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Merge branch 'devel-i18n' into devel-zht

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This commit is contained in:
Rick Lan
2020-04-10 09:16:33 +10:00
parent d61d7c21c9 c4224100f8
commit 7fa3899883
54 changed files with 1407 additions and 263 deletions
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.gitignore
+6
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@@ -57,3 +57,9 @@ panda_jungle
htmlcov
pandaextra
apk/cn.dragonpilot.gpsservice.apk
apk/com.autonavi.amapauto.apk
apk/com.mixplorer.apk
apk/com.tomtom.speedcams.android.map.apk
apk/com.waze.apk
apk/tw.com.ainvest.outpack.apk
apk/ai.comma.plus.offroad.apk
BIN
View File
Binary file not shown.
common/apk.py
+1 -1
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@@ -6,7 +6,7 @@ import shutil
from common.basedir import BASEDIR
from selfdrive.swaglog import cloudlog
android_packages = ("ai.comma.plus.offroad", "tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map")
android_packages = ("ai.comma.plus.offroad",)
def get_installed_apks():
dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
common/params.py
+2 -2
View File
@@ -174,12 +174,12 @@ keys = {
"DragonLastModified": [TxType.PERSISTENT],
"DragonEnableRegistration": [TxType.PERSISTENT],
"DragonDynamicFollow": [TxType.PERSISTENT],
"DragonEnableDoorCheck": [TxType.PERSISTENT],
"DragonEnableSeatBeltCheck": [TxType.PERSISTENT],
"DragonEnableGearCheck": [TxType.PERSISTENT],
"DragonEnableTempMonitor": [TxType.PERSISTENT],
"DragonEnableCurvatureLearner": [TxType.PERSISTENT],
"DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
"DragonAppAutoUpdate": [TxType.PERSISTENT],
"DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
}
panda/VERSION
+1 -1
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@@ -1 +1 @@
v1.7.3
v1.7.5
panda/board/drivers/can.h
+27
View File
@@ -28,6 +28,7 @@ void can_set_forwarding(int from, int to);
void can_init(uint8_t can_number);
void can_init_all(void);
bool can_tx_check_min_slots_free(uint32_t min);
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
@@ -107,6 +108,20 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
return ret;
}
uint32_t can_slots_empty(can_ring *q) {
uint32_t ret = 0;
ENTER_CRITICAL();
if (q->w_ptr >= q->r_ptr) {
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
} else {
ret = q->r_ptr - q->w_ptr - 1U;
}
EXIT_CRITICAL();
return ret;
}
void can_clear(can_ring *q) {
ENTER_CRITICAL();
q->w_ptr = 0;
@@ -317,6 +332,10 @@ void process_can(uint8_t can_number) {
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
usb_outep3_resume_if_paused();
}
}
}
@@ -405,6 +424,14 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
bool can_tx_check_min_slots_free(uint32_t min) {
return
(can_slots_empty(&can_tx1_q) >= min) &&
(can_slots_empty(&can_tx2_q) >= min) &&
(can_slots_empty(&can_tx3_q) >= min) &&
(can_slots_empty(&can_txgmlan_q) >= min);
}
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
if (bus_number < BUS_MAX) {
panda/board/drivers/llcan.h
+1 -1
View File
@@ -11,7 +11,7 @@
#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_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)
panda/board/drivers/usb.h
+21 -4
View File
@@ -23,12 +23,16 @@ typedef union _USB_Setup {
}
USB_Setup_TypeDef;
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
void usb_init(void);
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
void usb_cb_ep3_out_complete(void);
void usb_cb_enumeration_complete(void);
void usb_outep3_resume_if_paused(void);
// **** supporting defines ****
@@ -380,6 +384,7 @@ USB_Setup_TypeDef setup;
uint8_t usbdata[0x100];
uint8_t* ep0_txdata = NULL;
uint16_t ep0_txlen = 0;
bool outep3_processing = false;
// Store the current interface alt setting.
int current_int0_alt_setting = 0;
@@ -744,6 +749,7 @@ void usb_irqhandler(void) {
}
if (endpoint == 3) {
outep3_processing = true;
usb_cb_ep3_out(usbdata, len, 1);
}
} else if (status == STS_SETUP_UPDT) {
@@ -816,15 +822,17 @@ void usb_irqhandler(void) {
#ifdef DEBUG_USB
puts(" OUT3 PACKET XFRC\n");
#endif
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
// NAK cleared by process_can (if tx buffers have room)
outep3_processing = false;
usb_cb_ep3_out_complete();
} else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
#ifdef DEBUG_USB
puts(" OUT3 PACKET WTF\n");
#endif
// if NAK was set trigger this, unknown interrupt
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
// TODO: why was this here? fires when TX buffers when we can't clear NAK
// USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
// USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
} else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
puts("OUTEP3 error ");
puth(USBx_OUTEP(3)->DOEPINT);
@@ -932,6 +940,15 @@ void usb_irqhandler(void) {
//USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
}
void usb_outep3_resume_if_paused() {
ENTER_CRITICAL();
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
}
EXIT_CRITICAL();
}
void OTG_FS_IRQ_Handler(void) {
NVIC_DisableIRQ(OTG_FS_IRQn);
//__disable_irq();
panda/board/get_sdk_mac.sh
+2
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@@ -1,5 +1,7 @@
#!/bin/bash
# Need formula for gcc
sudo easy_install pip
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
brew tap ArmMbed/homebrew-formulae
brew install python dfu-util arm-none-eabi-gcc
pip install --user libusb1 pycrypto requests
panda/board/main.c
+15
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@@ -235,6 +235,12 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
}
}
void usb_cb_ep3_out_complete() {
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
usb_outep3_resume_if_paused();
}
}
void usb_cb_enumeration_complete() {
puts("USB enumeration complete\n");
is_enumerated = 1;
@@ -469,6 +475,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
}
break;
// **** 0xdf: set unsafe mode
case 0xdf:
// you can only set this if you are in a non car safety mode
if ((current_safety_mode == SAFETY_SILENT) ||
(current_safety_mode == SAFETY_NOOUTPUT) ||
(current_safety_mode == SAFETY_ELM327)) {
unsafe_mode = setup->b.wValue.w;
}
break;
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
panda/board/pedal/main.c
+1
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@@ -76,6 +76,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_ep3_out_complete(void) {}
void usb_cb_enumeration_complete(void) {}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
panda/board/safety.h
+11
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@@ -37,6 +37,7 @@
#define SAFETY_GM_ASCM 18U
#define SAFETY_NOOUTPUT 19U
#define SAFETY_HONDA_BOSCH_HARNESS 20U
#define SAFETY_VOLKSWAGEN_PQ 21U
#define SAFETY_SUBARU_LEGACY 22U
uint16_t current_safety_mode = SAFETY_SILENT;
@@ -183,6 +184,15 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
return is_msg_valid(rx_checks, index);
}
void relay_malfunction_set(void) {
relay_malfunction = true;
fault_occurred(FAULT_RELAY_MALFUNCTION);
}
void relay_malfunction_reset(void) {
relay_malfunction = false;
fault_recovered(FAULT_RELAY_MALFUNCTION);
}
typedef struct {
uint16_t id;
@@ -203,6 +213,7 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
{SAFETY_MAZDA, &mazda_hooks},
{SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
{SAFETY_NOOUTPUT, &nooutput_hooks},
#ifdef ALLOW_DEBUG
{SAFETY_CADILLAC, &cadillac_hooks},
panda/board/safety/safety_chrysler.h
+4 -2
View File
@@ -74,6 +74,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
chrysler_get_checksum, chrysler_compute_checksum,
chrysler_get_counter);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@@ -107,7 +109,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 308) {
bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
@@ -124,7 +126,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x292)) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
panda/board/safety/safety_defaults.h
+2 -2
View File
@@ -8,7 +8,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static void nooutput_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
}
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -42,7 +42,7 @@ const safety_hooks nooutput_hooks = {
static void alloutput_init(int16_t param) {
UNUSED(param);
controls_allowed = true;
relay_malfunction = false;
relay_malfunction_reset();
}
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
panda/board/safety/safety_ford.h
+8 -3
View File
@@ -13,6 +13,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
int bus = GET_BUS(to_push);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (addr == 0x217) {
// wheel speeds are 14 bits every 16
@@ -47,14 +48,14 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 0x204) {
bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
if (gas_pressed && !gas_pressed_prev) {
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
relay_malfunction = true;
relay_malfunction_set();
}
return 1;
}
@@ -72,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && ford_moving);
int pedal_pressed = brake_pressed_prev && ford_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
if (relay_malfunction) {
panda/board/safety/safety_gm.h
+9 -4
View File
@@ -44,6 +44,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@@ -91,8 +93,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 417) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
@@ -110,7 +112,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// 384 = ASCMLKASteeringCmd
// 715 = ASCMGasRegenCmd
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 384) || (addr == 715))) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
@@ -138,8 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
//int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
int pedal_pressed = brake_pressed_prev && gm_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev;
}
bool current_controls_allowed = controls_allowed && !pedal_pressed;
// BRAKE: safety check
panda/board/safety/safety_honda.h
+30 -22
View File
@@ -72,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
honda_get_checksum, honda_compute_checksum, honda_get_counter);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@@ -121,9 +123,9 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
controls_allowed = 1;
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
}
@@ -132,24 +134,28 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
}
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave Honda forward brake as is
// disable stock Honda AEB in unsafe mode
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
if ((bus == 2) && (addr == 0x1FA)) {
