IQ.Pilot Release Commit @ 0798119

iqdbc_repo/iqdbc/safety/tests/libsafety/SConscript

@@ -0,0 +1,52 @@
+import os
+import platform
+
+system = platform.system()
+
+env = Environment(
+  CC='clang',
+  CFLAGS=[
+    '-Wall',
+    "-Wextra",
+    '-Werror',
+    '-nostdlib',
+    '-fno-builtin',
+    '-std=gnu11',
+    '-Wfatal-errors',
+    '-Wno-pointer-to-int-cast',
+    '-g',
+    '-O0',
+    '-fno-omit-frame-pointer',
+    '-grecord-command-line',
+    '-DALLOW_DEBUG',
+  ],
+  LINKFLAGS=[] if system == "Darwin" else ['-fsanitize=undefined', '-fno-sanitize-recover=undefined'],
+  CPPPATH=["#"],
+  tools=["default", "compilation_db"],
+)
+
+# 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])
+
+# The Mull plugin injects mutations that are dormant unless run with mull-runner
+if system == "Darwin":
+  mull_plugin = Dir('#').abspath + '/.mull/lib/mull-ir-frontend-18'
+else:
+  mull_plugin = '/usr/lib/mull-ir-frontend-18'
+if os.path.exists(mull_plugin):
+  # Only use mull plugin if it exists
+  env['CC'] = 'clang-18'
+  env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage', f'-fpass-plugin={mull_plugin}'])
+  env.Append(LINKFLAGS=['-fprofile-arcs', '-ftest-coverage'])
+  if system == "Darwin":
+    env.PrependENVPath('PATH', '/opt/homebrew/opt/llvm@18/bin')
+
+safety = env.SharedObject("safety.os", "safety.c")
+libsafety = env.SharedLibrary("libsafety.so", [safety])
+
+# GCC-style note file is generated by compiler, allow scons to clean it up
+env.SideEffect("safety.gcno", safety)

iqdbc_repo/iqdbc/safety/tests/libsafety/fake_stm.h

@@ -0,0 +1,12 @@
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#define ALLOW_DEBUG
+
+// TODO: time should just be passed into the hooks we expose
+uint32_t timer_cnt = 0;
+uint32_t microsecond_timer_get(void);
+uint32_t microsecond_timer_get(void) {
+  return timer_cnt;
+}

iqdbc_repo/iqdbc/safety/tests/libsafety/libsafety_py.py

@@ -0,0 +1,120 @@
+import os
+from cffi import FFI
+
+from iqdbc.safety import LEN_TO_DLC
+
+libsafety_dir = os.path.dirname(os.path.abspath(__file__))
+libsafety_fn = os.path.join(libsafety_dir, "libsafety.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)
+class CANPacket:
+  pass
+
+ffi.cdef("""
+bool safety_rx_hook(CANPacket_t *msg);
+bool safety_tx_hook(CANPacket_t *msg);
+int safety_fwd_hook(int bus_num, int addr);
+int set_safety_hooks(uint16_t mode, uint16_t param);
+
+void set_controls_allowed(bool c);
+bool get_controls_allowed(void);
+void set_heartbeat_engaged(bool c);
+bool get_longitudinal_allowed(void);
+bool get_longitudinal_gas_allowed(void);
+bool get_longitudinal_brake_allowed(void);
+void set_alternative_experience(int mode);
+int get_alternative_experience(void);
+void set_relay_malfunction(bool c);
+bool get_relay_malfunction(void);
+bool get_gas_pressed_prev(void);
+void set_gas_pressed_prev(bool);
+bool get_brake_pressed_prev(void);
+bool get_regen_braking_prev(void);
+bool get_steering_disengage_prev(void);
+bool get_acc_main_on(void);
+float get_vehicle_speed_min(void);
+float get_vehicle_speed_max(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);
+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);
+
+bool get_lat_active(void);
+bool get_controls_allowed_lat(void);
+bool get_controls_requested_lat(void);
+void set_current_safety_param_iq(uint16_t param);
+uint16_t get_current_safety_param_iq(void);
+bool get_enable_aol(void);
+bool get_disengage_lateral_on_brake(void);
+bool get_pause_lateral_on_brake(void);
+void set_aol_button_press(int aol_button_press);
+void set_controls_allowed_lat(bool c);
+void set_controls_requested_lat(bool c);
+bool get_aol_acc_main(void);
+void set_acc_main_on(bool c);
+int get_aol_button_press(void);
+void aol_set_current_disengage_reason(int reason);
+int aol_get_current_disengage_reason(void);
+int get_temp_debug(void);
+uint32_t get_acc_main_on_mismatches(void);
+void set_aol_params(bool enable_aol, bool disengage_lateral_on_brake, bool pause_lateral_on_brake);
+void set_heartbeat_engaged_aol(bool c);
+void aol_heartbeat_engaged_check(void);
+void set_steering_disengage(bool c);
+int get_gas_interceptor_prev(void);
+""")
+
+class LibSafety:
+  pass
+libsafety: LibSafety = ffi.dlopen(libsafety_fn)
+
+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)
+  return ret

