From 244e8807df75feb88c0fe825569bcd87409bd250 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 29 Oct 2020 13:53:48 -0700
Subject: [PATCH] ubuntu 16.04 -> 20.04 (#309)

---
 .github/workflows/tests.yml     | 11 +++++------
 .pre-commit-config.yaml         |  1 +
 Dockerfile                      |  7 ++++---
 can/common.cc                   |  9 +++------
 can/tests/test_packer_parser.py |  5 +----
 5 files changed, 14 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 8631705..3c9013e 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -1,4 +1,4 @@
-name: Tests
+name: tests
 
 on: [push, pull_request]
 
@@ -11,8 +11,7 @@ env:
 
 jobs:
   test:
-    runs-on: ubuntu-16.04
-
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Build Docker image
@@ -20,9 +19,6 @@ jobs:
       - name: Static analysis
         run: |
           docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
-      - name: Unit tests
-        run: |
-          docker run opendbc bash -c "python -m unittest discover opendbc"
       - name: Python linter
         run: |
           docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
@@ -30,6 +26,9 @@ jobs:
       - name: Generator test
         run: |
           docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+      - name: Unit tests
+        run: |
+          docker run opendbc bash -c "python -m unittest discover opendbc"
       - name: Push to dockerhub
         if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/opendbc'
         run: |
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fea47ca..cf85d51 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -36,6 +36,7 @@ repos:
         exclude: 'can/dbc_template.cc'
         args:
         - --error-exitcode=1
+        - --language=c++
         - --force
         - --quiet
         - -j4
diff --git a/Dockerfile b/Dockerfile
index cedbce4..4d976a5 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,6 @@
-FROM ubuntu:16.04
+FROM ubuntu:20.04
 
+ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     autoconf \
     build-essential \
@@ -30,8 +31,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
+RUN pyenv install 3.8.2
+RUN pyenv global 3.8.2
 RUN pyenv rehash
 
 COPY requirements.txt /tmp/
diff --git a/can/common.cc b/can/common.cc
index b303391..d0ace8c 100644
--- a/can/common.cc
+++ b/can/common.cc
@@ -97,18 +97,17 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
   // a magic variable padding byte tacked onto the end of the payload.
   // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
 
-  uint8_t *dat = (uint8_t *)&d;
   uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
 
   // CRC the payload first, skipping over the first byte where the CRC lives.
   for (int i = 1; i < l; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
     crc = crc8_lut_8h2f[crc];
   }
 
   // Look up and apply the magic final CRC padding byte, which permutes by CAN
   // address, and additionally (for SOME addresses) by the message counter.
-  uint8_t counter = dat[1] & 0x0F;
+  uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
   switch(address) {
     case 0x86:  // LWI_01 Steering Angle
       crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
@@ -176,11 +175,9 @@ unsigned int pedal_checksum(uint64_t d, int l) {
   d >>= ((8-l)*8); // remove padding
   d >>= 8; // remove checksum
 
-  uint8_t *dat = (uint8_t *)&d;
-
   int i, j;
   for (i = 0; i < l - 1; i++) {
-    crc ^= dat[i];
+    crc ^= (d >> (i*8)) & 0xFF;
     for (j = 0; j < 8; j++) {
       if ((crc & 0x80) != 0) {
         crc = (uint8_t)((crc << 1) ^ poly);
diff --git a/can/tests/test_packer_parser.py b/can/tests/test_packer_parser.py
index 1fc7d0a..a47009c 100644
--- a/can/tests/test_packer_parser.py
+++ b/can/tests/test_packer_parser.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-
 import unittest
 
+import cereal.messaging as messaging
 from opendbc.can.parser import CANParser
 from opendbc.can.packer import CANPacker
-import cereal.messaging as messaging
-
 
 # Python implementation so we don't have to depend on boardd
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
@@ -70,7 +68,6 @@ class TestCanParserPacker(unittest.TestCase):
       ("LKAS_Output", "ES_LKAS", 0),
       ("LKAS_Request", "ES_LKAS", 0),
       ("SET_1", "ES_LKAS", 0),
-
     ]
 
     checks = []