Add openpilot tests

panda/tests/libpanda/SConscript

@@ -0,0 +1,42 @@
+import platform
+
+CC = 'gcc'
+system = platform.system()
+if system == 'Darwin':
+  # gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be
+  # distinguishable from system one - which acts as a symlink to clang
+  CC += '-13'
+
+env = Environment(
+  CC=CC,
+  CFLAGS=[
+    '-nostdlib',
+    '-fno-builtin',
+    '-std=gnu11',
+    '-Wfatal-errors',
+    '-Wno-pointer-to-int-cast',
+  ],
+  CPPPATH=[".", "../../board/"],
+)
+if system == "Darwin":
+  env.PrependENVPath('PATH', '/opt/homebrew/bin')
+
+if GetOption('ubsan'):
+  flags = [
+    "-fsanitize=undefined",
+    "-fno-sanitize-recover=undefined",
+  ]
+  env['CFLAGS'] += flags
+  env['LINKFLAGS'] += flags
+
+panda = env.SharedObject("panda.os", "panda.c")
+libpanda = env.SharedLibrary("libpanda.so", [panda])
+
+if GetOption('coverage'):
+  env.Append(
+    CFLAGS=["-fprofile-arcs", "-ftest-coverage", "-fprofile-abs-path",],
+    LIBS=["gcov"],
+  )
+  # GCC note file is generated by compiler, ensure we build it, and allow scons to clean it up
+  AlwaysBuild(panda)
+  env.SideEffect("panda.gcno", panda)

panda/tests/libpanda/libpanda_py.py

@@ -0,0 +1,98 @@
+import os
+from cffi import FFI
+from typing import Any, Protocol
+
+from panda import LEN_TO_DLC
+from panda.tests.libpanda.safety_helpers import PandaSafety, setup_safety_helpers
+
+libpanda_dir = os.path.dirname(os.path.abspath(__file__))
+libpanda_fn = os.path.join(libpanda_dir, "libpanda.so")
+
+ffi = FFI()
+
+ffi.cdef("""
+typedef struct {
+  unsigned char reserved : 1;
+  unsigned char bus : 3;
+  unsigned char data_len_code : 4;
+  unsigned char rejected : 1;
+  unsigned char returned : 1;
+  unsigned char extended : 1;
+  unsigned int addr : 29;
+  unsigned char checksum;
+  unsigned char data[64];
+} CANPacket_t;
+""", packed=True)
+
+ffi.cdef("""
+bool safety_rx_hook(CANPacket_t *to_send);
+bool safety_tx_hook(CANPacket_t *to_push);
+int safety_fwd_hook(int bus_num, int addr);
+int set_safety_hooks(uint16_t mode, uint16_t param);
+""")
+
+ffi.cdef("""
+typedef struct {
+  volatile uint32_t w_ptr;
+  volatile uint32_t r_ptr;
+  uint32_t fifo_size;
+  CANPacket_t *elems;
+} can_ring;
+
+extern can_ring *rx_q;
+extern can_ring *txgmlan_q;
+extern can_ring *tx1_q;
+extern can_ring *tx2_q;
+extern can_ring *tx3_q;
+
+bool can_pop(can_ring *q, CANPacket_t *elem);
+bool can_push(can_ring *q, CANPacket_t *elem);
+void can_set_checksum(CANPacket_t *packet);
+int comms_can_read(uint8_t *data, uint32_t max_len);
+void comms_can_write(uint8_t *data, uint32_t len);
+void comms_can_reset(void);
+uint32_t can_slots_empty(can_ring *q);
+""")
+
+setup_safety_helpers(ffi)
+
+class CANPacket:
+  reserved: int
+  bus: int
+  data_len_code: int
+  rejected: int
+  returned: int
+  extended: int
+  addr: int
+  data: list[int]
+
+class Panda(PandaSafety, Protocol):
+  # CAN
+  tx1_q: Any
+  tx2_q: Any
+  tx3_q: Any
+  txgmlan_q: Any
+  def can_set_checksum(self, p: CANPacket) -> None: ...
+
+  # safety
+  def safety_rx_hook(self, to_send: CANPacket) -> int: ...
+  def safety_tx_hook(self, to_push: CANPacket) -> int: ...
+  def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
+  def set_safety_hooks(self, mode: int, param: int) -> int: ...
+
+
+libpanda: Panda = ffi.dlopen(libpanda_fn)
+
+
+# helpers
+
+def make_CANPacket(addr: int, bus: int, dat):
+  ret = ffi.new('CANPacket_t *')
+  ret[0].extended = 1 if addr >= 0x800 else 0
+  ret[0].addr = addr
+  ret[0].data_len_code = LEN_TO_DLC[len(dat)]
+  ret[0].bus = bus
+  ret[0].data = bytes(dat)
+  libpanda.can_set_checksum(ret)
+
+  return ret