iqdbc_repo/iqdbc/safety/tests/libsafety/safety.c

@@ -0,0 +1,315 @@
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+// TODO: time should just be passed into the hooks we expose
+uint32_t timer_cnt = 0;
+uint32_t microsecond_timer_get(void);
+uint32_t microsecond_timer_get(void) {
+  return timer_cnt;
+}
+
+#include <stdbool.h>
+#include "iqdbc/safety/can.h"
+
+void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
+  (void)to_push; (void)bus_number; (void)skip_tx_hook;
+}
+
+void can_set_checksum(CANPacket_t *packet) {
+  (void)packet;
+}
+
+#include "iqdbc/safety/safety.h"
+
+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_heartbeat_engaged(bool c){
+  heartbeat_engaged = 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;
+}
+
+bool get_gas_pressed_prev(void){
+  return gas_pressed_prev;
+}
+
+void set_gas_pressed_prev(bool c){
+  gas_pressed_prev = c;
+}
+
+bool get_brake_pressed_prev(void){
+  return brake_pressed_prev;
+}
+
+bool get_regen_braking_prev(void){
+  return regen_braking_prev;
+}
+
+bool get_steering_disengage_prev(void){
+  return steering_disengage_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;
+}
+
+float get_vehicle_speed_min(void){
+  return vehicle_speed.min / VEHICLE_SPEED_FACTOR;
+}
+
+float get_vehicle_speed_max(void){
+  return vehicle_speed.max / VEHICLE_SPEED_FACTOR;
+}
+
+int get_current_safety_mode(void){
+  return current_safety_mode;
+}
+
+int get_current_safety_param(void){
+  return current_safety_param;
+}
+
+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;
+}
+
+static AOLState *get_aol_state(void) {
+  return &m_aol_state;
+}
+
+bool get_lat_active(void){
+  return is_lat_active();
+}
+
+bool get_controls_allowed_lat(void){
+  return aol_is_lateral_control_allowed_by_aol();
+}
+
+bool get_controls_requested_lat(void){
+  return get_aol_state()->controls_requested_lat;
+}
+
+bool get_enable_aol(void){
+  return get_aol_state()->system_enabled;
+}
+
+bool get_disengage_lateral_on_brake(void){
+  return get_aol_state()->disengage_lateral_on_brake;
+}
+
+bool get_pause_lateral_on_brake(void){
+  return get_aol_state()->pause_lateral_on_brake;
+}
+
+void set_acc_main_on(bool c){
+  acc_main_on = c;
+}
+
+void set_current_safety_param_iq(uint16_t param){
+  current_safety_param_iq = param;
+}
+
+uint16_t get_current_safety_param_iq(void){
+  return current_safety_param_iq;
+}
+
+void set_aol_button_press(int c){
+  aol_button_press = c;
+}
+
+int get_aol_button_press(void){
+  return aol_button_press;
+}
+
+void set_controls_allowed_lat(bool c){
+  m_aol_state.controls_allowed_lat = c;
+}
+
+bool get_aol_acc_main(void){
+  return m_aol_state.acc_main.current;
+}
+
+int aol_get_current_disengage_reason(void) {
+  return get_aol_state()->current_disengage.active_reason;
+}
+
+void aol_set_current_disengage_reason(int reason) {
+  m_aol_state.current_disengage.active_reason = reason;
+}
+
+void set_controls_requested_lat(bool c){
+  m_aol_state.controls_requested_lat = c;
+}
+
+void set_aol_params(bool enable_aol, bool disengage_lateral_on_brake, bool pause_lateral_on_brake){
+  alternative_experience = 0;
+  if (enable_aol) {
+    alternative_experience |= ALT_EXP_ENABLE_AOL;
+
+    if (disengage_lateral_on_brake) {
+      alternative_experience |= ALT_EXP_AOL_DISENGAGE_LATERAL_ON_BRAKE;
+    } else if (pause_lateral_on_brake) {
+      alternative_experience |= ALT_EXP_AOL_PAUSE_LATERAL_ON_BRAKE;
+    } else {
+    }
+  }
+
+  aol_set_alternative_experience(&alternative_experience);
+}
+
+void set_heartbeat_engaged_aol(bool c){
+  heartbeat_engaged_aol = c;
+}
+
+void set_steering_disengage(bool c){
+  steering_disengage = c;
+}
+
+int get_gas_interceptor_prev(void){
+  return gas_interceptor_prev;
+}
+
+void init_tests(void){
+  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
+  alternative_experience = 0;
+  current_safety_param_iq = 0;
+  set_timer(0);
+  ts_steer_req_mismatch_last = 0;
+  valid_steer_req_count = 0;
+  invalid_steer_req_count = 0;
+
+  // assumes summon on safety mode init to avoid a fault. get rid of that for testing
+  tesla_summon = false;
+}