mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
91 lines
2.3 KiB
Python
91 lines
2.3 KiB
Python
"""Compile current native safety and C++ negotiation for Subaru caller tests."""
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import subprocess
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from pathlib import Path
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import capnproto
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import pytest
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from opendbc.safety.tests.libsafety import libsafety_py
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@pytest.fixture(scope='module')
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def subaru_native_pair(tmp_path_factory):
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root = Path(__file__).resolve().parents[5]
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temporary = tmp_path_factory.mktemp('subaru-native')
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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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'-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(
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['cc', '-shared', str(temporary / 'libsafety.o'), '-o', str(library), '-fsanitize=undefined', '-fno-sanitize-recover=undefined'], check=True, timeout=35
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)
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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('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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original = {key: vars(libsafety_py).get(key) for key in ('libsafety', 'libpath')}
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with pytest.MonkeyPatch.context() as environment:
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environment.setenv('SUBARU_NATIVE_LIBRARY', str(library))
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environment.setenv('SUBARU_PANDAD_BRIDGE', str(bridge))
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libsafety_py.load(library)
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try:
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yield library, bridge
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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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