mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-05 05:22:07 +08:00
Merge panda subtree
This commit is contained in:
Vehicle Researcher
@@ -34,7 +34,7 @@ def test_udp_doesnt_drop(serial=None):
|
||||
sys.stdout.flush()
|
||||
else:
|
||||
print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
|
||||
assert_greater(saturation_pct, 15) #sometimes the wifi can be slow...
|
||||
assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
|
||||
assert_less(saturation_pct, 100)
|
||||
saturation_pcts.append(saturation_pct)
|
||||
if len(saturation_pcts) > 0:
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
FROM ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++
|
||||
|
||||
RUN pip install pycrypto==2.6.1
|
||||
|
||||
COPY . /panda
|
||||
|
||||
WORKDIR /panda
|
||||
@@ -1,15 +0,0 @@
|
||||
#!/bin/bash -e
|
||||
|
||||
cd ../../board/
|
||||
|
||||
make -f Makefile.strict clean
|
||||
make -f Makefile.strict bin 2> compiler_output.txt
|
||||
|
||||
|
||||
if [[ -s "compiler_output.txt" ]]
|
||||
then
|
||||
echo "Found alerts from the compiler:"
|
||||
cat compiler_output.txt
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -152,7 +152,7 @@ class ELMCarSimulator():
|
||||
if len(outmsg) <= 5:
|
||||
self._lin_send(0x10, obd_header + outmsg)
|
||||
else:
|
||||
first_msg_len = MIN(4, len(outmsg)%4) or 4
|
||||
first_msg_len = min(4, len(outmsg)%4) or 4
|
||||
self._lin_send(0x10, obd_header + b'\x01' +
|
||||
b'\x00'*(4-first_msg_len) +
|
||||
outmsg[:first_msg_len])
|
||||
@@ -229,7 +229,7 @@ class ELMCarSimulator():
|
||||
outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110
|
||||
msgnum = 1
|
||||
while(self.__can_multipart_data):
|
||||
datalen = MIN(7, len(self.__can_multipart_data))
|
||||
datalen = min(7, len(self.__can_multipart_data))
|
||||
msgpiece = struct.pack("B", 0x20 | msgnum) + self.__can_multipart_data[:datalen]
|
||||
self._can_send(outaddr, msgpiece)
|
||||
self.__can_multipart_data = self.__can_multipart_data[7:]
|
||||
@@ -246,7 +246,7 @@ class ELMCarSimulator():
|
||||
self._can_send(outaddr,
|
||||
struct.pack("BBB", len(outmsg)+2, 0x40|data[1], pid) + outmsg)
|
||||
else:
|
||||
first_msg_len = MIN(3, len(outmsg)%7)
|
||||
first_msg_len = min(3, len(outmsg)%7)
|
||||
payload_len = len(outmsg)+3
|
||||
msgpiece = struct.pack("BBBBB", 0x10 | ((payload_len>>8)&0xF),
|
||||
payload_len&0xFF,
|
||||
|
||||
@@ -5,7 +5,7 @@ from panda import Panda
|
||||
p = Panda()
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# ack any crap on bus
|
||||
# hack anything on bus
|
||||
p.set_gmlan(bus=2)
|
||||
time.sleep(0.1)
|
||||
while len(p.can_recv()) > 0:
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
FROM ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y make python python-pip
|
||||
COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
|
||||
RUN pip install -r /panda/tests/safety/requirements.txt
|