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
// Forward AEB when stock braking is higher than openpilot braking
// only stop forwarding when AEB event is over
if (!honda_stock_aeb) {
honda_fwd_brake = false;
} else if (honda_stock_brake >= honda_brake) {
honda_fwd_brake = true;
} else {
// Leave Honda forward brake as is
}
}
}
@@ -159,7 +165,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
((honda_hw == HONDA_N_HW) && (bus == 0))) {
relay_malfunction = true;
relay_malfunction_set();
}
}
}
@@ -192,9 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
//int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
// (brake_pressed_prev && honda_moving);
int pedal_pressed = brake_pressed_prev && honda_moving;
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (!unsafe_allow_gas) {
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
// BRAKE: safety check
@@ -249,14 +257,14 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void honda_nidec_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
honda_hw = HONDA_N_HW;
honda_alt_brake_msg = false;
}
static void honda_bosch_giraffe_init(int16_t param) {
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
honda_hw = HONDA_BG_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = (param == 1) ? true : false;
@@ -264,7 +272,7 @@ static void honda_bosch_giraffe_init(int16_t param) {
static void honda_bosch_harness_init(int16_t param) {
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
honda_hw = HONDA_BH_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = (param == 1) ? true : false;
@@ -343,4 +351,4 @@ const safety_hooks honda_bosch_harness_hooks = {
.fwd = honda_bosch_fwd_hook,
.addr_check = honda_bh_rx_checks,
.addr_check_len = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]),
};
};
panda/board/safety/safety_hyundai.h
+5 -3
View File
@@ -30,6 +30,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && GET_BUS(to_push) == 0) {
int addr = GET_ADDR(to_push);
@@ -55,8 +57,8 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press
if (addr == 608) {
bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
@@ -79,7 +81,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// check if stock camera ECU is on bus 0
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 832)) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
panda/board/safety/safety_mazda.h
+1 -1
View File
@@ -55,7 +55,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
relay_malfunction = true;
relay_malfunction_set();
}
return 1;
}
panda/board/safety/safety_nissan.h
+52 -44
View File
@@ -9,18 +9,16 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
{2., 7., 17.},
{5., 3.5, .5}};
const struct lookup_t NISSAN_LOOKUP_MAX_ANGLE = {
{3.3, 12, 32},
{540., 120., 23.}};
const int NISSAN_DEG_TO_CAN = 100;
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}};
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
AddrCheckStruct nissan_rx_checks[] = {
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},
{.addr = {0x29a}, .bus = 0, .expected_timestep = 20000U},
{.addr = {0x1b6}, .bus = 1, .expected_timestep = 10000U},
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
{.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
{.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
{.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
{.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
};
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
@@ -38,6 +36,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
NULL, NULL, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
@@ -54,47 +54,62 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
update_sample(&nissan_angle_meas, angle_meas_new);
}
if (addr == 0x29a) {
if (addr == 0x285) {
// Get current speed
// Factor 0.00555
nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.00555 / 3.6;
// Factor 0.005
nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
}
// exit controls on rising edge of gas press
if (addr == 0x15c) {
bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
// X-Trail 0x15c, Leaf 0x239
if ((addr == 0x15c) || (addr == 0x239)) {
bool gas_pressed = true;
if (addr == 0x15c){
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
} else {
gas_pressed = GET_BYTE(to_push, 0) > 3;
}
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x169)) {
relay_malfunction = true;
relay_malfunction_set();
}
}
if (bus == 1) {
if (addr == 0x1b6) {
int cruise_engaged = (GET_BYTE(to_push, 4) >> 6) & 1;
if (cruise_engaged && !nissan_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
nissan_cruise_engaged_last = cruise_engaged;
// exit controls on rising edge of brake press, or if speed > 0 and brake
// X-trail 0x454, Leaf 0x1cc
if ((addr == 0x454) || (addr == 0x1cc)) {
bool brake_pressed = true;
if (addr == 0x454){
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
} else {
brake_pressed = GET_BYTE(to_push, 0) > 3;
}
// exit controls on rising edge of brake press, or if speed > 0 and brake
if (addr == 0x454) {
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
}
// Handle cruise enabled
if ((bus == 2) && (addr == 0x30f)) {
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
if (cruise_engaged && !nissan_cruise_engaged_last) {
controls_allowed = 1;
}
if (!cruise_engaged) {
controls_allowed = 0;
}
nissan_cruise_engaged_last = cruise_engaged;
}
}
return valid;
@@ -133,16 +148,6 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
// Limit maximum steering angle at current speed
int maximum_angle = ((int)interpolate(NISSAN_LOOKUP_MAX_ANGLE, nissan_speed));
if (highest_desired_angle > (maximum_angle * NISSAN_DEG_TO_CAN)) {
highest_desired_angle = (maximum_angle * NISSAN_DEG_TO_CAN);
}
if (lowest_desired_angle < (-maximum_angle * NISSAN_DEG_TO_CAN)) {
lowest_desired_angle = (-maximum_angle * NISSAN_DEG_TO_CAN);
}
// check for violation;
violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
@@ -183,7 +188,10 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int addr = GET_ADDR(to_fwd);
if (bus_num == 0) {
bus_fwd = 2; // ADAS
int block_msg = (addr == 0x280); // CANCEL_MSG
if (!block_msg) {
bus_fwd = 2; // ADAS
}
}
if (bus_num == 2) {
panda/board/safety/safety_subaru.h
+7 -5
View File
@@ -67,6 +67,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
NULL, NULL, NULL);
}
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
if (((addr == 0x119) && subaru_global) ||
@@ -116,15 +118,15 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
((addr == 0x140) && !subaru_global)) {
int byte = subaru_global ? 4 : 0;
bool gas_pressed = GET_BYTE(to_push, byte) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&
(((addr == 0x122) && subaru_global) || ((addr == 0x164) && !subaru_global))) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
@@ -226,14 +228,14 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static void subaru_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
subaru_global = true;
}
static void subaru_legacy_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
subaru_global = false;
}
panda/board/safety/safety_toyota.h
+23 -16
View File
@@ -14,7 +14,10 @@ const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // -3.0 m/s2
const int TOYOTA_ISO_MAX_ACCEL = 2000; // 2.0 m/s2
const int TOYOTA_ISO_MIN_ACCEL = -3500; // -3.5 m/s2
const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475; // ratio between offset and gain from dbc file
@@ -63,6 +66,8 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
toyota_get_checksum, toyota_compute_checksum, NULL);
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@@ -83,6 +88,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// enter controls on rising edge of ACC, exit controls on ACC off
// exit controls on rising edge of gas press
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
@@ -93,6 +99,13 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
controls_allowed = 1;
}
toyota_cruise_engaged_last = cruise_engaged;
// handle gas_pressed
bool gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// sample speed
@@ -121,25 +134,16 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
controls_allowed = 1;
controls_allowed = 0;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press
if (addr == 0x2C1) {
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
controls_allowed = 1;
}
gas_pressed_prev = gas_pressed;
}
// 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4)) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
@@ -180,7 +184,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
}
bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
if (violation) {
tx = 0;
}
@@ -240,7 +247,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void toyota_init(int16_t param) {
controls_allowed = 0;
relay_malfunction = 0;
relay_malfunction_reset();
toyota_dbc_eps_torque_factor = param;
}
@@ -275,4 +282,4 @@ const safety_hooks toyota_hooks = {
.fwd = toyota_fwd_hook,
.addr_check = toyota_rx_checks,
.addr_check_len = sizeof(toyota_rx_checks)/sizeof(toyota_rx_checks[0]),
};
};
panda/board/safety/safety_volkswagen.h
+170 -7
View File
@@ -30,6 +30,26 @@ AddrCheckStruct volkswagen_mqb_rx_checks[] = {
};
const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque
#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque
#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state
#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input
#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume
#define MSG_BREMSE_3 0x4A0 // RX from ABS, for wheel speeds
#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts
// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
AddrCheckStruct volkswagen_pq_rx_checks[] = {
{.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
{.addr = {MSG_MOTOR_2}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 20000U},
{.addr = {MSG_MOTOR_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
{.addr = {MSG_BREMSE_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
};
const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
struct sample_t volkswagen_torque_driver; // Last few driver torques measured
int volkswagen_rt_torque_last = 0;
@@ -45,10 +65,17 @@ static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return (uint8_t)GET_BYTE(to_push, 0);
}
static uint8_t volkswagen_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
// MQB message counters are consistently found at LSB 8.
return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
}
static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
// Few PQ messages have counters, and their offsets are inconsistent. This
// function works only for Lenkhilfe_3 at this time.
