openpilot_comma/opendbc_repo/opendbc/safety/tests/libsafety/libsafety_py.py

import os
from cffi import FFI
from typing import Protocol

from opendbc.safety import LEN_TO_DLC
from opendbc.safety.tests.libsafety.safety_helpers import PandaSafety, setup_safety_helpers

libsafety_dir = os.path.dirname(os.path.abspath(__file__))
libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")

ffi = FFI()

ffi.cdef("""
typedef struct {
  unsigned char fd : 1;
  unsigned char bus : 3;
  unsigned char data_len_code : 4;
  unsigned char rejected : 1;
  unsigned char returned : 1;
  unsigned char extended : 1;
  unsigned int addr : 29;
  unsigned char checksum;
  unsigned char data[64];
} CANPacket_t;
""", packed=True)

ffi.cdef("""
bool safety_rx_hook(CANPacket_t *msg);
bool safety_tx_hook(CANPacket_t *msg);
int safety_fwd_hook(int bus_num, int addr);
int set_safety_hooks(uint16_t mode, uint16_t param);
""")

ffi.cdef("""
void can_set_checksum(CANPacket_t *packet);
""")

setup_safety_helpers(ffi)


class CANPacket:
  reserved: int
  bus: int
  data_len_code: int
  rejected: int
  returned: int
  extended: int
  addr: int
  data: list[int]


class Panda(PandaSafety, Protocol):
  # CAN
  def can_set_checksum(self, p: CANPacket) -> None: ...

  # safety
  def safety_rx_hook(self, msg: CANPacket) -> int: ...
  def safety_tx_hook(self, msg: CANPacket) -> int: ...
  def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
  def set_safety_hooks(self, mode: int, param: int) -> int: ...


libsafety: Panda = ffi.dlopen(libsafety_fn)


# helpers

def make_CANPacket(addr: int, bus: int, dat):
  ret = ffi.new('CANPacket_t *')
  ret[0].extended = 1 if addr >= 0x800 else 0
  ret[0].addr = addr
  ret[0].data_len_code = LEN_TO_DLC[len(dat)]
  ret[0].bus = bus
  ret[0].data = bytes(dat)
  libsafety.can_set_checksum(ret)

  return ret