96 lines
3.5 KiB
C++
96 lines
3.5 KiB
C++
#include "selfdrive/pandad/pandad.h"
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#include "cereal/messaging/messaging.h"
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#include "common/swaglog.h"
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void PandaSafety::configureSafetyMode(bool is_onroad) {
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if (is_onroad && !safety_configured_) {
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updateMultiplexingMode();
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auto car_params = fetchCarParams();
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if (!car_params.empty()) {
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LOGW("got %lu bytes CarParams", car_params[0].size());
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LOGW("got %lu bytes IQCarParams", car_params[1].size());
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setSafetyMode(car_params);
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safety_configured_ = true;
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}
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} else if (!is_onroad) {
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initialized_ = false;
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safety_configured_ = false;
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log_once_ = false;
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}
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}
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void PandaSafety::updateMultiplexingMode() {
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// Initialize to ELM327 without OBD multiplexing for initial fingerprinting
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if (!initialized_) {
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prev_obd_multiplexing_ = false;
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for (int i = 0; i < pandas_.size(); ++i) {
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pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
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}
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initialized_ = true;
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}
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// Switch between multiplexing modes based on the OBD multiplexing request
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bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
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if (obd_multiplexing_requested != prev_obd_multiplexing_) {
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for (int i = 0; i < pandas_.size(); ++i) {
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const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
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pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
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}
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prev_obd_multiplexing_ = obd_multiplexing_requested;
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params_.putBool("ObdMultiplexingChanged", true);
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}
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}
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// TODO-IQ: Use structs instead of vector
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std::vector<std::string> PandaSafety::fetchCarParams() {
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if (!params_.getBool("FirmwareQueryDone")) {
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return {};
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}
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if (!log_once_) {
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LOGW("Finished FW query, Waiting for params to set safety model");
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log_once_ = true;
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}
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if (!params_.getBool("ControlsReady")) {
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return {};
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}
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return {params_.get("CarParams"), params_.get("IQCarParams")};
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}
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// TODO-IQ: Use structs instead of vector
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void PandaSafety::setSafetyMode(const std::vector<std::string> ¶ms_string) {
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AlignedBuffer aligned_buf;
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AlignedBuffer aligned_buf_iq;
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capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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capnp::FlatArrayMessageReader cmsg_iq(aligned_buf_iq.align(params_string[1].data(), params_string[1].size()));
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cereal::IQCarParams::Reader car_params_iq = cmsg_iq.getRoot<cereal::IQCarParams>();
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auto safety_configs = car_params.getSafetyConfigs();
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uint16_t alternative_experience = car_params.getAlternativeExperience();
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uint16_t safety_param_iq = car_params_iq.getIqSafetyFlags();
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for (int i = 0; i < pandas_.size(); ++i) {
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// Default to SILENT safety model if not specified
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cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
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uint16_t safety_param = 0U;
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if (i < safety_configs.size()) {
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safety_model = safety_configs[i].getSafetyModel();
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safety_param = safety_configs[i].getSafetyParam();
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}
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LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_iq: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_iq);
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pandas_[i]->set_alternative_experience(alternative_experience, safety_param_iq);
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pandas_[i]->set_safety_model(safety_model, safety_param);
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}
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}
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bool PandaSafety::getOffroadMode() {
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auto offroad_mode = params_.getBool("IQAlwaysOffroad");
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return offroad_mode;
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}
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