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76 lines
1.7 KiB
76 lines
1.7 KiB
8 months ago
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import os
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from cffi import FFI
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from typing import Protocol
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from opendbc.safety import LEN_TO_DLC
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from opendbc.safety.tests.libsafety.safety_helpers import PandaSafety, setup_safety_helpers
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libsafety_dir = os.path.dirname(os.path.abspath(__file__))
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libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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unsigned char fd : 1;
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unsigned char bus : 3;
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unsigned char data_len_code : 4;
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unsigned char rejected : 1;
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unsigned char returned : 1;
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unsigned char extended : 1;
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unsigned int addr : 29;
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unsigned char checksum;
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unsigned char data[64];
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} CANPacket_t;
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""", packed=True)
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ffi.cdef("""
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bool safety_rx_hook(CANPacket_t *to_send);
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bool safety_tx_hook(CANPacket_t *to_push);
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int safety_fwd_hook(int bus_num, int addr);
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int set_safety_hooks(uint16_t mode, uint16_t param);
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""")
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ffi.cdef("""
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void can_set_checksum(CANPacket_t *packet);
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""")
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setup_safety_helpers(ffi)
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class CANPacket:
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reserved: int
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bus: int
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data_len_code: int
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rejected: int
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returned: int
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extended: int
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addr: int
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data: list[int]
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class Panda(PandaSafety, Protocol):
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# CAN
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def can_set_checksum(self, p: CANPacket) -> None: ...
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# safety
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def safety_rx_hook(self, to_send: CANPacket) -> int: ...
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def safety_tx_hook(self, to_push: CANPacket) -> int: ...
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def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
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def set_safety_hooks(self, mode: int, param: int) -> int: ...
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libsafety: Panda = ffi.dlopen(libsafety_fn)
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# helpers
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def make_CANPacket(addr: int, bus: int, dat):
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ret = ffi.new('CANPacket_t *')
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ret[0].extended = 1 if addr >= 0x800 else 0
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ret[0].addr = addr
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ret[0].data_len_code = LEN_TO_DLC[len(dat)]
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ret[0].bus = bus
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ret[0].data = bytes(dat)
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libsafety.can_set_checksum(ret)
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return ret
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