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
}
static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@@ -62,7 +89,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
crc = volkswagen_crc8_lut_8h2f[crc];
}
uint8_t counter = volkswagen_get_counter(to_push);
uint8_t counter = volkswagen_mqb_get_counter(to_push);
switch(addr) {
case MSG_EPS_01:
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
@@ -84,20 +111,40 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
return crc ^ 0xFFU;
}
static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
int len = GET_LEN(to_push);
uint8_t checksum = 0U;
for (int i = 1; i < len; i++) {
checksum ^= (uint8_t)GET_BYTE(to_push, i);
}
return checksum;
}
static void volkswagen_mqb_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction = false;
relay_malfunction_reset();
volkswagen_torque_msg = MSG_HCA_01;
volkswagen_lane_msg = MSG_LDW_02;
gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
}
static void volkswagen_pq_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
volkswagen_torque_msg = MSG_HCA_1;
volkswagen_lane_msg = MSG_LDW_1;
}
static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_get_counter);
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
if (valid && (GET_BUS(to_push) == 0)) {
int addr = GET_ADDR(to_push);
@@ -136,8 +183,8 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// Signal: Motor_20.MO_Fahrpedalrohwert_01
if (addr == MSG_MOTOR_20) {
bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
if (gas_pressed && !gas_pressed_prev) {
controls_allowed = 1;
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
@@ -154,7 +201,74 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MSG_HCA_01)) {
relay_malfunction = true;
relay_malfunction_set();
}
}
return valid;
}
static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
if (valid) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
// Update in-motion state by sampling front wheel speeds
// Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
// Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
if ((bus == 0) && (addr == MSG_BREMSE_3)) {
int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
// Check for average front speed in excess of 0.3m/s, 1.08km/h
// DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
}
// Update driver input torque samples
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
if (sign == 1) {
torque_driver_new *= -1;
}
update_sample(&volkswagen_torque_driver, torque_driver_new);
}
// Update ACC status from ECU for controls-allowed state
// Signal: Motor_2.GRA_Status
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
}
// Exit controls on rising edge of gas press
// Signal: Motor_3.Fahrpedal_Rohsignal
if ((bus == 0) && (addr == MSG_MOTOR_3)) {
int gas_pressed = (GET_BYTE(to_push, 2));
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
controls_allowed = 0;
}
gas_pressed_prev = gas_pressed;
}
// Exit controls on rising edge of brake press
// Signal: Motor_2.Bremslichtschalter
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
if (brake_pressed && (!(brake_pressed_prev) || volkswagen_moving)) {
controls_allowed = 0;
}
brake_pressed_prev = brake_pressed;
}
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
relay_malfunction_set();
}
}
return valid;
@@ -237,6 +351,44 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
int tx = 1;
if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
tx = 0;
}
// Safety check for HCA_1 Heading Control Assist torque
// Signal: HCA_1.LM_Offset (absolute torque)
// Signal: HCA_1.LM_Offsign (direction)
if (addr == MSG_HCA_1) {
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
if (sign == 1) {
desired_torque *= -1;
}
if (volkswagen_steering_check(desired_torque)) {
tx = 0;
}
}
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
// disallow resume and set: bits 16 and 17
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
tx = 0;
}
}
// 1 allows the message through
return tx;
}
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int addr = GET_ADDR(to_fwd);
int bus_fwd = -1;
@@ -275,3 +427,14 @@ const safety_hooks volkswagen_mqb_hooks = {
.addr_check = volkswagen_mqb_rx_checks,
.addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
};
// Volkswagen PQ35/PQ46/NMS platforms
const safety_hooks volkswagen_pq_hooks = {
.init = volkswagen_pq_init,
.rx = volkswagen_pq_rx_hook,
.tx = volkswagen_pq_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = volkswagen_fwd_hook,
.addr_check = volkswagen_pq_rx_checks,
.addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
};
panda/board/safety_declarations.h
+20
View File
@@ -61,6 +61,8 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
void relay_malfunction_set(void);
void relay_malfunction_reset(void);
typedef void (*safety_hook_init)(int16_t param);
typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -88,6 +90,24 @@ int gas_interceptor_prev = 0;
bool gas_pressed_prev = false;
bool brake_pressed_prev = false;
// This can be set with a USB command
// It enables features we consider to be unsafe, but understand others may have different opinions
// It is always 0 on mainline comma.ai openpilot
// If using this flag, be very careful about what happens if your fork wants to brake while the
// user is pressing the gas. Tesla is careful with this.
#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
#define UNSAFE_DISABLE_STOCK_AEB 2
// If using this flag, be aware that harder braking is more likely to lead to rear endings,
// and that alone this flag doesn't make braking compliant because there's also a time element.
// See ISO 15622:2018 for more information.
#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
int unsafe_mode = 0;
// time since safety mode has been changed
uint32_t safety_mode_cnt = 0U;
// allow 1s of transition timeout after relay changes state before assessing malfunctioning
panda/board/spi_flasher.h
+1
View File
@@ -110,6 +110,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(len);
UNUSED(hardwired);
}
void usb_cb_ep3_out_complete(void) {}
int is_enumerated = 0;
void usb_cb_enumeration_complete(void) {
panda/python/__init__.py
+11 -4
View File
@@ -129,6 +129,7 @@ class Panda(object):
SAFETY_GM_ASCM = 18
SAFETY_NOOUTPUT = 19
SAFETY_HONDA_BOSCH_HARNESS = 20
SAFETY_VOLKSWAGEN_PQ = 21
SAFETY_SUBARU_LEGACY = 22
SERIAL_DEBUG = 0
@@ -187,6 +188,7 @@ class Panda(object):
self.bootstub = device.getProductID() == 0xddee
self.legacy = (device.getbcdDevice() != 0x2300)
self._handle = device.open()
self._handle.setAutoDetachKernelDriver(True)
if claim:
self._handle.claimInterface(0)
#self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
@@ -476,7 +478,12 @@ class Panda(object):
# ******************* can *******************
def can_send_many(self, arr):
# The panda will NAK CAN writes when there is CAN congestion.
# libusb will try to send it again, with a max timeout.
# Timeout is in ms. If set to 0, the timeout is infinite.
CAN_SEND_TIMEOUT_MS = 10
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = []
transmit = 1
extended = 4
@@ -499,13 +506,13 @@ class Panda(object):
for s in snds:
self._handle.bulkWrite(3, s)
else:
self._handle.bulkWrite(3, b''.join(snds))
self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")
def can_send(self, addr, dat, bus):
self.can_send_many([[addr, None, dat, bus]])
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
def can_recv(self):
dat = bytearray()
panda/tests/automated/7_can_loopback.py
+42
View File
@@ -1,6 +1,7 @@
import os
import time
import random
import threading
from panda import Panda
from nose.tools import assert_equal, assert_less, assert_greater
from .helpers import panda_jungle, start_heartbeat_thread, reset_pandas, time_many_sends, test_all_pandas, test_all_gen2_pandas, clear_can_buffers, panda_connect_and_init
@@ -200,3 +201,44 @@ def test_gen2_loopback(p):
finally:
# Set back to silent mode
p.set_safety_mode(Panda.SAFETY_SILENT)
@test_all_pandas
@panda_connect_and_init
def test_bulk_write(p):
# The TX buffers on pandas is 0x100 in length.
NUM_MESSAGES_PER_BUS = 10000
def flood_tx(panda):
print('Sending!')
msg = b"\xaa"*4
packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
# Disable timeout
panda.can_send_many(packet, timeout=0)
print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
# Start heartbeat
start_heartbeat_thread(p)
# Set safety mode and power saving
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_power_save(False)
# Start transmisson
threading.Thread(target=flood_tx, args=(p,)).start()
# Receive as much as we can in a few second time period
rx = []
old_len = 0
start_time = time.time()
while time.time() - start_time < 2 or len(rx) > old_len:
old_len = len(rx)
rx.extend(panda_jungle.can_recv())
print(f"Received {len(rx)} messages")
# All messages should have been received
if len(rx) != 3*NUM_MESSAGES_PER_BUS:
Exception("Did not receive all messages!")