||||
COPY . /panda
|
||||
@@ -0,0 +1,201 @@
|
||||
Apache License
|
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Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
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@@ -0,0 +1,451 @@
|
||||
4r5e
|
||||
5h1t
|
||||
5hit
|
||||
a55
|
||||
anal
|
||||
anus
|
||||
ar5e
|
||||
arrse
|
||||
arse
|
||||
ass
|
||||
ass-fucker
|
||||
asses
|
||||
assfucker
|
||||
assfukka
|
||||
asshole
|
||||
assholes
|
||||
asswhole
|
||||
a_s_s
|
||||
b!tch
|
||||
b00bs
|
||||
b17ch
|
||||
b1tch
|
||||
ballbag
|
||||
balls
|
||||
ballsack
|
||||
bastard
|
||||
beastial
|
||||
beastiality
|
||||
bellend
|
||||
bestial
|
||||
bestiality
|
||||
bi+ch
|
||||
biatch
|
||||
bitch
|
||||
bitcher
|
||||
bitchers
|
||||
bitches
|
||||
bitchin
|
||||
bitching
|
||||
bloody
|
||||
blow job
|
||||
blowjob
|
||||
blowjobs
|
||||
boiolas
|
||||
bollock
|
||||
bollok
|
||||
boner
|
||||
boob
|
||||
boobs
|
||||
booobs
|
||||
boooobs
|
||||
booooobs
|
||||
booooooobs
|
||||
breasts
|
||||
buceta
|
||||
bugger
|
||||
bum
|
||||
bunny fucker
|
||||
bullshit
|
||||
butt
|
||||
butthole
|
||||
buttmuch
|
||||
buttplug
|
||||
c0ck
|
||||
c0cksucker
|
||||
carpet muncher
|
||||
cawk
|
||||
chink
|
||||
cipa
|
||||
cl1t
|
||||
clit
|
||||
clitoris
|
||||
clits
|
||||
cnut
|
||||
cock
|
||||
cock-sucker
|
||||
cockface
|
||||
cockhead
|
||||
cockmunch
|
||||
cockmuncher
|
||||
cocks
|
||||
cocksuck
|
||||
cocksucked
|
||||
cocksucker
|
||||
cocksucking
|
||||
cocksucks
|
||||
cocksuka
|
||||
cocksukka
|
||||
cok
|
||||
cokmuncher
|
||||
coksucka
|
||||
coon
|
||||
cox
|
||||
crap
|
||||
cum
|
||||
cummer
|
||||
cumming
|
||||
cums
|
||||
cumshot
|
||||
cunilingus
|
||||
cunillingus
|
||||
cunnilingus
|
||||
cunt
|
||||
cuntlick
|
||||
cuntlicker
|
||||
cuntlicking
|
||||
cunts
|
||||
cyalis
|
||||
cyberfuc
|
||||
cyberfuck
|
||||
cyberfucked
|
||||
cyberfucker
|
||||
cyberfuckers
|
||||
cyberfucking
|
||||
d1ck
|
||||
damn
|
||||
dick
|
||||
dickhead
|
||||
dildo
|
||||
dildos
|
||||
dink
|
||||
dinks
|
||||
dirsa
|
||||
dlck
|
||||
dog-fucker
|
||||
doggin
|
||||
dogging
|
||||
donkeyribber
|
||||
doosh
|
||||
duche
|
||||
dyke
|
||||
ejaculate
|
||||
ejaculated
|
||||
ejaculates
|
||||
ejaculating
|
||||
ejaculatings
|
||||
ejaculation
|
||||
ejakulate
|
||||
f u c k
|
||||
f u c k e r
|
||||
f4nny
|
||||
fag
|
||||
fagging
|
||||
faggitt
|
||||
faggot
|
||||
faggs
|
||||
fagot
|
||||
fagots
|
||||
fags
|
||||
fanny
|
||||
fannyflaps
|
||||
fannyfucker
|
||||
fanyy
|
||||
fatass
|
||||
fcuk
|
||||
fcuker
|
||||
fcuking
|
||||
feck
|
||||
fecker
|
||||
felching
|
||||
fellate
|
||||
fellatio
|
||||
fingerfuck
|
||||
fingerfucked
|
||||
fingerfucker
|
||||
fingerfuckers
|
||||
fingerfucking
|
||||
fingerfucks
|
||||
fistfuck
|
||||
fistfucked
|
||||
fistfucker
|
||||
fistfuckers
|
||||
fistfucking
|
||||
fistfuckings
|
||||
fistfucks
|
||||
