IQ.Pilot Release Commit @ b6534c0

artifacts/package_sources/panda/tests/libpanda/SConscript

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+import iqdbc
+import platform
+
+CC = 'gcc'
+system = platform.system()
+mac_ver = platform.mac_ver()
+
+# 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
+# clang works on macOS 15 and greater but has issues on earlier macOS versions.
+# see: https://github.com/commaai/openpilot/issues/35093
+if system == 'Darwin' and mac_ver[0] and mac_ver[0] < '15':
+  CC += '-13'
+
+env = Environment(
+  CC=CC,
+  CFLAGS=[
+    '-nostdlib',
+    '-fno-builtin',
+    '-std=gnu11',
+    '-Wfatal-errors',
+    '-Wno-pointer-to-int-cast',
+  ],
+  CPPPATH=[".", "../../", "../../board/", iqdbc.INCLUDE_PATH],
+)
+if system == "Darwin":
+  env.PrependENVPath('PATH', '/opt/homebrew/bin')
+
+# short colored build output, if the top-level pretty tool is present (main-repo build)
+_pretty = Dir('#tools/scons/site_tools').File('pretty.py')
+if not _pretty.exists():
+  _pretty = Dir('#site_scons/site_tools').File('pretty.py')
+if _pretty.exists():
+  env.Tool('pretty', toolpath=[_pretty.dir.abspath])
+
+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])

artifacts/package_sources/panda/tests/libpanda/libpanda_py.py

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+import os
+from cffi import FFI
+from typing import Any, Protocol
+
+from panda import LEN_TO_DLC
+
+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 fd : 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("""
+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 *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);
+""")
+
+class CANPacket:
+  reserved: int
+  bus: int
+  data_len_code: int
+  rejected: int
+  returned: int
+  extended: int
+  addr: int
+  data: list[int]
+
+class Panda(Protocol):
+  # CAN
+  tx1_q: Any
+  tx2_q: Any
+  tx3_q: Any
+  def can_set_checksum(self, p: CANPacket) -> None: ...
+
+  # safety
+  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

artifacts/package_sources/panda/tests/libpanda/panda.c

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+#include "fake_stm.h"
+#include "config.h"
+#include "can.h"
+
+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 "iqdbc/safety/safety.h"
+#include "main_definitions.h"
+#include "drivers/can_common.h"
+
+can_ring *rx_q = &can_rx_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"