# Set back to silent mode
p.set_safety_mode(Panda.SAFETY_SILENT)
panda/tests/bulk_write_test.py
Executable
+38
View File
@@ -0,0 +1,38 @@
#!/usr/bin/env python3
import time
import threading
from panda import Panda
# The TX buffers on pandas is 0x100 in length.
NUM_MESSAGES_PER_BUS = 10000
def flood_tx(panda):
print('Sending!')
msg = b"\xaa"*4
packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
panda.can_send_many(packet)
print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
if __name__ == "__main__":
serials = Panda.list()
if len(serials) != 2:
raise Exception("Connect two pandas to perform this test!")
sender = Panda(serials[0])
receiver = Panda(serials[1])
sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
# Start transmisson
threading.Thread(target=flood_tx, args=(sender,)).start()
# Receive as much as we can in a few second time period
rx = []
old_len = 0
start_time = time.time()
while time.time() - start_time < 2 or len(rx) > old_len:
old_len = len(rx)
rx.extend(receiver.can_recv())
print(f"Received {len(rx)} messages")
panda/tests/safety/common.py
+6
View File
@@ -2,6 +2,12 @@ from panda.tests.safety import libpandasafety_py
MAX_WRONG_COUNTERS = 5
class UNSAFE_MODE:
DEFAULT = 0
DISABLE_DISENGAGE_ON_GAS = 1
DISABLE_STOCK_AEB = 2
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
def make_msg(bus, addr, length=8):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
if addr >= 0x800:
panda/tests/safety/libpandasafety_py.py
+2
View File
@@ -32,6 +32,8 @@ typedef struct
void set_controls_allowed(bool c);
bool get_controls_allowed(void);
void set_unsafe_mode(int mode);
int get_unsafe_mode(void);
void set_relay_malfunction(bool c);
bool get_relay_malfunction(void);
void set_gas_interceptor_detected(bool c);
panda/tests/safety/test.c
+17
View File
@@ -62,6 +62,13 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;
({ __typeof__ (a) _a = (a); \
(_a > 0) ? _a : (-_a); })
// from faults.h
#define FAULT_RELAY_MALFUNCTION (1U << 0)
void fault_occurred(uint32_t fault) {
}
void fault_recovered(uint32_t fault) {
}
// from llcan.h
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xf)
@@ -72,7 +79,9 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;
#define UNUSED(x) (void)(x)
#ifndef PANDA
#define PANDA
#endif
#define NULL ((void*)0)
#define static
#include "safety.h"
@@ -81,6 +90,10 @@ void set_controls_allowed(bool c){
controls_allowed = c;
}
void set_unsafe_mode(int mode){
unsafe_mode = mode;
}
void set_relay_malfunction(bool c){
relay_malfunction = c;
}
@@ -93,6 +106,10 @@ bool get_controls_allowed(void){
return controls_allowed;
}
int get_unsafe_mode(void){
return unsafe_mode;
}
bool get_relay_malfunction(void){
return relay_malfunction;
}
panda/tests/safety/test_chrysler.py
+9 -1
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 3
MAX_RATE_DOWN = 3
@@ -149,6 +149,14 @@ class TestChryslerSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, 0)
panda/tests/safety/test_gm.py
+62 -1
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 7
MAX_RATE_DOWN = 17
@@ -126,6 +126,14 @@ class TestGmSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._gas_msg(False))
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(False))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(True))
self.safety.set_controls_allowed(1)
@@ -252,6 +260,59 @@ class TestGmSafety(unittest.TestCase):
# assume len 8
self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas']:
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
self.safety.set_controls_allowed(1)
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._torque_msg(0))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
for pedal in ['brake', 'gas']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
allow_ctrl = False
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
allow_ctrl = True
self.safety.set_controls_allowed(1)
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._torque_msg(0))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
if __name__ == "__main__":
unittest.main()
panda/tests/safety/test_honda.py
+93 -1
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_BRAKE = 255
@@ -189,6 +189,14 @@ class TestHondaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(1)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_msg(1))
self.safety.set_controls_allowed(1)
@@ -205,6 +213,17 @@ class TestHondaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
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)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_controls_allowed(False)
def test_allow_engage_with_gas_interceptor_pressed(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
self.safety.set_controls_allowed(1)
@@ -335,6 +354,79 @@ class TestHondaSafety(unittest.TestCase):
self.safety.set_honda_fwd_brake(False)
def test_tx_hook_on_pedal_pressed(self):
for pedal in ['brake', 'gas', 'interceptor']:
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
for pedal in ['brake', 'gas', 'interceptor']:
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
if pedal == 'brake':
# brake_pressed_prev and honda_moving
self.safety.safety_rx_hook(self._speed_msg(100))
self.safety.safety_rx_hook(self._brake_msg(1))
allow_ctrl = False
elif pedal == 'gas':
# gas_pressed_prev
self.safety.safety_rx_hook(self._gas_msg(1))
allow_ctrl = True
elif pedal == 'interceptor':
# gas_interceptor_prev > INTERCEPTOR_THRESHOLD
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
allow_ctrl = True
self.safety.set_controls_allowed(1)
hw = self.safety.get_honda_hw()
if hw == HONDA_N_HW:
self.safety.set_honda_fwd_brake(False)
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
# reset status
self.safety.set_controls_allowed(0)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.safety_tx_hook(self._send_brake_msg(0))
self.safety.safety_tx_hook(self._send_steer_msg(0))
self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
if pedal == 'brake':
self.safety.safety_rx_hook(self._speed_msg(0))
self.safety.safety_rx_hook(self._brake_msg(0))
elif pedal == 'gas':
self.safety.safety_rx_hook(self._gas_msg(0))
elif pedal == 'interceptor':
self.safety.set_gas_interceptor_detected(False)
class TestHondaBoschGiraffeSafety(TestHondaSafety):
@classmethod
panda/tests/safety/test_hyundai.py
+9 -1
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
@@ -114,6 +114,14 @@ class TestHyundaiSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
panda/tests/safety/test_nissan.py
+42 -31
View File
@@ -3,15 +3,13 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
ANGLE_MAX_BP = [1.3, 10., 30.]
ANGLE_MAX_V = [540., 120., 23.]
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2]]
TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]]
def twos_comp(val, bits):
if val >= 0:
@@ -50,8 +48,8 @@ class TestNissanSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._angle_meas_msg(angle))
def _lkas_state_msg(self, state):
to_send = make_msg(0, 0x1b6)
to_send[0].RDHR = (state & 0x1) << 6
to_send = make_msg(1, 0x30f)
to_send[0].RDHR = (state & 0x1) << 3
return to_send
@@ -64,8 +62,8 @@ class TestNissanSafety(unittest.TestCase):
return to_send
def _speed_msg(self, speed):
to_send = make_msg(0, 0x29a)
speed = int(speed / 0.00555 * 3.6)
to_send = make_msg(0, 0x285)
speed = int(speed / 0.005 * 3.6)
to_send[0].RDLR = ((speed & 0xFF) << 24) | ((speed & 0xFF00) << 8)
return to_send
@@ -92,46 +90,48 @@ class TestNissanSafety(unittest.TestCase):
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_angle_cmd_when_enabled(self):
# when controls are allowed, angle cmd rate limit is enforced
# test 1: no limitations if we stay within limits
speeds = [0., 1., 5., 10., 15., 100.]
speeds = [0., 1., 5., 10., 15., 50.]
