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match safety enum in cereal (#285) 

* match safety enum in cereal

* removing tons of hardcoding

* add pythonpath to safety test

* Fix safety test in Docker
master
rbiasini 2019-10-02 18:20:32 -07:00 committed by GitHub
parent a338d39322
commit 70219d7bb2
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GPG Key ID: 4AEE18F83AFDEB23
24 changed files with 103 additions and 102 deletions
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2
.circleci/config.yml
View File

@ -11,7 +11,7 @@ jobs:
- run:
name: Run safety test
command: |
docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
misra-c2012:
machine:

2
VERSION
View File

@ -1 +1 @@
v1.5.0
v1.5.1

37
board/safety.h
View File

@ -45,42 +45,43 @@ typedef struct {
const safety_hooks *hooks;
} safety_hook_config;
// from cereal.car.CarParams.SafetyModel
#define SAFETY_NOOUTPUT 0U
#define SAFETY_HONDA 1U
#define SAFETY_TOYOTA 2U
#define SAFETY_GM 3U
#define SAFETY_HONDA_BOSCH 4U
#define SAFETY_FORD 5U
#define SAFETY_CADILLAC 6U
#define SAFETY_HYUNDAI 7U
#define SAFETY_TESLA 8U
#define SAFETY_ELM327 3U
#define SAFETY_GM 4U
#define SAFETY_HONDA_BOSCH 5U
#define SAFETY_FORD 6U
#define SAFETY_CADILLAC 7U
#define SAFETY_HYUNDAI 8U
#define SAFETY_CHRYSLER 9U
#define SAFETY_SUBARU 10U
#define SAFETY_GM_PASSIVE 11U
#define SAFETY_MAZDA 12U
#define SAFETY_GM_ASCM 0x1334U
#define SAFETY_TOYOTA_IPAS 0x1335U
#define SAFETY_ALLOUTPUT 0x1337U
#define SAFETY_ELM327 0xE327U
#define SAFETY_TESLA 10U
#define SAFETY_SUBARU 11U
#define SAFETY_GM_PASSIVE 12U
#define SAFETY_MAZDA 13U
#define SAFETY_TOYOTA_IPAS 16U
#define SAFETY_ALLOUTPUT 17U
#define SAFETY_GM_ASCM 18U
const safety_hook_config safety_hook_registry[] = {
{SAFETY_NOOUTPUT, &nooutput_hooks},
{SAFETY_HONDA, &honda_hooks},
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
{SAFETY_FORD, &ford_hooks},
{SAFETY_CADILLAC, &cadillac_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_TESLA, &tesla_hooks},
{SAFETY_SUBARU, &subaru_hooks},
{SAFETY_GM_PASSIVE, &gm_passive_hooks},
{SAFETY_MAZDA, &mazda_hooks},
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
{SAFETY_GM_PASSIVE, &gm_passive_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
{SAFETY_TESLA, &tesla_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
};
int safety_set_mode(uint16_t mode, int16_t param) {

4
boardesp/elm327.c
View File

@ -52,6 +52,8 @@ typedef struct __attribute__((packed)) {
#define PANDA_USB_CAN_WRITE_BUS_NUM 3
#define PANDA_USB_LIN_WRITE_BUS_NUM 2
#define SAFETY_ELM327 3U
typedef struct _elm_tcp_conn {
struct espconn *conn;
struct _elm_tcp_conn *next;
@ -1420,7 +1422,7 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
elm_append_rsp_const("\r\r");
elm_append_rsp_const(IDENT_MSG);
panda_set_safety_mode(0xE327);
panda_set_safety_mode(SAFETY_ELM327);
elm_proto_reinit(elm_current_proto());
return;

5
drivers/linux/panda.c
View File

@ -38,6 +38,9 @@
#define PANDA_DLC_MASK 0x0F
#define SAFETY_ALLOUTPUT 17
#define SAFETY_NOOUTPUT 0
struct panda_usb_ctx {
struct panda_inf_priv *priv;
u32 ndx;
@ -156,7 +159,7 @@ static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
return usb_control_msg(priv->priv_dev->udev,
usb_sndctrlpipe(priv->priv_dev->udev, 0),
0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
enable ? 0x1337 : 0, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
enable ? SAFETY_ALLOUTPUT : SAFETY_NOOUTPUT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
}
static void panda_usb_write_bulk_callback(struct urb *urb)

