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93 lines
2.5 KiB
93 lines
2.5 KiB
import os
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from cffi import FFI
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from opendbc.safety import LEN_TO_DLC
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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_mutation.so" if "MUTATION" in os.environ else "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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class CANPacket:
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pass
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ffi.cdef("""
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bool safety_rx_hook(CANPacket_t *msg);
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bool safety_tx_hook(CANPacket_t *msg);
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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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void set_controls_allowed(bool c);
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bool get_controls_allowed(void);
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bool get_longitudinal_allowed(void);
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void set_alternative_experience(int mode);
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int get_alternative_experience(void);
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void set_relay_malfunction(bool c);
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bool get_relay_malfunction(void);
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bool get_gas_pressed_prev(void);
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void set_gas_pressed_prev(bool);
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bool get_brake_pressed_prev(void);
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bool get_regen_braking_prev(void);
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bool get_steering_disengage_prev(void);
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bool get_acc_main_on(void);
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float get_vehicle_speed_min(void);
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float get_vehicle_speed_max(void);
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int get_current_safety_mode(void);
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int get_current_safety_param(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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int get_desired_angle_last();
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void set_angle_meas(int min, int max);
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int get_angle_meas_min(void);
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int get_angle_meas_max(void);
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bool get_cruise_engaged_prev(void);
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void set_cruise_engaged_prev(bool engaged);
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bool get_vehicle_moving(void);
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void set_timer(uint32_t t);
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void safety_tick_current_safety_config();
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bool safety_config_valid();
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void init_tests(void);
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void set_honda_fwd_brake(bool c);
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bool get_honda_fwd_brake(void);
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void set_honda_alt_brake_msg(bool c);
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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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class LibSafety:
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pass
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libsafety: LibSafety = ffi.dlopen(libsafety_fn)
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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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return ret
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