angles = [-300, -100, -10, 0, 10, 100, 300]
for a in angles:
for s in speeds:
max_delta_up = np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V)
max_delta_down = np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
angle_lim = np.interp(s, ANGLE_MAX_BP, ANGLE_MAX_V)
# first test against false positives
self._angle_meas_msg_array(a)
self.safety.safety_rx_hook(self._speed_msg(s))
self._set_prev_angle(np.clip(a, -angle_lim, angle_lim))
self._set_prev_angle(a)
self.safety.set_controls_allowed(1)
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(
np.clip(a + sign(a) * max_delta_up, -angle_lim, angle_lim), 1)))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(True, self.safety.safety_tx_hook(
self._lkas_control_msg(np.clip(a, -angle_lim, angle_lim), 1)))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(
np.clip(a - sign(a) * max_delta_down, -angle_lim, angle_lim), 1)))
# Stay within limits
# Up
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) * max_delta_up, 1)))
self.assertTrue(self.safety.get_controls_allowed())
# now inject too high rates
self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) *
(max_delta_up + 1), 1)))
# Don't change
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a, 1)))
self.assertTrue(self.safety.get_controls_allowed())
# Down
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) * max_delta_down, 1)))
self.assertTrue(self.safety.get_controls_allowed())
# Inject too high rates
# Up
self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a + sign(a) * (max_delta_up + 1), 1)))
self.assertFalse(self.safety.get_controls_allowed())
# Don't change
self.safety.set_controls_allowed(1)
self._set_prev_angle(np.clip(a, -angle_lim, angle_lim))
self._set_prev_angle(a)
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(True, self.safety.safety_tx_hook(
self._lkas_control_msg(np.clip(a, -angle_lim, angle_lim), 1)))
self.assertEqual(True, self.safety.safety_tx_hook(self._lkas_control_msg(a, 1)))
self.assertTrue(self.safety.get_controls_allowed())
self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) *
(max_delta_down + 1), 1)))
# Down
self.assertEqual(False, self.safety.safety_tx_hook(self._lkas_control_msg(a - sign(a) * (max_delta_down + 1), 1)))
self.assertFalse(self.safety.get_controls_allowed())
# Check desired steer should be the same as steer angle when controls are off
@@ -154,6 +154,14 @@ class TestNissanSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._send_gas_cmd(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._send_gas_cmd(100))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_acc_buttons(self):
self.safety.set_controls_allowed(1)
self.safety.safety_tx_hook(self._acc_button_cmd(0x2)) # Cancel button
@@ -181,7 +189,7 @@ class TestNissanSafety(unittest.TestCase):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
blocked_msgs = [0x169,0x2b1,0x4cc]
blocked_msgs = [(2, 0x169), (2, 0x2b1), (2, 0x4cc), (0, 0x280)]
for b in buss:
for m in msgs:
if b == 0:
@@ -189,7 +197,10 @@ class TestNissanSafety(unittest.TestCase):
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs else 0
fwd_bus = 0
if (b, m) in blocked_msgs:
fwd_bus = -1
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
panda/tests/safety/test_subaru.py
+9 -1
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 50
MAX_RATE_DOWN = 70
@@ -155,6 +155,14 @@ class TestSubaruSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_brake_disengage(self):
if (self.safety.get_subaru_global()):
StdTest.test_allow_brake_at_zero_speed(self)
panda/tests/safety/test_toyota.py
+50 -14
View File
@@ -3,7 +3,7 @@ import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE
MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
@@ -12,6 +12,9 @@ MAX_TORQUE = 1500
MAX_ACCEL = 1500
MIN_ACCEL = -3000
ISO_MAX_ACCEL = 2000
ISO_MIN_ACCEL = -3500
MAX_RT_DELTA = 375
RT_INTERVAL = 250000
@@ -94,9 +97,10 @@ class TestToyotaSafety(unittest.TestCase):
to_send[0].RDHR |= toyota_checksum(to_send[0], 0x226, 8) << 24
return to_send
def _send_gas_msg(self, gas):
to_send = make_msg(0, 0x2C1)
to_send[0].RDHR = (gas & 0xFF) << 16
def _gas_pressed_msg(self, pressed, enable_cruise=False):
to_send = make_msg(0, 0x1D2)
to_send[0].RDLR = ((1*(not pressed)) << 4) | (1*enable_cruise << 5)
to_send[0].RDHR = (toyota_checksum(to_send[0], 0x1D2, 8) << 24)
return to_send
def _send_interceptor_msg(self, gas, addr):
@@ -136,9 +140,9 @@ class TestToyotaSafety(unittest.TestCase):
self.assertFalse(self.safety.get_controls_allowed())
def test_prev_gas(self):
for g in range(0, 256):
self.safety.safety_rx_hook(self._send_gas_msg(g))
self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
for pressed in [True, False]:
self.safety.safety_rx_hook(self._gas_pressed_msg(pressed))
self.assertEqual(pressed, self.safety.get_gas_pressed_prev())
def test_prev_gas_interceptor(self):
self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
@@ -149,18 +153,27 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.set_gas_interceptor_detected(False)
def test_disengage_on_gas(self):
self.safety.safety_rx_hook(self._send_gas_msg(0))
self.safety.safety_rx_hook(self._gas_pressed_msg(False))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
self.assertFalse(self.safety.get_controls_allowed())
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._send_gas_msg(1))
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._gas_pressed_msg(False))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._send_gas_msg(1))
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._gas_pressed_msg(True))
self.safety.set_controls_allowed(True)
for _ in range(2):
# since cruise msg is used for gas pedal state, cruise bit must
# also be set for this test or else it will set controls_allowed
self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
self.assertTrue(self.safety.get_controls_allowed())
def test_disengage_on_gas_interceptor(self):
for g in range(0, 0x1000):
@@ -172,6 +185,17 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
self.safety.set_gas_interceptor_detected(False)
def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
for g in range(0, 0x1000):
self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
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)
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
self.safety.set_controls_allowed(False)
def test_brake_disengage(self):
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)
@@ -194,6 +218,18 @@ class TestToyotaSafety(unittest.TestCase):
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
def test_unsafe_iso_accel_actuation_limits(self):
for accel in np.arange(ISO_MIN_ACCEL - 1000, ISO_MAX_ACCEL + 1000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_unsafe_mode(UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)
if controls_allowed:
send = ISO_MIN_ACCEL <= accel <= ISO_MAX_ACCEL
else:
send = accel == 0
self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_torque_absolute_limits(self):
for controls_allowed in [True, False]:
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
panda/tests/safety/test_volkswagen_mqb.py
+9 -1
View File
@@ -4,7 +4,7 @@ import numpy as np
import crcmod
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
@@ -198,6 +198,14 @@ class TestVolkswagenMqbSafety(unittest.TestCase):
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_20_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._motor_20_msg(1))
self.safety.set_controls_allowed(True)
panda/tests/safety/test_volkswagen_pq.py
+365
View File
@@ -0,0 +1,365 @@
#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE
MAX_RATE_UP = 4
MAX_RATE_DOWN = 10
MAX_STEER = 300
MAX_RT_DELTA = 75
RT_INTERVAL = 250000
DRIVER_TORQUE_ALLOWANCE = 80
DRIVER_TORQUE_FACTOR = 3
MSG_LENKHILFE_3 = 0x0D0 # RX from EPS, for steering angle and driver steering torque
MSG_HCA_1 = 0x0D2 # TX by OP, Heading Control Assist steering torque
MSG_MOTOR_2 = 0x288 # RX from ECU, for CC state and brake switch state
MSG_MOTOR_3 = 0x380 # RX from ECU, for driver throttle input
MSG_GRA_NEU = 0x38A # TX by OP, ACC control buttons for cancel/resume
MSG_BREMSE_3 = 0x4A0 # RX from ABS, for wheel speeds
MSG_LDW_1 = 0x5BE # TX by OP, Lane line recognition and text alerts
# Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
def sign(a):
if a > 0:
return 1
else:
return -1
def volkswagen_pq_checksum(msg, addr, len_msg):
msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
msg_bytes = msg_bytes[1:len_msg]
checksum = 0
for i in msg_bytes:
checksum ^= i
return checksum
class TestVolkswagenPqSafety(unittest.TestCase):
cruise_engaged = False
brake_pressed = False
cnt_lenkhilfe_3 = 0
cnt_hca_1 = 0
@classmethod
def setUp(cls):
cls.safety = libpandasafety_py.libpandasafety
cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
cls.safety.init_tests_volkswagen()
def _set_prev_torque(self, t):
self.safety.set_volkswagen_desired_torque_last(t)
self.safety.set_volkswagen_rt_torque_last(t)
# Wheel speeds (Bremse_3)
def _speed_msg(self, speed):
wheel_speed_scaled = int(speed / 0.01)