panda/tests/libpanda/panda.c

@@ -0,0 +1,33 @@
+#include "fake_stm.h"
+#include "config.h"
+#include "can_definitions.h"
+
+bool bitbang_gmlan(CANPacket_t *to_bang) { return true; }
+bool can_init(uint8_t can_number) { return true; }
+void process_can(uint8_t can_number) { }
+//int safety_tx_hook(CANPacket_t *to_send) { return 1; }
+
+typedef struct harness_configuration harness_configuration;
+void refresh_can_tx_slots_available(void);
+void can_tx_comms_resume_usb(void) { };
+void can_tx_comms_resume_spi(void) { };
+
+#include "health.h"
+#include "faults.h"
+#include "libc.h"
+#include "boards/board_declarations.h"
+#include "safety.h"
+#include "main_declarations.h"
+#include "drivers/can_common.h"
+
+can_ring *rx_q = &can_rx_q;
+can_ring *txgmlan_q = &can_txgmlan_q;
+can_ring *tx1_q = &can_tx1_q;
+can_ring *tx2_q = &can_tx2_q;
+can_ring *tx3_q = &can_tx3_q;
+
+#include "comms_definitions.h"
+#include "can_comms.h"
+
+// libpanda stuff
+#include "safety_helpers.h"

panda/tests/libpanda/safety_helpers.h

@@ -0,0 +1,195 @@
+void safety_tick_current_safety_config() {
+  safety_tick(&current_safety_config);
+}
+
+bool safety_config_valid() {
+  if (current_safety_config.rx_checks_len <= 0) {
+    printf("missing RX checks\n");
+    return false;
+  }
+
+  for (int i = 0; i < current_safety_config.rx_checks_len; i++) {
+    const RxCheck addr = current_safety_config.rx_checks[i];
+    bool valid = addr.status.msg_seen && !addr.status.lagging && addr.status.valid_checksum && (addr.status.wrong_counters < MAX_WRONG_COUNTERS) && addr.status.valid_quality_flag;
+    if (!valid) {
+      // printf("i %d seen %d lagging %d valid checksum %d wrong counters %d valid quality flag %d\n", i, addr.status.msg_seen, addr.status.lagging, addr.status.valid_checksum, addr.status.wrong_counters, addr.status.valid_quality_flag);
+      return false;
+    }
+  }
+  return true;
+}
+
+void set_controls_allowed(bool c){
+  controls_allowed = c;
+}
+
+void set_alternative_experience(int mode){
+  alternative_experience = mode;
+}
+
+void set_relay_malfunction(bool c){
+  relay_malfunction = c;
+}
+
+bool get_controls_allowed(void){
+  return controls_allowed;
+}
+
+int get_alternative_experience(void){
+  return alternative_experience;
+}
+
+bool get_relay_malfunction(void){
+  return relay_malfunction;
+}
+
+int get_gas_interceptor_prev(void){
+  return gas_interceptor_prev;
+}
+
+bool get_gas_pressed_prev(void){
+  return gas_pressed_prev;
+}
+
+bool get_brake_pressed_prev(void){
