github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
85 lines
3.1 KiB
C++
85 lines
3.1 KiB
C++
#include "selfdrive/pandad/pandad.h"
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "common/swaglog.h"
|
|
|
|
void PandaSafety::configureSafetyMode(bool is_onroad) {
|
|
if (is_onroad && !safety_configured_) {
|
|
updateMultiplexingMode();
|
|
|
|
auto car_params = fetchCarParams();
|
|
if (!car_params.empty()) {
|
|
LOGW("got %lu bytes CarParams", car_params[0].size());
|
|
LOGW("got %lu bytes CarParamsSP", car_params[1].size());
|
|
setSafetyMode(car_params);
|
|
safety_configured_ = true;
|
|
}
|
|
} else if (!is_onroad) {
|
|
initialized_ = false;
|
|
safety_configured_ = false;
|
|
log_once_ = false;
|
|
}
|
|
}
|
|
|
|
void PandaSafety::updateMultiplexingMode() {
|
|
// Initialize to ELM327 without OBD multiplexing for initial fingerprinting
|
|
if (!initialized_) {
|
|
prev_obd_multiplexing_ = false;
|
|
panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
|
|
initialized_ = true;
|
|
}
|
|
|
|
// Switch between multiplexing modes based on the OBD multiplexing request
|
|
bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
|
|
if (obd_multiplexing_requested != prev_obd_multiplexing_) {
|
|
const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U;
|
|
panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
|
|
prev_obd_multiplexing_ = obd_multiplexing_requested;
|
|
params_.putBool("ObdMultiplexingChanged", true);
|
|
}
|
|
}
|
|
|
|
// TODO-SP: Use structs instead of vector
|
|
std::vector<std::string> PandaSafety::fetchCarParams() {
|
|
if (!params_.getBool("FirmwareQueryDone")) {
|
|
return {};
|
|
}
|
|
|
|
if (!log_once_) {
|
|
LOGW("Finished FW query, Waiting for params to set safety model");
|
|
log_once_ = true;
|
|
}
|
|
|
|
if (!params_.getBool("ControlsReady")) {
|
|
return {};
|
|
}
|
|
return {params_.get("CarParams"), params_.get("CarParamsSP")};
|
|
}
|
|
|
|
// TODO-SP: Use structs instead of vector
|
|
void PandaSafety::setSafetyMode(const std::vector<std::string> ¶ms_string) {
|
|
AlignedBuffer aligned_buf;
|
|
AlignedBuffer aligned_buf_sp;
|
|
|
|
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
|
|
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
|
|
|
|
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(params_string[1].data(), params_string[1].size()));
|
|
cereal::CarParamsSP::Reader car_params_sp = cmsg_sp.getRoot<cereal::CarParamsSP>();
|
|
|
|
auto safety_configs = car_params.getSafetyConfigs();
|
|
uint16_t alternative_experience = car_params.getAlternativeExperience();
|
|
uint16_t safety_param_sp = car_params_sp.getSafetyParam();
|
|
|
|
cereal::CarParams::SafetyModel safety_model = safety_configs[0].getSafetyModel();
|
|
uint16_t safety_param = safety_configs[0].getSafetyParam();
|
|
|
|
LOGW("setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", (int)safety_model, safety_param, alternative_experience, safety_param_sp);
|
|
panda_->set_alternative_experience(alternative_experience, safety_param_sp);
|
|
panda_->set_safety_model(safety_model, safety_param);
|
|
}
|
|
|
|
bool PandaSafety::getOffroadMode() {
|
|
auto offroad_mode = params_.getBool("OffroadMode");
|
|
return offroad_mode;
|
|
}
|