to_send = make_msg(0, MSG_BREMSE_3)
to_send[0].RDLR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
to_send[0].RDHR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
return to_send
# Brake light switch (shared message Motor_2)
def _brake_msg(self, brake):
self.__class__.brake_pressed = brake
return self._motor_2_msg()
# ACC engaged status (shared message Motor_2)
def _cruise_msg(self, cruise):
self.__class__.cruise_engaged = cruise
return self._motor_2_msg()
# Driver steering input torque
def _lenkhilfe_3_msg(self, torque):
to_send = make_msg(0, MSG_LENKHILFE_3)
t = abs(torque)
to_send[0].RDLR = ((t & 0x3FF) << 16)
if torque < 0:
to_send[0].RDLR |= 0x1 << 26
to_send[0].RDLR |= (self.cnt_lenkhilfe_3 % 16) << 12
to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_LENKHILFE_3, 8)
self.__class__.cnt_lenkhilfe_3 += 1
return to_send
# openpilot steering output torque
def _hca_1_msg(self, torque):
to_send = make_msg(0, MSG_HCA_1)
t = abs(torque) << 5 # DBC scale from centi-Nm to PQ network (approximated)
to_send[0].RDLR = (t & 0x7FFF) << 16
if torque < 0:
to_send[0].RDLR |= 0x1 << 31
to_send[0].RDLR |= (self.cnt_hca_1 % 16) << 8
to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_HCA_1, 8)
self.__class__.cnt_hca_1 += 1
return to_send
# ACC engagement and brake light switch status
# Called indirectly for compatibility with common.py tests
def _motor_2_msg(self):
to_send = make_msg(0, MSG_MOTOR_2)
to_send[0].RDLR = (0x1 << 16) if self.__class__.brake_pressed else 0
to_send[0].RDLR |= (self.__class__.cruise_engaged & 0x3) << 22
return to_send
# Driver throttle input
def _motor_3_msg(self, gas):
to_send = make_msg(0, MSG_MOTOR_3)
to_send[0].RDLR = (gas & 0xFF) << 16
return to_send
# Cruise control buttons
def _gra_neu_msg(self, bit):
to_send = make_msg(2, MSG_GRA_NEU)
to_send[0].RDLR = 1 << bit
to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_GRA_NEU, 8)
return to_send
def test_spam_can_buses(self):
StdTest.test_spam_can_buses(self, TX_MSGS)
def test_relay_malfunction(self):
StdTest.test_relay_malfunction(self, MSG_HCA_1)
def test_prev_gas(self):
for g in range(0, 256):
self.safety.safety_rx_hook(self._motor_3_msg(g))
self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
def test_default_controls_not_allowed(self):
self.assertFalse(self.safety.get_controls_allowed())
def test_enable_control_allowed_from_cruise(self):
self.safety.safety_rx_hook(self._brake_msg(False))
self.safety.set_controls_allowed(0)
self.safety.safety_rx_hook(self._cruise_msg(True))
self.assertTrue(self.safety.get_controls_allowed())
def test_disable_control_allowed_from_cruise(self):
self.safety.safety_rx_hook(self._brake_msg(False))
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._cruise_msg(False))
self.assertFalse(self.safety.get_controls_allowed())
def test_sample_speed(self):
# Stationary
self.safety.safety_rx_hook(self._speed_msg(0))
self.assertEqual(0, self.safety.get_volkswagen_moving())
# 1 km/h, just under 0.3 m/s safety grace threshold
self.safety.safety_rx_hook(self._speed_msg(1))
self.assertEqual(0, self.safety.get_volkswagen_moving())
# 2 km/h, just over 0.3 m/s safety grace threshold
self.safety.safety_rx_hook(self._speed_msg(2))
self.assertEqual(1, self.safety.get_volkswagen_moving())
# 144 km/h, openpilot V_CRUISE_MAX
self.safety.safety_rx_hook(self._speed_msg(144))
self.assertEqual(1, self.safety.get_volkswagen_moving())
def test_prev_brake(self):
self.assertFalse(self.safety.get_brake_pressed_prev())
self.safety.safety_rx_hook(self._brake_msg(True))
self.assertTrue(self.safety.get_brake_pressed_prev())
self.safety.safety_rx_hook(self._brake_msg(False))
def test_brake_disengage(self):
self.__class__.cruise_engaged = True # Hack due to brake and ACC signals being in the same message
StdTest.test_allow_brake_at_zero_speed(self)
StdTest.test_not_allow_brake_when_moving(self, 1)
def test_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_3_msg(0))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertFalse(self.safety.get_controls_allowed())
def test_unsafe_mode_no_disengage_on_gas(self):
self.safety.safety_rx_hook(self._motor_3_msg(0))
self.safety.set_controls_allowed(True)
self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
def test_allow_engage_with_gas_pressed(self):
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.safety.set_controls_allowed(True)
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
self.safety.safety_rx_hook(self._motor_3_msg(1))
self.assertTrue(self.safety.get_controls_allowed())
def test_steer_safety_check(self):
for enabled in [0, 1]:
for t in range(-500, 500):
self.safety.set_controls_allowed(enabled)
self._set_prev_torque(t)
if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(t)))
else:
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
def test_manually_enable_controls_allowed(self):
StdTest.test_manually_enable_controls_allowed(self)
def test_spam_cancel_safety_check(self):
BIT_CANCEL = 9
BIT_SET = 16
BIT_RESUME = 17
self.safety.set_controls_allowed(0)
self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_CANCEL)))
self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_SET)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
def test_non_realtime_limit_up(self):
self.safety.set_volkswagen_torque_driver(0, 0)
self.safety.set_controls_allowed(True)
self._set_prev_torque(0)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP)))
self._set_prev_torque(0)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP)))
self._set_prev_torque(0)
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP + 1)))
self.safety.set_controls_allowed(True)
self._set_prev_torque(0)
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP - 1)))
def test_non_realtime_limit_down(self):
self.safety.set_volkswagen_torque_driver(0, 0)
self.safety.set_controls_allowed(True)
def test_against_torque_driver(self):
self.safety.set_controls_allowed(True)
for sign in [-1, 1]:
for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
t *= -sign
self.safety.set_volkswagen_torque_driver(t, t)
self._set_prev_torque(MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_STEER * sign)))
self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_STEER)))
# spot check some individual cases
for sign in [-1, 1]:
driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
delta = 1 * sign
self._set_prev_torque(torque_desired)
self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired)))
self._set_prev_torque(torque_desired + delta)
self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired + delta)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(0)))
self._set_prev_torque(MAX_STEER * sign)
self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
def test_realtime_limits(self):
self.safety.set_controls_allowed(True)
for sign in [-1, 1]:
self.safety.init_tests_volkswagen()
self._set_prev_torque(0)
self.safety.set_volkswagen_torque_driver(0, 0)
for t in np.arange(0, MAX_RT_DELTA, 1):
t *= sign
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
self._set_prev_torque(0)
for t in np.arange(0, MAX_RT_DELTA, 1):
t *= sign
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
# Increase timer to update rt_torque_last
self.safety.set_timer(RT_INTERVAL + 1)
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA - 1))))
self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
def test_torque_measurements(self):
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(50))
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(-50))
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
def test_rx_hook(self):
# checksum checks
# TODO: Would be ideal to check non-checksum non-counter messages as well,
# but I'm not sure if we can easily validate Panda's simple temporal
# reception-rate check here.
for msg in [MSG_LENKHILFE_3]:
self.safety.set_controls_allowed(1)
if msg == MSG_LENKHILFE_3:
to_push = self._lenkhilfe_3_msg(0)
self.assertTrue(self.safety.safety_rx_hook(to_push))
to_push[0].RDHR ^= 0xFF
self.assertFalse(self.safety.safety_rx_hook(to_push))
self.assertFalse(self.safety.get_controls_allowed())
# counter
# reset wrong_counters to zero by sending valid messages
for i in range(MAX_WRONG_COUNTERS + 1):
self.__class__.cnt_lenkhilfe_3 += 1
if i < MAX_WRONG_COUNTERS:
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
else:
self.assertFalse(self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0)))
self.assertFalse(self.safety.get_controls_allowed())
# restore counters for future tests with a couple of good messages
for i in range(2):
self.safety.set_controls_allowed(1)
self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
self.assertTrue(self.safety.get_controls_allowed())
def test_fwd_hook(self):
buss = list(range(0x0, 0x3))
msgs = list(range(0x1, 0x800))
blocked_msgs_0to2 = []
blocked_msgs_2to0 = [MSG_HCA_1, MSG_LDW_1]
for b in buss:
for m in msgs:
if b == 0:
fwd_bus = -1 if m in blocked_msgs_0to2 else 2
elif b == 1:
fwd_bus = -1
elif b == 2:
fwd_bus = -1 if m in blocked_msgs_2to0 else 0