flange
|
||||
fook
|
||||
fooker
|
||||
fuck
|
||||
fucka
|
||||
fucked
|
||||
fucker
|
||||
fuckers
|
||||
fuckhead
|
||||
fuckheads
|
||||
fuckin
|
||||
fucking
|
||||
fuckings
|
||||
fuckingshitmotherfucker
|
||||
fuckme
|
||||
fucks
|
||||
fuckwhit
|
||||
fuckwit
|
||||
fudge packer
|
||||
fudgepacker
|
||||
fuk
|
||||
fuker
|
||||
fukker
|
||||
fukkin
|
||||
fuks
|
||||
fukwhit
|
||||
fukwit
|
||||
fux
|
||||
fux0r
|
||||
f_u_c_k
|
||||
gangbang
|
||||
gangbanged
|
||||
gangbangs
|
||||
gaylord
|
||||
gaysex
|
||||
goatse
|
||||
God
|
||||
god-dam
|
||||
god-damned
|
||||
goddamn
|
||||
goddamned
|
||||
hardcoresex
|
||||
hell
|
||||
heshe
|
||||
hoar
|
||||
hoare
|
||||
hoer
|
||||
homo
|
||||
hore
|
||||
horniest
|
||||
horny
|
||||
hotsex
|
||||
jack-off
|
||||
jackoff
|
||||
jap
|
||||
jerk-off
|
||||
jism
|
||||
jiz
|
||||
jizm
|
||||
jizz
|
||||
kawk
|
||||
knob
|
||||
knobead
|
||||
knobed
|
||||
knobend
|
||||
knobhead
|
||||
knobjocky
|
||||
knobjokey
|
||||
kock
|
||||
kondum
|
||||
kondums
|
||||
kum
|
||||
kummer
|
||||
kumming
|
||||
kums
|
||||
kunilingus
|
||||
l3i+ch
|
||||
l3itch
|
||||
labia
|
||||
lmfao
|
||||
lust
|
||||
lusting
|
||||
m0f0
|
||||
m0fo
|
||||
m45terbate
|
||||
ma5terb8
|
||||
ma5terbate
|
||||
masochist
|
||||
master-bate
|
||||
masterb8
|
||||
masterbat*
|
||||
masterbat3
|
||||
masterbate
|
||||
masterbation
|
||||
masterbations
|
||||
masturbate
|
||||
mo-fo
|
||||
mof0
|
||||
mofo
|
||||
mothafuck
|
||||
mothafucka
|
||||
mothafuckas
|
||||
mothafuckaz
|
||||
mothafucked
|
||||
mothafucker
|
||||
mothafuckers
|
||||
mothafuckin
|
||||
mothafucking
|
||||
mothafuckings
|
||||
mothafucks
|
||||
mother fucker
|
||||
motherfuck
|
||||
motherfucked
|
||||
motherfucker
|
||||
motherfuckers
|
||||
motherfuckin
|
||||
motherfucking
|
||||
motherfuckings
|
||||
motherfuckka
|
||||
motherfucks
|
||||
muff
|
||||
mutha
|
||||
muthafecker
|
||||
muthafuckker
|
||||
muther
|
||||
mutherfucker
|
||||
n1gga
|
||||
n1gger
|
||||
nazi
|
||||
nigg3r
|
||||
nigg4h
|
||||
nigga
|
||||
niggah
|
||||
niggas
|
||||
niggaz
|
||||
nigger
|
||||
niggers
|
||||
nob
|
||||
nob jokey
|
||||
nobhead
|
||||
nobjocky
|
||||
nobjokey
|
||||
numbnuts
|
||||
nutsack
|
||||
orgasim
|
||||
orgasims
|
||||
orgasm
|
||||
orgasms
|
||||
p0rn
|
||||
pawn
|
||||
pecker
|
||||
penis
|
||||
penisfucker
|
||||
phonesex
|
||||
phuck
|
||||
phuk
|
||||
phuked
|
||||
phuking
|
||||
phukked
|
||||
phukking
|
||||
phuks
|
||||
phuq
|
||||
pigfucker
|
||||
pimpis
|
||||
piss
|
||||
pissed
|
||||
pisser
|
||||
pissers
|
||||
pisses
|
||||
pissflaps
|
||||
pissin
|
||||
pissing
|
||||
pissoff
|
||||
poop
|
||||
porn
|
||||
porno
|
||||
pornography
|
||||
pornos
|
||||
prick
|
||||
pricks
|
||||
pron
|
||||
pube
|
||||
pusse
|
||||
pussi
|
||||
pussies
|
||||
pussy
|
||||
pussys
|
||||
rectum
|
||||
retard
|
||||
rimjaw
|
||||
rimming
|
||||
s hit
|
||||
s.o.b.