+  return brake_pressed_prev;
+}
+
+bool get_regen_braking_prev(void){
+  return regen_braking_prev;
+}
+
+bool get_cruise_engaged_prev(void){
+  return cruise_engaged_prev;
+}
+
+void set_cruise_engaged_prev(bool engaged){
+  cruise_engaged_prev = engaged;
+}
+
+bool get_vehicle_moving(void){
+  return vehicle_moving;
+}
+
+bool get_acc_main_on(void){
+  return acc_main_on;
+}
+
+int get_vehicle_speed_min(void){
+  return vehicle_speed.min;
+}
+
+int get_vehicle_speed_max(void){
+  return vehicle_speed.max;
+}
+
+int get_vehicle_speed_last(void){
+  return vehicle_speed.values[0];
+}
+
+int get_current_safety_mode(void){
+  return current_safety_mode;
+}
+
+int get_current_safety_param(void){
+  return current_safety_param;
+}
+
+int get_hw_type(void){
+  return hw_type;
+}
+
+void set_timer(uint32_t t){
+  timer.CNT = t;
+}
+
+void set_torque_meas(int min, int max){
+  torque_meas.min = min;
+  torque_meas.max = max;
+}
+
+int get_torque_meas_min(void){
+  return torque_meas.min;
+}
+
+int get_torque_meas_max(void){
+  return torque_meas.max;
+}
+
+void set_torque_driver(int min, int max){
+  torque_driver.min = min;
+  torque_driver.max = max;
+}
+
+int get_torque_driver_min(void){
+  return torque_driver.min;
+}
+
+int get_torque_driver_max(void){
+  return torque_driver.max;
+}
+
+void set_rt_torque_last(int t){
+  rt_torque_last = t;
+}
+
+void set_desired_torque_last(int t){
+  desired_torque_last = t;
+}
+
+void set_desired_angle_last(int t){
+  desired_angle_last = t;
+}
+
+int get_desired_angle_last(void){
+  return desired_angle_last;
+}
+
+void set_angle_meas(int min, int max){
+  angle_meas.min = min;
+  angle_meas.max = max;
+}
+
+int get_angle_meas_min(void){
+  return angle_meas.min;
+}
+
+int get_angle_meas_max(void){
+  return angle_meas.max;
+}
+
+
+// ***** car specific helpers *****
+
+void set_honda_alt_brake_msg(bool c){
+  honda_alt_brake_msg = c;
+}
+
+void set_honda_bosch_long(bool c){
+  honda_bosch_long = c;
+}
+
+int get_honda_hw(void) {
+  return honda_hw;
+}
+
+void set_honda_fwd_brake(bool c){
+  honda_fwd_brake = c;
+}
+
+bool get_honda_fwd_brake(void){
+  return honda_fwd_brake;
+}
+
+void init_tests(void){
+  // get HW_TYPE from env variable set in test.sh
+  if (getenv("HW_TYPE")) {
+    hw_type = atoi(getenv("HW_TYPE"));
+  }
+  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
+  alternative_experience = 0;
+  set_timer(0);
+  ts_steer_req_mismatch_last = 0;
+  valid_steer_req_count = 0;
+  invalid_steer_req_count = 0;
+}

