mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-09 22:13:43 +08:00
firestar5683
118 lines
3.8 KiB
Python
118 lines
3.8 KiB
Python
"""Compile current native safety and C++ negotiation for Honda caller tests."""
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from contextlib import contextmanager
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from tempfile import TemporaryDirectory
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from unittest.mock import patch
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import subprocess
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import hashlib
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import json
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import os
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from pathlib import Path
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import capnproto
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from opendbc.safety.tests.libsafety import libsafety_py
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@contextmanager
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def honda_native_pair():
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root = Path(__file__).resolve().parents[4]
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with TemporaryDirectory(prefix='honda-native-') as directory:
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yield from _compiled_native_pair(root, Path(directory))
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def _compiled_native_pair(root, temporary):
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library = temporary / 'libsafety.so'
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bridge = temporary / 'pandad-order'
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subprocess.run(
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[
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'cc',
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'-fPIC',
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'-Wall',
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'-Wextra',
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'-Werror',
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'-nostdlib',
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'-fno-builtin',
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'-std=gnu11',
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'-Wfatal-errors',
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'-Wno-pointer-to-int-cast',
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'-g',
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'-O0',
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'-DALLOW_DEBUG',
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'-fsanitize=undefined',
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'-fno-sanitize-recover=undefined',
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'-I',
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str(root / 'opendbc_repo'),
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'-MD',
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'-MF',
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str(temporary / 'libsafety.d'),
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'-c',
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str(root / 'opendbc_repo/opendbc/safety/tests/libsafety/safety.c'),
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'-o',
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str(temporary / "libsafety.o"),
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],
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check=True,
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timeout=35,
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)
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subprocess.run(['cc', '-shared', str(temporary / 'libsafety.o'), '-o', str(library),
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'-fsanitize=undefined', '-fno-sanitize-recover=undefined'], check=True, timeout=35)
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generated = [root / ('openpilot/cereal/gen/cpp/' + name + '.capnp.c++') for name in ('log', 'car', 'custom', 'deprecated')]
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subprocess.run(
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[
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'c++',
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'-std=c++17',
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'-Wall',
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'-Wextra',
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'-Werror',
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'-O0',
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'-g',
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'-I',
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str(root),
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'-I',
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str(root / 'openpilot'),
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'-I',
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str(root / 'openpilot/cereal/gen/cpp'),
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'-I',
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capnproto.INCLUDE_DIR,
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str(Path(__file__).with_name('honda_pandad_order.cc')),
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*map(str, generated),
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'-L',
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capnproto.LIB_DIR,
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'-lcapnp',
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'-lkj',
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'-o',
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str(bridge),
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],
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check=True,
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timeout=35,
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)
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inputs = (temporary / 'libsafety.d').read_text().replace('\\\n', '').split(':', 1)[1].split()
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bridge_inputs = [root / name for name in ('openpilot/selfdrive/pandad/aol_protocol.h',
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'openpilot/selfdrive/pandad/aol_wire.h',
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'openpilot/starpilot/car/honda/aol_policy.h')]
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origins = {
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'root': str(root),
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'native_library': str(library),
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'bridge': str(bridge),
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'inputs': {name: hashlib.sha256(Path(name).read_bytes()).hexdigest() for name in inputs},
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'library_sha256': hashlib.sha256(library.read_bytes()).hexdigest(),
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'bridge_inputs': {str(path): hashlib.sha256(path.read_bytes()).hexdigest() for path in bridge_inputs},
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'bridge_source_sha256': hashlib.sha256(Path(__file__).with_name('honda_pandad_order.cc').read_bytes()).hexdigest(),
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'schemas': {str(path): hashlib.sha256(path.read_bytes()).hexdigest() for path in generated},
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}
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(temporary / 'origins.json').write_text(json.dumps(origins, indent=2) + '\n')
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original = {key: vars(libsafety_py).get(key) for key in ('libsafety', 'libpath')}
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with patch.dict('os.environ', {'HONDA_NATIVE_LIBRARY': str(library), 'HONDA_PANDAD_BRIDGE': str(bridge)}):
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libsafety_py.load(library)
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try:
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assert Path(libsafety_py.libpath).resolve() == library.resolve()
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assert Path(os.environ['HONDA_NATIVE_LIBRARY']).resolve() == library.resolve()
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assert Path(os.environ['HONDA_PANDAD_BRIDGE']).resolve() == bridge.resolve()
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yield origins
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finally:
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for key, value in original.items():
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if value is None:
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vars(libsafety_py).pop(key, None)
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else:
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setattr(libsafety_py, key, value)
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