2
drivers/windows/panda_shared/panda.h
View File

@ -40,7 +40,7 @@ namespace panda {
typedef enum _PANDA_SAFETY_MODE : uint16_t {
SAFETY_NOOUTPUT = 0,
SAFETY_HONDA = 1,
SAFETY_ALLOUTPUT = 0x1337,
SAFETY_ALLOUTPUT = 17,
} PANDA_SAFETY_MODE;
typedef enum _PANDA_SERIAL_PORT : uint8_t {

26
python/__init__.py
View File

@ -23,7 +23,6 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
# *** wifi mode ***
def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@ -109,20 +108,25 @@ class WifiHandle(object):
# *** normal mode ***
class Panda(object):
# matches cereal.car.CarParams.SafetyModel
SAFETY_NOOUTPUT = 0
SAFETY_HONDA = 1
SAFETY_TOYOTA = 2
SAFETY_GM = 3
SAFETY_HONDA_BOSCH = 4
SAFETY_FORD = 5
SAFETY_CADILLAC = 6
SAFETY_HYUNDAI = 7
SAFETY_TESLA = 8
SAFETY_ELM327 = 3
SAFETY_GM = 4
SAFETY_HONDA_BOSCH = 5
SAFETY_FORD = 6
SAFETY_CADILLAC = 7
SAFETY_HYUNDAI = 8
SAFETY_CHRYSLER = 9
SAFETY_TOYOTA_IPAS = 0x1335
SAFETY_TOYOTA_NOLIMITS = 0x1336
SAFETY_ALLOUTPUT = 0x1337
SAFETY_ELM327 = 0xE327
SAFETY_TESLA = 10
SAFETY_SUBARU = 11
SAFETY_GM_PASSIVE = 12
SAFETY_MAZDA = 13
SAFETY_TOYOTA_IPAS = 16
SAFETY_ALLOUTPUT = 17
SAFETY_GM_ASCM = 18
SERIAL_DEBUG = 0
SERIAL_ESP = 1

2
tests/can_printer.py
View File

@ -15,7 +15,7 @@ def sec_since_boot():
def can_printer():
p = Panda()
p.set_safety_mode(0x1337)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
start = sec_since_boot()
lp = sec_since_boot()

4
tests/elm_wifi.py
View File

@ -301,7 +301,7 @@ def test_elm_panda_safety_mode_KWPFast():
p_car.kline_drain()
p_elm = Panda("WIFI")
p_elm.set_safety_mode(0xE327);
p_elm.set_safety_mode(Panda.SAFETY_ELM327);
def get_checksum(dat):
result = 0
@ -625,7 +625,7 @@ def test_elm_panda_safety_mode_ISO15765():
p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_elm = Panda("WIFI")
p_elm.set_safety_mode(0xE327);
p_elm.set_safety_mode(Panda.SAFETY_ELM327);
#sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
#sim.start()

2
tests/pedal/enter_canloader.py
View File

@ -53,7 +53,7 @@ if __name__ == "__main__":
args = parser.parse_args()
p = Panda()
p.set_safety_mode(0x1337)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
while 1:
if len(p.can_recv()) == 0:

6
tests/safety/Dockerfile
View File

@ -1,6 +1,6 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
@ -14,6 +14,6 @@ RUN pyenv install 3.7.3
RUN pyenv global 3.7.3
RUN pyenv rehash
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
RUN pip install -r /panda/tests/safety/requirements.txt
COPY tests/safety/requirements.txt requirements.txt
RUN pip install -r requirements.txt
COPY . /panda

2
tests/safety/requirements.txt
View File

@ -1,2 +1,4 @@
cffi==1.11.4
numpy==1.14.5
libusb1==1.6.6
requests

3
tests/safety/test_cadillac.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 2
MAX_RATE_DOWN = 5
@ -31,7 +32,7 @@ class TestCadillacSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(6, 0)
cls.safety.safety_set_mode(Panda.SAFETY_CADILLAC, 0)
cls.safety.init_tests_cadillac()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_chrysler.py
View File

@ -4,6 +4,7 @@ import glob
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
@ -35,7 +36,7 @@ class TestChryslerSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(9, 0)
cls.safety.safety_set_mode(Panda.SAFETY_CHRYSLER, 0)
cls.safety.init_tests_chrysler()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_gm.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@ -32,7 +33,7 @@ class TestGmSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(3, 0)
cls.safety.safety_set_mode(Panda.SAFETY_GM, 0)
cls.safety.init_tests_gm()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_honda.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_BRAKE = 255
@ -11,7 +12,7 @@ class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(1, 0)
cls.safety.safety_set_mode(Panda.SAFETY_HONDA, 0)
cls.safety.init_tests_honda()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_honda_bosch.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_BRAKE = 255
@ -9,7 +10,7 @@ class TestHondaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(4, 0)
cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
cls.safety.init_tests_honda()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_hyundai.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
@ -29,7 +30,7 @@ class TestHyundaiSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(7, 0)
cls.safety.safety_set_mode(Panda.SAFETY_HYUNDAI, 0)
cls.safety.init_tests_hyundai()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_subaru.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
@ -29,7 +30,7 @@ class TestSubaruSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(10, 0)
cls.safety.safety_set_mode(Panda.SAFETY_SUBARU, 0)
cls.safety.init_tests_subaru()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_toyota.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
@ -33,7 +34,7 @@ class TestToyotaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(2, 100)
cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA, 100)
cls.safety.init_tests_toyota()
def _send_msg(self, bus, addr, length):

3
tests/safety/test_toyota_ipas.py
View File

@ -2,6 +2,7 @@
import unittest
import numpy as np
import libpandasafety_py
from panda import Panda
IPAS_OVERRIDE_THRESHOLD = 200
@ -25,7 +26,7 @@ class TestToyotaSafety(unittest.TestCase):
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.safety_set_mode(0x1335, 66)
cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA_IPAS, 66)
cls.safety.init_tests_toyota()
def _torque_driver_msg(self, torque):

55
tests/safety_replay/helpers.py
View File

@ -1,24 +1,7 @@
#!/usr/bin/env python3
import struct
import panda.tests.safety.libpandasafety_py as libpandasafety_py
safety_modes = {
"NOOUTPUT": 0,
"HONDA": 1,
"TOYOTA": 2,
"GM": 3,
"HONDA_BOSCH": 4,
"FORD": 5,
"CADILLAC": 6,
"HYUNDAI": 7,
"TESLA": 8,
"CHRYSLER": 9,
"SUBARU": 10,
"GM_ASCM": 0x1334,
"TOYOTA_IPAS": 0x1335,
"ALLOUTPUT": 0x1337,
"ELM327": 0xE327
}
from panda import Panda
def to_signed(d, bits):
ret = d
@ -28,51 +11,51 @@ def to_signed(d, bits):
def is_steering_msg(mode, addr):
ret = False
if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
elif mode == safety_modes["TOYOTA"]:
elif mode == Panda.SAFETY_TOYOTA:
ret = addr == 0x2E4
elif mode == safety_modes["GM"]:
elif mode == Panda.SAFETY_GM:
ret = addr == 384
elif mode == safety_modes["HYUNDAI"]:
elif mode == Panda.SAFETY_HYUNDAI:
ret = addr == 832
elif mode == safety_modes["CHRYSLER"]:
elif mode == Panda.SAFETY_CHRYSLER:
ret = addr == 0x292
elif mode == safety_modes["SUBARU"]:
elif mode == Panda.SAFETY_SUBARU:
ret = addr == 0x122
return ret
def get_steer_torque(mode, to_send):
ret = 0
if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
ret = to_send.RDLR & 0xFFFF0000
elif mode == safety_modes["TOYOTA"]:
elif mode == Panda.SAFETY_TOYOTA:
ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
ret = to_signed(ret, 16)
elif mode == safety_modes["GM"]:
elif mode == Panda.SAFETY_GM:
ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8)
ret = to_signed(ret, 11)
elif mode == safety_modes["HYUNDAI"]:
elif mode == Panda.SAFETY_HYUNDAI:
ret = ((to_send.RDLR >> 16) & 0x7ff) - 1024
elif mode == safety_modes["CHRYSLER"]:
elif mode == Panda.SAFETY_CHRYSLER:
ret = ((to_send.RDLR & 0x7) << 8) + ((to_send.RDLR & 0xFF00) >> 8) - 1024
elif mode == safety_modes["SUBARU"]:
elif mode == Panda.SAFETY_SUBARU:
ret = ((to_send.RDLR >> 16) & 0x1FFF)
ret = to_signed(ret, 13)
return ret
def set_desired_torque_last(safety, mode, torque):
if mode == safety_modes["HONDA"] or mode == safety_modes["HONDA_BOSCH"]:
if mode == Panda.SAFETY_HONDA or mode == Panda.SAFETY_HONDA_BOSCH:
pass # honda safety mode doesn't enforce a rate on steering msgs
elif mode == safety_modes["TOYOTA"]:
elif mode == Panda.SAFETY_TOYOTA:
safety.set_toyota_desired_torque_last(torque)
elif mode == safety_modes["GM"]:
elif mode == Panda.SAFETY_GM:
safety.set_gm_desired_torque_last(torque)
elif mode == safety_modes["HYUNDAI"]:
elif mode == Panda.SAFETY_HYUNDAI:
safety.set_hyundai_desired_torque_last(torque)
elif mode == safety_modes["CHRYSLER"]:
elif mode == Panda.SAFETY_CHRYSLER:
safety.set_chrysler_desired_torque_last(torque)
elif mode == safety_modes["SUBARU"]:
elif mode == Panda.SAFETY_SUBARU:
safety.set_subaru_desired_torque_last(torque)
def package_can_msg(msg):