panda/tests/libpanda/safety_helpers.py

@@ -0,0 +1,106 @@
+# panda safety helpers, from safety_helpers.c
+from typing import Protocol
+
+def setup_safety_helpers(ffi):
+  ffi.cdef("""
+  void set_controls_allowed(bool c);
+  bool get_controls_allowed(void);
+  bool get_longitudinal_allowed(void);
+  void set_alternative_experience(int mode);
+  int get_alternative_experience(void);
+  void set_relay_malfunction(bool c);
+  bool get_relay_malfunction(void);
+  int get_gas_interceptor_prev(void);
+  bool get_gas_pressed_prev(void);
+  bool get_brake_pressed_prev(void);
+  bool get_regen_braking_prev(void);
+  bool get_acc_main_on(void);
+  int get_vehicle_speed_min(void);
+  int get_vehicle_speed_max(void);
+  int get_vehicle_speed_last(void);
+  int get_current_safety_mode(void);
+  int get_current_safety_param(void);
+
+  void set_torque_meas(int min, int max);
+  int get_torque_meas_min(void);
+  int get_torque_meas_max(void);
+  void set_torque_driver(int min, int max);
+  int get_torque_driver_min(void);
+  int get_torque_driver_max(void);
+  void set_desired_torque_last(int t);
+  void set_rt_torque_last(int t);
+  void set_desired_angle_last(int t);
+  int get_desired_angle_last();
+  void set_angle_meas(int min, int max);
+  int get_angle_meas_min(void);
+  int get_angle_meas_max(void);
+
+  bool get_cruise_engaged_prev(void);
+  void set_cruise_engaged_prev(bool engaged);
+  bool get_vehicle_moving(void);
+  int get_hw_type(void);
+  void set_timer(uint32_t t);
+
+  void safety_tick_current_safety_config();
+  bool safety_config_valid();
+
+  void init_tests(void);
+
+  void set_honda_fwd_brake(bool c);
+  bool get_honda_fwd_brake(void);
+  void set_honda_alt_brake_msg(bool c);
+  void set_honda_bosch_long(bool c);
+  int get_honda_hw(void);
+  """)
+
+class PandaSafety(Protocol):
+  def set_controls_allowed(self, c: bool) -> None: ...
+  def get_controls_allowed(self) -> bool: ...
+  def get_longitudinal_allowed(self) -> bool: ...
+  def set_alternative_experience(self, mode: int) -> None: ...
+  def get_alternative_experience(self) -> int: ...
+  def set_relay_malfunction(self, c: bool) -> None: ...
+  def get_relay_malfunction(self) -> bool: ...
+  def get_gas_interceptor_prev(self) -> int: ...
+  def get_gas_pressed_prev(self) -> bool: ...
+  def get_brake_pressed_prev(self) -> bool: ...
+  def get_regen_braking_prev(self) -> bool: ...
+  def get_acc_main_on(self) -> bool: ...
+  def get_vehicle_speed_min(self) -> int: ...
+  def get_vehicle_speed_max(self) -> int: ...
+  def get_vehicle_speed_last(self) -> int: ...
+  def get_current_safety_mode(self) -> int: ...
+  def get_current_safety_param(self) -> int: ...
+
+  def set_torque_meas(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_torque_meas_min(self) -> int: ...
+  def get_torque_meas_max(self) -> int: ...
+  def set_torque_driver(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_torque_driver_min(self) -> int: ...
+  def get_torque_driver_max(self) -> int: ...
+  def set_desired_torque_last(self, t: int) -> None: ...
+  def set_rt_torque_last(self, t: int) -> None: ...
+  def set_desired_angle_last(self, t: int) -> None: ...
+  def get_desired_angle_last(self) -> int: ...
+  def set_angle_meas(self, min: int, max: int) -> None: ...  # noqa: A002
+  def get_angle_meas_min(self) -> int: ...
+  def get_angle_meas_max(self) -> int: ...
+
+  def get_cruise_engaged_prev(self) -> bool: ...
+  def set_cruise_engaged_prev(self, enabled: bool) -> None: ...
+  def get_vehicle_moving(self) -> bool: ...
+  def get_hw_type(self) -> int: ...
+  def set_timer(self, t: int) -> None: ...
+
+  def safety_tick_current_safety_config(self) -> None: ...
+  def safety_config_valid(self) -> bool: ...
+
+  def init_tests(self) -> None: ...
+
+  def set_honda_fwd_brake(self, c: bool) -> None: ...
+  def get_honda_fwd_brake(self) -> bool: ...
+  def set_honda_alt_brake_msg(self, c: bool) -> None: ...
+  def set_honda_bosch_long(self, c: bool) -> None: ...
+  def get_honda_hw(self) -> int: ...
+
+