params: helper to clamp out-of-range int params (#1373)

* params: helpers to clamp out-of-range values

* lint

* inline

* fix access

* actually fix the param

* inherit them

* more lint

selfdrive/selfdrived/selfdrived.py

@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -130,7 +131,12 @@ class SelfdriveD(CruiseHelper):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)

sunnypilot/__init__.py

@@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+from enum import IntEnum
 import hashlib
 
 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -16,3 +17,23 @@ def get_file_hash(path: str) -> str:
     for byte_block in iter(lambda: f.read(4096), b""):
       sha256_hash.update(byte_block)
   return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val

sunnypilot/selfdrive/controls/lib/speed_limit/common.py

@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
+
+from openpilot.sunnypilot import IntEnumBase
 
 
-class Policy(IntEnum):
+class Policy(IntEnumBase):
   car_state_only = 0
   map_data_only = 1
   car_state_priority = 2
@@ -15,13 +16,13 @@ class Policy(IntEnum):
   combined = 4
 
 
-class OffsetType(IntEnum):
+class OffsetType(IntEnumBase):
   off = 0
   fixed = 1
   percentage = 2
 
 
-class Mode(IntEnum):
+class Mode(IntEnumBase):
   off = 0
   information = 1
   warning = 2

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -42,6 +42,12 @@ class SpeedLimitResolver:
     self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
 
     self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -54,7 +60,12 @@ class SpeedLimitResolver:
       self._reset_limit_sources(source)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
     self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
 
     self.speed_limit = 0.