|
||||
sadist
|
||||
schlong
|
||||
screwing
|
||||
scroat
|
||||
scrote
|
||||
scrotum
|
||||
semen
|
||||
sex
|
||||
sh!+
|
||||
sh!t
|
||||
sh1t
|
||||
shag
|
||||
shagger
|
||||
shaggin
|
||||
shagging
|
||||
shemale
|
||||
shi+
|
||||
shit
|
||||
shitdick
|
||||
shite
|
||||
shited
|
||||
shitey
|
||||
shitfuck
|
||||
shitfull
|
||||
shithead
|
||||
shiting
|
||||
shitings
|
||||
shits
|
||||
shitted
|
||||
shitter
|
||||
shitters
|
||||
shitting
|
||||
shittings
|
||||
shitty
|
||||
skank
|
||||
slut
|
||||
sluts
|
||||
smegma
|
||||
smut
|
||||
snatch
|
||||
son-of-a-bitch
|
||||
spac
|
||||
spunk
|
||||
s_h_i_t
|
||||
t1tt1e5
|
||||
t1tties
|
||||
teets
|
||||
teez
|
||||
testical
|
||||
testicle
|
||||
tit
|
||||
titfuck
|
||||
tits
|
||||
titt
|
||||
tittie5
|
||||
tittiefucker
|
||||
titties
|
||||
tittyfuck
|
||||
tittywank
|
||||
titwank
|
||||
tosser
|
||||
turd
|
||||
tw4t
|
||||
twat
|
||||
twathead
|
||||
twatty
|
||||
twunt
|
||||
twunter
|
||||
v14gra
|
||||
v1gra
|
||||
vagina
|
||||
viagra
|
||||
vulva
|
||||
w00se
|
||||
wang
|
||||
wank
|
||||
wanker
|
||||
wanky
|
||||
whoar
|
||||
whore
|
||||
willies
|
||||
willy
|
||||
xrated
|
||||
Executable
+28
@@ -0,0 +1,28 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
checked_ext = ["h", "c", "py", "pyx", "cpp", "hpp", "md", "mk"]
|
||||
|
||||
if __name__ == "__main__":
|
||||
with open("list.txt", 'r') as handle:
|
||||
|
||||
suffix_cmd = " "
|
||||
for i in checked_ext:
|
||||
suffix_cmd += "--include \*." + i + " "
|
||||
|
||||
found_bad_language = False
|
||||
for line in handle:
|
||||
line = line.rstrip('\n').rstrip(" ")
|
||||
try:
|
||||
cmd = "cd ../../; grep -R -i -w " + suffix_cmd + " '" + line + "'"
|
||||
res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
|
||||
print res
|
||||
found_bad_language = True
|
||||
except subprocess.CalledProcessError as e:
|
||||
pass
|
||||
if found_bad_language:
|
||||
sys.exit("Failed: found bad language")
|
||||
else:
|
||||
print "Success"
|
||||
@@ -0,0 +1,8 @@
|
||||
# Advisory: union types can be used
|
||||
misra.19.2
|
||||
# FIXME: add it back when fixed in cppcheck. Macro identifiers are unique but it false triggers on defines in #ifdef..#else conditions
|
||||
misra.5.4
|
||||
# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
|
||||
misra.11.4
|
||||
# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well
|
||||
misra.11.5
|
||||
@@ -1,24 +1,53 @@
|
||||
#!/bin/bash -e
|
||||
|
||||
mkdir /tmp/misra || true
|
||||
git clone https://github.com/danmar/cppcheck.git || true
|
||||
cd cppcheck
|
||||
git fetch
|
||||
git checkout 44d6066c6fad32e2b0332b3f2b24bd340febaef8
|
||||
git checkout 862c4ef87b109ae86c2d5f12769b7c8d199f35c5
|
||||
make -j4
|
||||
cd ../../../
|
||||
|
||||
# whole panda code
|
||||
tests/misra/cppcheck/cppcheck --dump --enable=all --inline-suppr board/main.c 2>/tmp/misra/cppcheck_output.txt || true
|
||||
python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
|
||||
|
||||
# violations in safety files
|
||||
(cat /tmp/misra/misra_output.txt | grep safety) > /tmp/misra/misra_safety_output.txt || true
|
||||
(cat /tmp/misra/cppcheck_output.txt | grep safety) > /tmp/misra/cppcheck_safety_output.txt || true
|
||||
printf "\nPANDA CODE\n"
|
||||
tests/misra/cppcheck/cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
|
||||
--suppressions-list=tests/misra/suppressions.txt \
|
||||
--dump --enable=all --inline-suppr --force \
|
||||
board/main.c 2>/tmp/misra/cppcheck_output.txt
|
||||
|
||||
if [[ -s "/tmp/misra/misra_safety_output.txt" ]] || [[ -s "/tmp/misra/cppcheck_safety_output.txt" ]]
|
||||
python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2> /tmp/misra/misra_output.txt || true
|
||||
|
||||
# strip (information) lines
|
||||