# assume len 8
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
if __name__ == "__main__":
unittest.main()
panda/tests/safety_replay/Dockerfile
+20 -9
View File
@@ -1,6 +1,21 @@
FROM ubuntu:16.04
RUN apt-get update && apt-get install -y make clang python python-pip git libarchive-dev libusb-1.0-0 locales curl zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
RUN apt-get update && apt-get install -y \
bzip2 \
clang \
curl \
git \
libarchive-dev \
libbz2-dev \
libcurl4-openssl-dev \
libffi-dev \
libssl-dev \
libusb-1.0-0 \
locales \
make \
python \
python-pip \
zlib1g-dev
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
@@ -21,15 +36,11 @@ RUN pip install -r requirements_extra.txt
COPY tests/safety_replay/install_capnp.sh install_capnp.sh
RUN ./install_capnp.sh
RUN mkdir /openpilot
RUN git clone https://github.com/commaai/openpilot.git || true
WORKDIR /openpilot
RUN git clone https://github.com/commaai/cereal.git || true
WORKDIR /openpilot/cereal
RUN git pull
RUN git checkout bb2cc7572de99becce1bfbae63f3b38d5464e162
RUN git pull && git checkout f9257fc75f68c673f9e433985fbe739f23310bb4
RUN git submodule update --init cereal
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 d69c6bc85f221766305ec53956e9a1d3bf283160
panda/tests/safety_replay/requirements_extra.txt
+3
View File
@@ -2,3 +2,6 @@ aenum
subprocess32
libarchive
pycapnp
pycurl
tenacity
atomicwrites
panda/tests/safety_replay/test_safety_replay.py
+2 -1
View File
@@ -18,7 +18,8 @@ logs = [
("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF
("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF (MK7)
("d12cd943127f267b|2020-03-27--15-57-18.bz2", Panda.SAFETY_VOLKSWAGEN_PQ, 0), # 2009 VW Passat R36 (B6), supporting OP port not yet upstreamed
("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN, 0), # NISSAN.XTRAIL
]
reset_update.sh
+1
View File
@@ -3,4 +3,5 @@
export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
export HOME=/data/data/com.termux/files/home
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
printf %s "1" > /data/params/d/DragonUpdating
cd /data/openpilot && git reset --hard @{u} && git clean -xdf && git pull && scons --clean && reboot
selfdrive/boardd/boardd.cc
+3
View File
@@ -133,6 +133,9 @@ void *safety_setter_thread(void *s) {
capnp::FlatArrayMessageReader cmsg(amsg);
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
LOGW("setting unsafety mode");
libusb_control_transfer(dev_handle, 0x40, 0xdf, 9, 0, NULL, 0, TIMEOUT);
int safety_model = int(car_params.getSafetyModel());
auto safety_param = car_params.getSafetyParam();
LOGW("setting safety model: %d with param %d", safety_model, safety_param);
selfdrive/car/interfaces.py
+2 -6
View File
@@ -44,8 +44,6 @@ class CarInterfaceBase():
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
self.dp_last_modified = None
self.dp_door_check = True
self.dp_seatbelt_check = True
self.dp_gear_check = True
@staticmethod
@@ -116,8 +114,6 @@ class CarInterfaceBase():
self.dragon_toyota_stock_dsu = False
if not self.dragon_toyota_stock_dsu:
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dp_door_check = False if params.get("DragonEnableDoorCheck", encoding='utf8') == "0" else True
self.dp_seatbelt_check = False if params.get("DragonEnableSeatBeltCheck", encoding='utf8') == "0" else True
self.dp_gear_check = False if params.get("DragonEnableGearCheck", encoding='utf8') == "0" else True
self.dp_last_modified = modified
self.ts_last_check = ts
@@ -125,9 +121,9 @@ class CarInterfaceBase():
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
events = []
if self.dp_door_check and cs_out.doorOpen:
if cs_out.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.dp_seatbelt_check and cs_out.seatbeltUnlatched:
if cs_out.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.dp_gear_check:
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
selfdrive/car/toyota/carstate.py
-2
View File
@@ -136,8 +136,6 @@ class CarState(CarStateBase):
enable_acc = False
if ret.seatbeltUnlatched or ret.doorOpen:
enable_acc = False
if ret.brakePressed:
enable_acc = False
ret.cruiseState.enabled = enable_acc
return ret
selfdrive/controls/controlsd.py
+8 -7
View File
@@ -77,7 +77,7 @@ def events_to_bytes(events):
return ret
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params):
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu):
"""Receive data from sockets and create events for battery, temperature and disk space"""
# Update carstate from CAN and create events
@@ -131,11 +131,12 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
if not enabled:
mismatch_counter = 0
controls_allowed = sm['health'].controlsAllowed
if not controls_allowed and enabled:
mismatch_counter += 1
if mismatch_counter >= 200:
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
if not dragon_toyota_stock_dsu:
controls_allowed = sm['health'].controlsAllowed
if not controls_allowed and enabled:
mismatch_counter += 1
if mismatch_counter >= 200:
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
return CS, events, cal_perc, mismatch_counter, can_error_counter
@@ -566,7 +567,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params)
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu)
prof.checkpoint("Sample")
# Create alerts
selfdrive/dragonpilot/appd/appd.py
+142 -61
View File
@@ -10,6 +10,12 @@ from common.params import Params, put_nonblocking
params = Params()
from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
from math import floor
import re
import os
is_gitee_src = "gitee" in subprocess.check_output(["git", "-C", "/data/openpilot", "config", "--get", "remote.origin.url"]).decode('utf8').rstrip()
is_offline = subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
auto_update = params.get("DragonAppAutoUpdate", encoding='utf8') == "1"
class App():
@@ -56,19 +62,93 @@ class App():
# app options
self.opts = opts
self.is_enabled = False
self.is_installed = False
self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
self.last_is_enabled = False
self.is_auto_runnable = False
self.is_running = False
self.manual_ctrl_status = self.MANUAL_IDLE
self.manually_ctrled = False
self.set_package_permissions()
self.system("pm disable %s" % self.app)
if self.is_enabled:
local_version = self.get_local_version()
if local_version is not None:
self.is_installed = True
if not is_offline:
remote_version = local_version
if local_version is not None and auto_update:
remote_version = self.get_remote_version()
if local_version is None or (remote_version is not None and local_version != remote_version):
self.update_app()
if self.is_installed:
self.set_package_permissions()
else:
self.uninstall_app()
if self.manual_ctrl_param is not None:
put_nonblocking(self.manual_ctrl_param, '0')
self.last_ts = sec_since_boot()
def get_remote_version(self):
apk = self.app + ".apk"
try:
if is_gitee_src:
url = "https://gitee.com/dragonpilot/apps/raw/%s/VERSION" % apk
else:
url = "https://raw.githubusercontent.com/dragonpilot-community/apps/%s/VERSION" % apk
return subprocess.check_output(["curl", "-H", "'Cache-Control: no-cache'", "-s", url], stderr=subprocess.STDOUT, shell=True).decode('utf8').rstrip()
except subprocess.CalledProcessError as e:
pass
return None
def uninstall_app(self):
try:
local_version = self.get_local_version()
if local_version is not None:
subprocess.check_output(["pm","uninstall", self.app])
self.is_installed = False
except subprocess.CalledProcessError as e:
pass
def update_app(self):
apk = self.app + ".apk"
apk_path = "/sdcard/" + apk
try:
os.remove(apk_path)
except (OSError, FileNotFoundError) as e:
pass
self.uninstall_app()
# if local_version is not None:
# try:
# subprocess.check_output(["pm","uninstall", self.app], stderr=subprocess.STDOUT, shell=True)
# except subprocess.CalledProcessError as e:
# pass
try:
put_nonblocking('DragonUpdating', '1')
url = "https://raw.githubusercontent.com/dragonpilot-community/apps/%s/%s" % (apk, apk)
subprocess.check_output(["curl","-o", apk_path,"-LJO", url])
subprocess.check_output(["pm","install","-r",apk_path])
self.is_installed = True
except subprocess.CalledProcessError as e:
self.is_installed = False
put_nonblocking('DragonUpdating', '0')
try:
os.remove(apk_path)
except (OSError, FileNotFoundError) as e:
pass
def get_local_version(self):
try:
result = subprocess.check_output(["dumpsys", "package", self.app, "|", "grep", "versionName"], encoding='utf8')
if len(result) > 12:
return re.findall(r"versionName=(.*)", result)[0]
except subprocess.CalledProcessError as e:
pass
return None
def read_params(self):
self.last_is_enabled = self.is_enabled
if self.enable_param is None:
@@ -76,29 +156,35 @@ class App():
else:
self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
if self.is_enabled:
# a service app should run automatically and not manual controllable.
if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
self.is_auto_runnable = True
self.manual_ctrl_status = self.MANUAL_IDLE
else:
if self.manual_ctrl_param is None:
if self.is_installed:
if self.is_enabled:
