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Make safetyParam unsigned (#24160)

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* bump panda & cereal

* make unsigned in boardd

* update health packet version

bump panda

* fix definition

* bump

* regen TOYOTA2 route

* upload route

* oh, ndog param wasn't being set

* regenerate routes with non-zero safety params

* update refs

* regen routes and update refs

* bump panda

* update refs

* update refs

* bump submodules to master
old-commit-hash: 6e62df65d722bf2013c42514bf56cbe5c838ad63
This commit is contained in:
Shane Smiskol
2022-04-21 00:01:05 -07:00
committed by GitHub
parent d82173e685
commit ebec632ea2
8 changed files with 13 additions and 11 deletions
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2
cereal

Submodule cereal updated: 6eb3994daa...29f4fe89ef

2
panda

Submodule panda updated: a1d97f9a0b...7dd9493eb1

4
selfdrive/boardd/boardd.cc
View File

@@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model;
int safety_param;
uint32_t safety_param;
auto safety_configs = car_params.getSafetyConfigs();
uint16_t alternative_experience = car_params.getAlternativeExperience();
@@ -169,7 +169,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
} else {
// If no safety mode is specified, default to silent
safety_model = cereal::CarParams::SafetyModel::SILENT;
safety_param = 0;
safety_param = 0U;
}
LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);

2
selfdrive/boardd/panda.cc
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@@ -247,7 +247,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
return transferred;
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) {
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}

2
selfdrive/boardd/panda.h
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@@ -73,7 +73,7 @@ class Panda {
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
84bf66d9917e102f581279892d32a04c35fb4d87
37aac3b4090fcc2f5a0e52c0eb4913706688d3fd

2
selfdrive/test/process_replay/regen.py
View File

@@ -36,6 +36,8 @@ def replay_panda_states(s, msgs):
cp = [m for m in msgs if m.which() == 'carParams'][0].carParams
if len(cp.safetyConfigs):
safety_param = cp.safetyConfigs[0].safetyParam
if cp.safetyConfigs[0].safetyParamDEPRECATED != 0:
safety_param = cp.safetyConfigs[0].safetyParamDEPRECATED
else:
safety_param = cp.safetyParamDEPRECATED

8
selfdrive/test/process_replay/test_processes.py
View File

@@ -33,11 +33,11 @@ original_segments = [
segments = [
("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
("TOYOTA", "fakedata|2022-01-20--17-50-51--0"),
("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"),
("TOYOTA3", "fakedata|2022-01-20--17-54-50--0"),
("TOYOTA", "fakedata|2022-04-13--18-53-16--0"),
("TOYOTA2", "fakedata|2022-04-13--18-59-09--0"),
("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
("HONDA", "fakedata|2022-01-20--17-56-40--0"),
("HONDA2", "fakedata|2022-01-20--17-58-25--0"),
("HONDA2", "fakedata|2022-04-13--19-23-30--0"),
("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
("GM", "fakedata|2022-01-20--18-03-41--0"),