Add openpilot tests

panda/tests/safety_replay/helpers.py

@@ -0,0 +1,80 @@
+import panda.tests.libpanda.libpanda_py as libpanda_py
+from panda import Panda
+
+def to_signed(d, bits):
+  ret = d
+  if d >= (1 << (bits - 1)):
+    ret = d - (1 << bits)
+  return ret
+
+def is_steering_msg(mode, param, addr):
+  ret = False
+  if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
+    ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
+  elif mode == Panda.SAFETY_TOYOTA:
+    ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
+  elif mode == Panda.SAFETY_GM:
+    ret = addr == 384
+  elif mode == Panda.SAFETY_HYUNDAI:
+    ret = addr == 832
+  elif mode == Panda.SAFETY_CHRYSLER:
+    ret = addr == 0x292
+  elif mode == Panda.SAFETY_SUBARU:
+    ret = addr == 0x122
+  elif mode == Panda.SAFETY_FORD:
+    ret = addr == 0x3d3
+  elif mode == Panda.SAFETY_NISSAN:
+    ret = addr == 0x169
+  return ret
+
+def get_steer_value(mode, param, to_send):
+  torque, angle = 0, 0
+  if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
+    torque = (to_send.data[0] << 8) | to_send.data[1]
+    torque = to_signed(torque, 16)
+  elif mode == Panda.SAFETY_TOYOTA:
+    if param & Panda.FLAG_TOYOTA_LTA:
+      angle = (to_send.data[1] << 8) | to_send.data[2]
+      angle = to_signed(angle, 16)
+    else:
+      torque = (to_send.data[1] << 8) | (to_send.data[2])
+      torque = to_signed(torque, 16)
+  elif mode == Panda.SAFETY_GM:
+    torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
+    torque = to_signed(torque, 11)
+  elif mode == Panda.SAFETY_HYUNDAI:
+    torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024
+  elif mode == Panda.SAFETY_CHRYSLER:
+    torque = (((to_send.data[0] & 0x7) << 8) | to_send.data[1]) - 1024
+  elif mode == Panda.SAFETY_SUBARU:
+    torque = ((to_send.data[3] & 0x1F) << 8) | to_send.data[2]
+    torque = -to_signed(torque, 13)
+  elif mode == Panda.SAFETY_FORD:
+    angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000
+  elif mode == Panda.SAFETY_NISSAN:
+    angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6)
+    angle = -angle + (1310 * 100)
+  return torque, angle
+
+def package_can_msg(msg):
+  return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+
+def init_segment(safety, lr, mode, param):
+  sendcan = (msg for msg in lr if msg.which() == 'sendcan')
+  steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))
+
+  msg = next(steering_msgs, None)
+  if msg is None:
+    # no steering msgs
+    return
+
+  to_send = package_can_msg(msg)
+  torque, angle = get_steer_value(mode, param, to_send)
+  if torque != 0:
+    safety.set_controls_allowed(1)
+    safety.set_desired_torque_last(torque)
+  elif angle != 0:
+    safety.set_controls_allowed(1)
+    safety.set_desired_angle_last(angle)
+    safety.set_angle_meas(angle, angle)
+  assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment"