76 lines
2.2 KiB
Python
76 lines
2.2 KiB
Python
import os
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import subprocess
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from cffi import FFI
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can_dir = os.path.dirname(os.path.abspath(__file__))
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libpandasafety_fn = os.path.join(can_dir, "libpandasafety.so")
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subprocess.check_call([f"scons -u -j{os.cpu_count()} --test ."], shell=True, cwd=can_dir)
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ffi = FFI()
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ffi.cdef("""
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typedef struct
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{
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uint32_t TIR; /*!< CAN TX mailbox identifier register */
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uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
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uint32_t TDLR; /*!< CAN mailbox data low register */
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uint32_t TDHR; /*!< CAN mailbox data high register */
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} CAN_TxMailBox_TypeDef;
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typedef struct
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{
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uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */
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uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
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uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
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uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
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} CAN_FIFOMailBox_TypeDef;
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typedef struct
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{
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uint32_t CNT;
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} TIM_TypeDef;
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void set_controls_allowed(bool c);
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bool get_controls_allowed(void);
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void set_unsafe_mode(int mode);
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int get_unsafe_mode(void);
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void set_relay_malfunction(bool c);
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bool get_relay_malfunction(void);
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void set_gas_interceptor_detected(bool c);
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bool get_gas_interceptor_detetcted(void);
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int get_gas_interceptor_prev(void);
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bool get_gas_pressed_prev(void);
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bool get_brake_pressed_prev(void);
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void set_torque_meas(int min, int max);
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int get_torque_meas_min(void);
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int get_torque_meas_max(void);
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void set_torque_driver(int min, int max);
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int get_torque_driver_min(void);
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int get_torque_driver_max(void);
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void set_desired_torque_last(int t);
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void set_rt_torque_last(int t);
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void set_desired_angle_last(int t);
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bool get_cruise_engaged_prev(void);
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bool get_vehicle_moving(void);
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int get_hw_type(void);
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void set_timer(uint32_t t);
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int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_send);
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int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_push);
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int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
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int set_safety_hooks(uint16_t mode, int16_t param);
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void init_tests(void);
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void init_tests_honda(void);
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void set_honda_fwd_brake(bool);
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void set_honda_alt_brake_msg(bool);
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void set_honda_bosch_long(bool c);
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int get_honda_hw(void);
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""")
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libpandasafety = ffi.dlopen(libpandasafety_fn)
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