IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/safety/tests/hyundai_common.py

@@ -0,0 +1,46 @@
+from iqdbc.safety.tests.libsafety import libsafety_py
+
+
+def packet(addr: int, bus: int, length: int, updates: dict[int, int] | None = None):
+  data = bytearray(length)
+  for index, value in (updates or {}).items():
+    data[index] = value
+  return libsafety_py.make_CANPacket(addr, bus, data)
+
+
+def classic_steer(torque: int, request: bool = True):
+  value = torque + 1024
+  word = (value << 16) | (int(request) << 27)
+  return packet(0x340, 0, 8, {i: (word >> (8 * i)) & 0xFF for i in range(4)})
+
+
+def canfd_steer(addr: int, length: int, torque: int, request: bool = True):
+  value = torque + 1024
+  return packet(addr, 0, length, {
+    5: (value & 0x7F) << 1,
+    6: ((value >> 7) & 0xF) | (int(request) << 4),
+  })
+
+
+def classic_accel(accel: int, *, aeb_decel: int = 0, aeb_request: bool = False):
+  value = accel + 1023
+  return packet(0x421, 0, 8, {
+    2: aeb_decel,
+    3: value & 0xFF,
+    4: ((value >> 8) & 0x7) | ((value & 0x7) << 5),
+    5: (value >> 3) & 0xFF,
+    6: int(aeb_request) << 6,
+  })
+
+
+def canfd_accel(accel: int, *, acc_mode: int = 0, bus: int = 0):
+  value = accel + 1023
+  return packet(0x1A0, bus, 32, {
+    8: (acc_mode & 0x7) << 4,
+    16: value & 0xFF,
+    17: ((value >> 8) & 0x7) | ((value & 0xF) << 4),
+    18: (value >> 4) & 0xFF,
+  })
+
+
+TESTER_PRESENT = bytes.fromhex("023e800000000000")