cppcheck_output=$( cat /tmp/misra/cppcheck_output.txt | grep -v "(information) " ) || true
|
||||
misra_output=$( cat /tmp/misra/misra_output.txt | grep -v "(information) " ) || true
|
||||
|
||||
|
||||
printf "\nPEDAL CODE\n"
|
||||
tests/misra/cppcheck/cppcheck -UPANDA -DPEDAL -UCAN3 \
|
||||
--suppressions-list=tests/misra/suppressions.txt \
|
||||
-I board/ --dump --enable=all --inline-suppr --force \
|
||||
board/pedal/main.c 2>/tmp/misra/cppcheck_pedal_output.txt
|
||||
|
||||
python tests/misra/cppcheck/addons/misra.py board/pedal/main.c.dump 2> /tmp/misra/misra_pedal_output.txt || true
|
||||
|
||||
# strip (information) lines
|
||||
cppcheck_pedal_output=$( cat /tmp/misra/cppcheck_pedal_output.txt | grep -v "(information) " ) || true
|
||||
misra_pedal_output=$( cat /tmp/misra/misra_pedal_output.txt | grep -v "(information) " ) || true
|
||||
|
||||
if [[ -n "$misra_output" ]] || [[ -n "$cppcheck_output" ]]
|
||||
then
|
||||
echo "Found Misra violations in the safety code:"
|
||||
cat /tmp/misra/misra_safety_output.txt
|
||||
cat /tmp/misra/cppcheck_safety_output.txt
|
||||
echo "Failed! found Misra violations in panda code:"
|
||||
echo "$misra_output"
|
||||
echo "$cppcheck_output"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ -n "$misra_pedal_output" ]] || [[ -n "$cppcheck_pedal_output" ]]
|
||||
then
|
||||
echo "Failed! found Misra violations in pedal code:"
|
||||
echo "$misra_pedal_output"
|
||||
echo "$cppcheck_pedal_output"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Success"
|
||||
|
||||
@@ -55,7 +55,7 @@ void set_toyota_camera_forwarded(int t);
|
||||
void set_toyota_rt_torque_last(int t);
|
||||
|
||||
void init_tests_honda(void);
|
||||
int get_honda_ego_speed(void);
|
||||
bool get_honda_moving(void);
|
||||
int get_honda_brake_prev(void);
|
||||
int get_honda_gas_prev(void);
|
||||
void set_honda_alt_brake_msg(bool);
|
||||
|
||||
@@ -32,6 +32,7 @@ struct sample_t subaru_torque_driver;
|
||||
TIM_TypeDef timer;
|
||||
TIM_TypeDef *TIM2 = &timer;
|
||||
|
||||
// from config.h
|
||||
#define MIN(a,b) \
|
||||
({ __typeof__ (a) _a = (a); \
|
||||
__typeof__ (b) _b = (b); \
|
||||
@@ -42,6 +43,14 @@ TIM_TypeDef *TIM2 = &timer;
|
||||
__typeof__ (b) _b = (b); \
|
||||
_a > _b ? _a : _b; })
|
||||
|
||||
// from llcan.h
|
||||
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
|
||||
#define GET_LEN(msg) ((msg)->RDTR & 0xf)
|
||||
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
|
||||
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_BYTES_48(msg) ((msg)->RDHR)
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
#define PANDA
|
||||
@@ -199,8 +208,8 @@ void set_subaru_desired_torque_last(int t){
|
||||
subaru_desired_torque_last = t;
|
||||
}
|
||||
|
||||
int get_honda_ego_speed(void){
|
||||
return honda_ego_speed;
|
||||
bool get_honda_moving(void){
|
||||
return honda_moving;
|
||||
}
|
||||
|
||||
int get_honda_brake_prev(void){
|
||||
@@ -274,7 +283,7 @@ void init_tests_subaru(void){
|
||||
}
|
||||
|
||||
void init_tests_honda(void){
|
||||
honda_ego_speed = 0;
|
||||
honda_moving = false;
|
||||
honda_brake_prev = 0;
|
||||
honda_gas_prev = 0;
|
||||
}
|
||||
|
||||
@@ -5,6 +5,8 @@ import libpandasafety_py
|
||||
|
||||
MAX_BRAKE = 255
|
||||
|
||||
INTERCEPTOR_THRESHOLD = 328
|
||||
|
||||
class TestHondaSafety(unittest.TestCase):
|
||||
@classmethod
|
||||
def setUp(cls):
|
||||
@@ -66,7 +68,9 @@ class TestHondaSafety(unittest.TestCase):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = addr << 21
|
||||
to_send[0].RDTR = 6
|
||||
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
|
||||
gas2 = gas * 2
|
||||
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
|
||||
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
|
||||
|
||||
return to_send
|
||||
|
||||
@@ -99,9 +103,9 @@ class TestHondaSafety(unittest.TestCase):
