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Change safetyParam to uint16_t (#24376)

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* bump panda & cereal

* bump panda

* rest of references

* regen TOYOTA with safety param 578, TOYOTA2 with 329

* regen rest of routes

* update ref

* bump cereal
This commit is contained in:
Shane Smiskol
2022-05-02 13:34:31 -07:00
committed by GitHub
parent 6e0c25d654
commit 4190d2608a
7 changed files with 12 additions and 14 deletions
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cereal
+1 -1
Submodule cereal updated: 3b5860e0cd...c9cdd7e398
panda
+1 -1
Submodule panda updated: 326cc2a8db...168b0db6a7
selfdrive/boardd/boardd.cc
+2 -2
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@@ -135,7 +135,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
util::sleep_for(20);
}
pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1);
pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
std::string params;
LOGW("waiting for params to set safety model");
@@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model;
uint32_t safety_param;
uint16_t safety_param;
auto safety_configs = car_params.getSafetyConfigs();
uint16_t alternative_experience = car_params.getAlternativeExperience();
selfdrive/boardd/panda.cc
+2 -4
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@@ -247,10 +247,8 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
return transferred;
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
// FIXME: last two bytes must be empty
assert((safety_param >> 16) == 0U);
usb_write(0xdc, (uint16_t)safety_model, (uint16_t)safety_param);
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}
void Panda::set_alternative_experience(uint16_t alternative_experience) {
selfdrive/boardd/panda.h
+1 -1
View File
@@ -73,7 +73,7 @@ class Panda {
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
9385014c512d253655f574d77fe1e07558f4157d
fd3aebd002a93ebccfef95643f87e8d5c464f2da
selfdrive/test/process_replay/test_processes.py
+4 -4
View File
@@ -33,11 +33,11 @@ original_segments = [
segments = [
("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
("TOYOTA", "fakedata|2022-04-28--18-59-34--0"),
("TOYOTA2", "fakedata|2022-04-28--15-52-38--0"),
("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
("HONDA", "fakedata|2022-01-20--17-56-40--0"),
("HONDA2", "fakedata|2022-04-13--19-23-30--0"),
("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
("GM", "fakedata|2022-01-20--18-03-41--0"),