA_COMMON_TX_MSGS
   };
 
+  static const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
+    TOYOTA_COMMON_SECOC_TX_MSGS
+  };
+
   static const CanMsg TOYOTA_LONG_TX_MSGS[] = {
     TOYOTA_COMMON_LONG_TX_MSGS
   };
@@ -298,6 +338,11 @@ static safety_config toyota_init(uint16_t param) {
   const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
   const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
 
+#ifdef ALLOW_DEBUG
+  const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
+  toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
+#endif
+
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
@@ -305,7 +350,11 @@ static safety_config toyota_init(uint16_t param) {
 
   safety_config ret;
   if (toyota_stock_longitudinal) {
-    SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
+    if (toyota_secoc) {
+      SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
+    }
   } else {
     SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
   }
@@ -340,6 +389,8 @@ static int toyota_fwd_hook(int bus_num, int addr) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
     bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    // on SecOC cars 0x131 is also LTA
+    is_lkas_msg |= toyota_secoc && (addr == 0x131);
     // in TSS2 the camera does ACC as well, so filter 0x343
     bool is_acc_msg = (addr == 0x343);
     bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);

python/__init__.py

@@ -187,6 +187,7 @@ class Panda:
   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
@@ -513,22 +514,22 @@ class Panda:
     assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
 
     # unlock flash
-    logger.warning("flash: unlocking")
+    logger.info("flash: unlocking")
     handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
 
     # erase sectors
-    logger.warning(f"flash: erasing sectors 1 - {last_sector}")
+    logger.info(f"flash: erasing sectors 1 - {last_sector}")
     for i in range(1, last_sector + 1):
       handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
 
     # flash over EP2
     STEP = 0x10
-    logger.warning("flash: flashing")
+    logger.info("flash: flashing")
     for i in range(0, len(code), STEP):
       handle.bulkWrite(2, code[i:i + STEP])
 
     # reset
-    logger.warning("flash: resetting")
+    logger.info("flash: resetting")
     try:
       handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
     except Exception:
@@ -536,7 +537,7 @@ class Panda:
 
   def flash(self, fn=None, code=None, reconnect=True):
     if self.up_to_date(fn=fn):
-      logger.debug("flash: already up to date")
+      logger.info("flash: already up to date")
       return
 
     if not fn:

tests/can_health.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import time
+import re
+from panda import Panda
+
+RED = '\033[91m'
+GREEN = '\033[92m'
+
+def colorize_errors(value):
+  if isinstance(value, str):
+    if re.search(r'(?i)No error', value):
+      return f'{GREEN}{value}\033[0m'
+    elif re.search(r'(?i)(?<!No error\s)(err|error)', value):
+      return f'{RED}{value}\033[0m'
+  return str(value)
+
+if __name__ == "__main__":
+
+  panda = Panda()
+  while True:
+    print(chr(27) + "[2J") # clear screen
+    print("Connected to " + ("internal panda" if panda.is_internal() else "External panda") + f" id: {panda.get_serial()[0]}: {panda.get_version()}")
+    for bus in range(3):
+      print(f"\nBus {bus}:")
+      health = panda.can_health(bus)
+      for key, value in health.items():
+        print(f"{key}: {colorize_errors(value)}  ", end=" ")
+    print()
+    time.sleep(1)

tests/can_printer.py

@@ -12,28 +12,28 @@ def sec_since_boot():
 
 def can_printer():
   p = Panda()
+  print(f"Connected to id: {p.get_serial()[0]}: {p.get_version()}")
+  time.sleep(1)
+
+  p.can_clear(0xFFFF)
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   start = sec_since_boot()
   lp = sec_since_boot()
   msgs = defaultdict(list)
-
+  canbus = os.getenv("CAN")
-  canbus = int(os.getenv("CAN", "0"))
-  if canbus == 3:
-    canbus = 1
-    p.set_obd(True)
-
   while True:
     can_recv = p.can_recv()
     for address, dat, src in can_recv:
-      if src == canbus:
+      if canbus is None or str(src) == canbus:
-        msgs[address].append(dat)
+        msgs[address].append((dat, src))
 
     if sec_since_boot() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += "%5.2f\n" % (sec_since_boot() - start)
-      for k, v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)):
+      for k, v in sorted(msgs.items()):
-        dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k, k), len(msgs[k]), v)
+        last_msg, last_src = v[-1]
+        dd += "%d: %s(%6d): %s\n" % (last_src, "%04X(%4d)" % (k, k), len(v), binascii.hexlify(last_msg).decode())
       print(dd)
       lp = sec_since_boot()
 

tests/safety/mutation.sh

@@ -8,7 +8,8 @@ $DIR/install_mull.sh
 
 GIT_REF="${GIT_REF:-origin/master}"
 GIT_ROOT=$(git rev-parse --show-toplevel)
-echo -e "mutators:\n  - cxx_all" > $GIT_ROOT/mull.yml
+MULL_OPS="mutators: [cxx_increment, cxx_decrement, cxx_comparison, cxx_boundary, cxx_bitwise_assignment, cxx_bitwise, cxx_arithmetic_assignment, cxx_arithmetic, cxx_remove_negation]"
+echo -e "$MULL_OPS" > $GIT_ROOT/mull.yml
 scons --mutation -j$(nproc) -D
 echo -e "timeout: 10000\ngitDiffRef: $GIT_REF\ngitProjectRoot: $GIT_ROOT" >> $GIT_ROOT/mull.yml
 

tests/safety/test_toyota.py

@@ -10,6 +10,7 @@ import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
 
 TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]]  # LKAS + LTA + ACC & PCM cancel cmds
+TOYOTA_SECOC_TX_MSGS = [[0x131, 0]] + TOYOTA_COMMON_TX_MSGS
 TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
                               [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
                               [0x411, 0],  # PCS_HUD
@@ -107,7 +108,8 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa
       self.safety.set_controls_allowed(engaged)
 
       should_tx = not req and not req2 and angle == 0 and torque_wind_down == 0
-      self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)))
+      self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down)),
+                       f"{req=} {req2=} {angle=} {torque_wind_down=}")
 
   def test_rx_hook(self):
     # checksum checks
@@ -324,5 +326,38 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
     self.safety.init_tests()
 
 
+class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
+
+  TX_MSGS = TOYOTA_SECOC_TX_MSGS
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x131]}
+
+  def setUp(self):
+    self.packer = CANPackerPanda("toyota_rav4_prime_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.init_tests()
+
+  # This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL_USER": gas}
+    return self.packer.make_can_msg_panda("GAS_PEDAL", 0, values)
+
+  # This platform sends both STEERING_LTA (same as other Toyota) and STEERING_LTA_2 (SecOC signed)
+  # STEERING_LTA is checked for no-actuation by the base class, STEERING_LTA_2 is checked for no-actuation below
+
+  def _lta_2_msg(self, req, req2, angle_cmd, torque_wind_down=100):
+    values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd}
+    return self.packer.make_can_msg_panda("STEERING_LTA_2", 0, values)
+
+  def test_lta_2_steer_cmd(self):
+    for engaged, req, req2, angle in itertools.product([True, False], [0, 1], [0, 1], np.linspace(-20, 20, 5)):
+      self.safety.set_controls_allowed(engaged)
+
+      should_tx = not req and not req2 and angle == 0
+      self.assertEqual(should_tx, self._tx(self._lta_2_msg(req, req2, angle)), f"{req=} {req2=} {angle=}")
+
+
 if __name__ == "__main__":
   unittest.main()