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_sample_speed(self):
|
||||
self.assertEqual(0, self.safety.get_honda_ego_speed())
|
||||
self.assertEqual(0, self.safety.get_honda_moving())
|
||||
self.safety.safety_rx_hook(self._speed_msg(100))
|
||||
self.assertEqual(100, self.safety.get_honda_ego_speed())
|
||||
self.assertEqual(1, self.safety.get_honda_moving())
|
||||
|
||||
def test_prev_brake(self):
|
||||
self.assertFalse(self.safety.get_honda_brake_prev())
|
||||
@@ -176,16 +180,15 @@ class TestHondaSafety(unittest.TestCase):
|
||||
|
||||
def test_disengage_on_gas_interceptor(self):
|
||||
for long_controls_allowed in [0, 1]:
|
||||
self.safety.set_long_controls_allowed(long_controls_allowed)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
|
||||
if long_controls_allowed:
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
else:
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_gas_interceptor_detected(False)
|
||||
for g in range(0, 0x1000):
|
||||
self.safety.set_long_controls_allowed(long_controls_allowed)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
|
||||
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
|
||||
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_gas_interceptor_detected(False)
|
||||
self.safety.set_long_controls_allowed(True)
|
||||
|
||||
def test_allow_engage_with_gas_interceptor_pressed(self):
|
||||
|
||||
@@ -15,6 +15,8 @@ RT_INTERVAL = 250000
|
||||
|
||||
MAX_TORQUE_ERROR = 350
|
||||
|
||||
INTERCEPTOR_THRESHOLD = 475
|
||||
|
||||
def twos_comp(val, bits):
|
||||
if val >= 0:
|
||||
return val
|
||||
@@ -81,7 +83,9 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = addr << 21
|
||||
to_send[0].RDTR = 6
|
||||
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8)
|
||||
gas2 = gas * 2
|
||||
to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
|
||||
((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
|
||||
|
||||
return to_send
|
||||
|
||||
@@ -145,16 +149,15 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
|
||||
def test_disengage_on_gas_interceptor(self):
|
||||
for long_controls_allowed in [0, 1]:
|
||||
self.safety.set_long_controls_allowed(long_controls_allowed)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
|
||||
if long_controls_allowed:
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
else:
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_gas_interceptor_detected(False)
|
||||
for g in range(0, 0x1000):
|
||||
self.safety.set_long_controls_allowed(long_controls_allowed)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
|
||||
remain_enabled = (not long_controls_allowed or g <= INTERCEPTOR_THRESHOLD)
|
||||
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
|
||||
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
|
||||
self.safety.set_gas_interceptor_detected(False)
|
||||
self.safety.set_long_controls_allowed(True)
|
||||
|
||||
def test_allow_engage_with_gas_interceptor_pressed(self):
|
||||
|
||||
@@ -17,4 +17,4 @@ COPY . /openpilot/panda
|
||||
WORKDIR /openpilot/panda/tests/safety_replay
|
||||
RUN git clone https://github.com/commaai/openpilot-tools.git tools || true
|
||||
WORKDIR tools
|
||||
RUN git checkout b6461274d684915f39dc45efc5292ea890698da9
|
||||
RUN git checkout feb724a14f0f5223c700c94317efaf46923fd48a
|
||||
|
||||
@@ -8,13 +8,3 @@ cd capnproto-c++-0.6.1
|
||||
make -j4
|
||||
make install
|
||||
|
||||
cd ..
|
||||
git clone https://github.com/commaai/c-capnproto.git
|
||||
cd c-capnproto
|
||||
git checkout 2e625acacf58a5f5c8828d8453d1f8dacc700a96
|
||||
git submodule update --init --recursive
|
||||
autoreconf -f -i -s
|
||||
CFLAGS="-fPIC" ./configure --prefix=/usr/local
|
||||
make -j4
|
||||
make install
|
||||
|
||||
|
||||
Reference in New Issue
Block a user