# a service app should run automatically and not manual controllable.
if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
self.is_auto_runnable = True
self.manual_ctrl_status = self.MANUAL_IDLE
else:
self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
if self.manual_ctrl_status == self.MANUAL_IDLE:
if self.auto_run_param is None:
self.is_auto_runnable = False
if self.manual_ctrl_param is None:
self.manual_ctrl_status = self.MANUAL_IDLE
else:
self.is_auto_runnable = True if params.get(self.auto_run_param, encoding='utf8') == "1" else False
self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
if self.manual_ctrl_status == self.MANUAL_IDLE:
if self.auto_run_param is None:
self.is_auto_runnable = False
else:
self.is_auto_runnable = True if params.get(self.auto_run_param, encoding='utf8') == "1" else False
else:
if self.last_is_enabled:
self.uninstall_app()
self.is_auto_runnable = False
self.manual_ctrl_status = self.MANUAL_IDLE
self.manually_ctrled = False
else:
self.is_auto_runnable = False
self.manual_ctrl_status = self.MANUAL_IDLE
self.manually_ctrled = False
if not self.last_is_enabled and self.is_enabled:
self.update_app()
def run(self, force = False):
if force or self.is_enabled:
if self.is_installed and (force or self.is_enabled):
# app is manually ctrl, we record that
if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON:
put_nonblocking(self.manual_ctrl_param, '0')
@@ -120,7 +206,7 @@ class App():
self.is_running = True
def kill(self, force = False):
if force or self.is_enabled:
if self.is_installed and (force or self.is_enabled):
# app is manually ctrl, we record that
if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_OFF:
put_nonblocking(self.manual_ctrl_param, '0')
@@ -156,7 +242,19 @@ def init_apps(apps):
[],
))
apps.append(App(
# v1.16.2
"com.mixplorer",
"com.mixplorer.activities.BrowseActivity",
"DragonEnableMixplorer",
None,
"DragonRunMixplorer",
App.TYPE_UTIL,
[
"android.permission.READ_EXTERNAL_STORAGE",
"android.permission.WRITE_EXTERNAL_STORAGE",
],
[],
))
apps.append(App(
"com.tomtom.speedcams.android.map",
"com.tomtom.speedcams.android.activities.SpeedCamActivity",
"DragonEnableTomTom",
@@ -174,7 +272,22 @@ def init_apps(apps):
]
))
apps.append(App(
# v4.5.0.600053
"tw.com.ainvest.outpack",
"tw.com.ainvest.outpack.ui.MainActivity",
"DragonEnableAegis",
"DragonBootAegis",
"DragonRunAegis",
App.TYPE_GPS,
[
"android.permission.ACCESS_FINE_LOCATION",
"android.permission.READ_EXTERNAL_STORAGE",
"android.permission.WRITE_EXTERNAL_STORAGE",
],
[
"SYSTEM_ALERT_WINDOW",
]
))
apps.append(App(
"com.autonavi.amapauto",
"com.autonavi.amapauto.MainMapActivity",
"DragonEnableAutonavi",
@@ -192,38 +305,6 @@ def init_apps(apps):
]
))
apps.append(App(
# v6.40.3
"com.mixplorer",
"com.mixplorer.activities.BrowseActivity",
"DragonEnableMixplorer",
None,
"DragonRunMixplorer",
App.TYPE_UTIL,
[
"android.permission.READ_EXTERNAL_STORAGE",
"android.permission.WRITE_EXTERNAL_STORAGE",
],
[],
))
apps.append(App(
# v2.9.5 build 74
"tw.com.ainvest.outpack",
"tw.com.ainvest.outpack.ui.MainActivity",
"DragonEnableAegis",
"DragonBootAegis",
"DragonRunAegis",
App.TYPE_GPS,
[
"android.permission.ACCESS_FINE_LOCATION",
"android.permission.READ_EXTERNAL_STORAGE",
"android.permission.WRITE_EXTERNAL_STORAGE",
],
[
"SYSTEM_ALERT_WINDOW",
]
))
apps.append(App(
# v4.57.2.0
"com.waze",
"com.waze.MainActivity",
"DragonWazeMode",
@@ -267,11 +348,11 @@ def main():
last_modified = None
while 1: #has_enabled_apps:
if not init_done and sec_since_boot() - start_ts >= 10:
init_apps(apps)
init_done = True
if init_done:
if not init_done:
if sec_since_boot() - start_ts >= 10:
init_apps(apps)
init_done = True
else:
enabled_apps = []
has_fullscreen_apps = False
modified = dp_get_last_modified()
@@ -354,7 +435,7 @@ def main():
last_started = started
frame += 3
time.sleep(3)
time.sleep(3)
def system(cmd):
try:
selfdrive/dragonpilot/dragonconf/__init__.py
+12 -2
View File
@@ -2,6 +2,8 @@
from common.params import Params, put_nonblocking
import time
from math import floor
import os
import subprocess
default_conf = {
'DragonEnableDashcam': '0',
@@ -72,12 +74,12 @@ default_conf = {
'DragonLastModified': str(floor(time.time())),
'DragonEnableRegistration': '1',
'DragonDynamicFollow': '-2', # OFF = -2, LONG = -1, NORMAL = 0, SHORT = 1
'DragonEnableDoorCheck': '1',
'DragonEnableSeatBeltCheck': '1',
'DragonEnableGearCheck': '1',
'DragonEnableTempMonitor': '1',
'DragonEnableCurvatureLearner': '0',
'DragonCurvatureLearnerOffset': '0.0',
'DragonAppAutoUpdate': '1',
'DragonUpdating': '0',
}
deprecated_conf = {
@@ -94,7 +96,15 @@ deprecated_conf_invert = {
def dp_get_last_modified():
return Params().get('DragonLastModified', encoding='utf-8')
def run_patcher():
if os.path.isfile("/sdcard/dp_patcher.py"):
try:
subprocess.call(["python", "/sdcard/dp_patcher.py"])
except subprocess.CalledProcessError as e:
pass
def dragonpilot_set_params(params):
run_patcher()
# # remove deprecated params
# for old, new in deprecated_conf.items():
# if params.get(old) is not None:
selfdrive/ui/sidebar.cc
+20
View File
@@ -42,6 +42,26 @@ static void ui_draw_sidebar_home_button(UIState *s, bool hasSidebar) {
nvgRect(s->vg, home_btn_xr, home_btn_y, home_btn_w, home_btn_h);
nvgFillPaint(s->vg, imgPaint);
nvgFill(s->vg);
if (s->dragon_updating) {
nvgBeginPath(s->vg);
nvgCircle(s->vg, home_btn_xr + home_btn_w/2, home_btn_y + home_btn_h/2+2, 72);
// nvgRoundedRect(s->vg, home_btn_xr, home_btn_y + home_btn_h/2-5, home_btn_w, 20, 5);
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, s->scene.alert_rate));
nvgFill(s->vg);
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, s->scene.alert_rate));
nvgFontSize(s->vg, 30);
nvgFontFace(s->vg, "sans-bold");
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
nvgTextBox(s->vg, home_btn_xr, home_btn_y + home_btn_h/2+5, home_btn_w, "UPDATING", NULL);
s->scene.alert_rate += 5*s->scene.alert_type;
if (s->scene.alert_rate == 0 || s->scene.alert_rate == 255) {
s->scene.alert_type *= -1;
}
}
}
static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
selfdrive/ui/ui.cc
+5 -1
View File
@@ -248,6 +248,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
// dragonpilot
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
read_param_bool(&s->dragon_waze_mode, "DragonWazeMode");
read_param_bool(&s->dragon_updating, "DragonUpdating");
if (s->dragon_waze_mode) {
s->dragon_ui_speed = false;
s->dragon_ui_event = false;
@@ -300,6 +301,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->dragon_ui_blinker_timeout = UI_FREQ * 6.3;
s->dragon_waze_mode_timeout = UI_FREQ * 6.4;
s->dragon_ui_dm_view_timeout = UI_FREQ * 6.5;
s->dragon_updating_timeout = UI_FREQ * 10;
}
static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
@@ -960,7 +962,8 @@ int main(int argc, char* argv[]) {
int draws = 0;
s->scene.satelliteCount = -1;
s->scene.alert_rate = 0;
s->scene.alert_type = 1;
while (!do_exit) {
bool should_swap = false;
if (!s->vision_connected) {
@@ -1090,6 +1093,7 @@ int main(int argc, char* argv[]) {
// dragonpilot
read_param_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
read_param_bool_timeout(&s->dragon_waze_mode, "DragonWazeMode", &s->dragon_waze_mode_timeout);
read_param_bool_timeout(&s->dragon_updating, "DragonUpdating", &s->dragon_updating_timeout);
if (s->dragon_waze_mode) {
s->dragon_ui_speed = false;
selfdrive/ui/ui.hpp
+4
View File
@@ -162,6 +162,8 @@ typedef struct UIScene {
float angleSteersDes;
float angleSteers;
char ipAddr[20];
int alert_rate;
int alert_type;
// for blinker, from kegman
bool leftBlinker;
@@ -315,6 +317,7 @@ typedef struct UIState {
int dragon_ui_blinker_timeout;
int dragon_waze_mode_timeout;
int dragon_ui_dm_view_timeout;
int dragon_updating_timeout;
bool dragon_ui_speed;
bool dragon_ui_event;
@@ -331,6 +334,7 @@ typedef struct UIState {
bool dragon_ui_blinker;
bool dragon_waze_mode;
bool dragon_ui_dm_view;
bool dragon_updating;
} UIState;
// API
update_panda_firmware.sh
+1 -1
View File
@@ -4,5 +4,5 @@ export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
export HOME=/data/data/com.termux/files/home
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/python
export PYTHONPATH=/data/openpilot
printf %s "1" > /data/params/d/DragonUpdating
cd /data/openpilot/panda ; pkill -f boardd ; python -c "from panda import Panda; Panda().flash()" && reboot