8
tests/safety_replay/replay_drive.py
View File

@ -2,10 +2,11 @@
import os
import sys
from panda import Panda
import panda.tests.safety.libpandasafety_py as libpandasafety_py
from panda.tests.safety_replay.helpers import is_steering_msg, get_steer_torque, \
set_desired_torque_last, package_can_msg, \
init_segment, safety_modes
init_segment
from tools.lib.logreader import LogReader
# replay a drive to check for safety violations
@ -57,10 +58,7 @@ def replay_drive(lr, safety_mode, param):
return tx_controls_blocked == 0
if __name__ == "__main__":
if sys.argv[2] in safety_modes:
mode = safety_modes[sys.argv[2]]
else:
mode = int(sys.argv[2])
mode = int(sys.argv[2])
param = 0 if len(sys.argv) < 4 else int(sys.argv[3])
lr = LogReader(sys.argv[1])

21
tests/safety_replay/test_safety_replay.py
View File

@ -3,7 +3,7 @@
import os
import requests
from helpers import safety_modes
from panda import Panda
from replay_drive import replay_drive
from tools.lib.logreader import LogReader
@ -11,13 +11,13 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
# (route, safety mode, param)
logs = [
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", "HONDA", 0), # HONDA.CIVIC
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", "TOYOTA", 66), # TOYOTA.PRIUS
("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", "GM", 0), # GM.VOLT
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", "HONDA_BOSCH", 1), # HONDA.ACCORD
("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", "HYUNDAI", 0), # HYUNDAI.SANTA_FE
("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", "CHRYSLER", 0), # CHRYSLER.PACIFICA_2018_HYBRID
("791340bc01ed993d|2019-04-08--10-26-00.bz2", "SUBARU", 0), # SUBARU.IMPREZA
("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC
("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS
("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT
("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD
("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
("03efb1fda29e30fe|2019-02-21--18-03-45.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
]
if __name__ == "__main__":
@ -29,10 +29,9 @@ if __name__ == "__main__":
failed = []
for route, mode, param in logs:
lr = LogReader(route)
m = safety_modes.get(mode, mode)
print("\nreplaying %s with safety mode %d and param %s" % (route, m, param))
if not replay_drive(lr, m, int(param)):
print("\nreplaying %s with safety mode %d and param %s" % (route, mode, param))
if not replay_drive(lr, mode, int(param)):
failed.append(route)
for f in failed: