match safety enum in cereal (commaai#285)

* match safety enum in cereal

* removing tons of hardcoding

* add pythonpath to safety test

* Fix safety test in Docker

Author: rbiasini

.circleci/config.yml

@@ -11,7 +11,7 @@ jobs:
       - run:
           name: Run safety test
           command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
 
   misra-c2012:
     machine:

VERSION

@@ -1 +1 @@
-v1.5.0
+v1.5.1

board/safety.h

@@ -45,42 +45,43 @@ typedef struct {
   const safety_hooks *hooks;
 } safety_hook_config;
 
+// from cereal.car.CarParams.SafetyModel
 #define SAFETY_NOOUTPUT 0U
 #define SAFETY_HONDA 1U
 #define SAFETY_TOYOTA 2U
-#define SAFETY_GM 3U
-#define SAFETY_HONDA_BOSCH 4U
-#define SAFETY_FORD 5U
-#define SAFETY_CADILLAC 6U
-#define SAFETY_HYUNDAI 7U
-#define SAFETY_TESLA 8U
+#define SAFETY_ELM327 3U
+#define SAFETY_GM 4U
+#define SAFETY_HONDA_BOSCH 5U
+#define SAFETY_FORD 6U
+#define SAFETY_CADILLAC 7U
+#define SAFETY_HYUNDAI 8U
 #define SAFETY_CHRYSLER 9U
-#define SAFETY_SUBARU 10U
-#define SAFETY_GM_PASSIVE 11U
-#define SAFETY_MAZDA 12U
-#define SAFETY_GM_ASCM 0x1334U
-#define SAFETY_TOYOTA_IPAS 0x1335U
-#define SAFETY_ALLOUTPUT 0x1337U
-#define SAFETY_ELM327 0xE327U
+#define SAFETY_TESLA 10U
+#define SAFETY_SUBARU 11U
+#define SAFETY_GM_PASSIVE 12U
+#define SAFETY_MAZDA 13U
+#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_ALLOUTPUT 17U
+#define SAFETY_GM_ASCM 18U
 
 const safety_hook_config safety_hook_registry[] = {
   {SAFETY_NOOUTPUT, &nooutput_hooks},
   {SAFETY_HONDA, &honda_hooks},
-  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
   {SAFETY_TOYOTA, &toyota_hooks},
+  {SAFETY_ELM327, &elm327_hooks},
   {SAFETY_GM, &gm_hooks},
+  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
   {SAFETY_FORD, &ford_hooks},
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
-  {SAFETY_GM_PASSIVE, &gm_passive_hooks},
-  {SAFETY_GM_ASCM, &gm_ascm_hooks},
-  {SAFETY_TESLA, &tesla_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
-  {SAFETY_ELM327, &elm327_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
 };
 
 int safety_set_mode(uint16_t mode, int16_t param) {

boardesp/elm327.c

@@ -52,6 +52,8 @@ typedef struct __attribute__((packed)) {
 #define PANDA_USB_CAN_WRITE_BUS_NUM 3
 #define PANDA_USB_LIN_WRITE_BUS_NUM 2
 
+#define SAFETY_ELM327 3U
+
 typedef struct _elm_tcp_conn {
   struct espconn *conn;
   struct _elm_tcp_conn *next;
@@ -1420,7 +1422,7 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
 
     elm_append_rsp_const("\r\r");
     elm_append_rsp_const(IDENT_MSG);
-    panda_set_safety_mode(0xE327);
+    panda_set_safety_mode(SAFETY_ELM327);
 
     elm_proto_reinit(elm_current_proto());
     return;

drivers/linux/panda.c

@@ -38,6 +38,9 @@
 
 #define PANDA_DLC_MASK  0x0F
 
+#define SAFETY_ALLOUTPUT 17
+#define SAFETY_NOOUTPUT 0
+
 struct panda_usb_ctx {
   struct panda_inf_priv *priv;
   u32 ndx;
@@ -156,7 +159,7 @@ static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
   return usb_control_msg(priv->priv_dev->udev,
 			 usb_sndctrlpipe(priv->priv_dev->udev, 0),
 			 0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
-			 enable ? 0x1337 : 0, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
+			 enable ? SAFETY_ALLOUTPUT : SAFETY_NOOUTPUT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
 }
 
 static void panda_usb_write_bulk_callback(struct urb *urb)

drivers/windows/panda_shared/panda.h

@@ -40,7 +40,7 @@ namespace panda {
 	typedef enum _PANDA_SAFETY_MODE : uint16_t {
 		SAFETY_NOOUTPUT = 0,
 		SAFETY_HONDA = 1,
-		SAFETY_ALLOUTPUT = 0x1337,
+		SAFETY_ALLOUTPUT = 17,
 	} PANDA_SAFETY_MODE;
 
 	typedef enum _PANDA_SERIAL_PORT : uint8_t {

python/__init__.py

@@ -23,7 +23,6 @@
 DEBUG = os.getenv("PANDADEBUG") is not None
 
 # *** wifi mode ***
-
 def build_st(target, mkfile="Makefile"):
   from panda import BASEDIR
   cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@@ -109,20 +108,25 @@ def close(self):
 # *** normal mode ***
 
 class Panda(object):
+
+  # matches cereal.car.CarParams.SafetyModel
   SAFETY_NOOUTPUT = 0
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
-  SAFETY_GM = 3
-  SAFETY_HONDA_BOSCH = 4
-  SAFETY_FORD = 5
-  SAFETY_CADILLAC = 6
-  SAFETY_HYUNDAI = 7
-  SAFETY_TESLA = 8
+  SAFETY_ELM327 = 3
+  SAFETY_GM = 4
+  SAFETY_HONDA_BOSCH = 5
+  SAFETY_FORD = 6
+  SAFETY_CADILLAC = 7
+  SAFETY_HYUNDAI = 8
   SAFETY_CHRYSLER = 9
-  SAFETY_TOYOTA_IPAS = 0x1335
-  SAFETY_TOYOTA_NOLIMITS = 0x1336
-  SAFETY_ALLOUTPUT = 0x1337
-  SAFETY_ELM327 = 0xE327
+  SAFETY_TESLA = 10
+  SAFETY_SUBARU = 11
+  SAFETY_GM_PASSIVE = 12
+  SAFETY_MAZDA = 13
+  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_ALLOUTPUT = 17
+  SAFETY_GM_ASCM = 18
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1

tests/can_printer.py

@@ -15,7 +15,7 @@ def sec_since_boot():
 
 def can_printer():
   p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   start = sec_since_boot()
   lp = sec_since_boot()

tests/elm_wifi.py

@@ -301,7 +301,7 @@ def test_elm_panda_safety_mode_KWPFast():
     p_car.kline_drain()
 
     p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
 
     def get_checksum(dat):
         result = 0
@@ -625,7 +625,7 @@ def test_elm_panda_safety_mode_ISO15765():
     p_car.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
     p_elm = Panda("WIFI")
-    p_elm.set_safety_mode(0xE327);
+    p_elm.set_safety_mode(Panda.SAFETY_ELM327);
 
     #sim = elm_car_simulator.ELMCarSimulator(serial, lin=False)
     #sim.start()

tests/pedal/enter_canloader.py

@@ -53,7 +53,7 @@ def bulkRead(self, endpoint, length, timeout=0):
   args = parser.parse_args()
 
   p = Panda()
-  p.set_safety_mode(0x1337)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   while 1:
     if len(p.can_recv()) == 0:

tests/safety/Dockerfile

@@ -1,6 +1,6 @@
 FROM ubuntu:16.04
 
-RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev
+RUN apt-get update && apt-get install -y clang make python python-pip git curl locales zlib1g-dev libffi-dev bzip2 libssl-dev libbz2-dev libusb-1.0-0
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
@@ -14,6 +14,6 @@ RUN pyenv install 3.7.3
 RUN pyenv global 3.7.3
 RUN pyenv rehash
 
-COPY tests/safety/requirements.txt /panda/tests/safety/requirements.txt
-RUN pip install -r /panda/tests/safety/requirements.txt
+COPY tests/safety/requirements.txt requirements.txt
+RUN pip install -r requirements.txt
 COPY . /panda

tests/safety/requirements.txt

@@ -1,2 +1,4 @@
 cffi==1.11.4
 numpy==1.14.5
+libusb1==1.6.6
+requests

tests/safety/test_cadillac.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 2
 MAX_RATE_DOWN = 5
@@ -31,7 +32,7 @@ class TestCadillacSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(6, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CADILLAC, 0)
     cls.safety.init_tests_cadillac()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_chrysler.py

@@ -4,6 +4,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -35,7 +36,7 @@ class TestChryslerSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(9, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_CHRYSLER, 0)
     cls.safety.init_tests_chrysler()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_gm.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -32,7 +33,7 @@ class TestGmSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(3, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_GM, 0)
     cls.safety.init_tests_gm()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_honda.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_BRAKE = 255
 
@@ -11,7 +12,7 @@ class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(1, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA, 0)
     cls.safety.init_tests_honda()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_honda_bosch.py

@@ -2,14 +2,15 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_BRAKE = 255
 
 class TestHondaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(4, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HONDA_BOSCH, 0)
     cls.safety.init_tests_honda()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_hyundai.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -29,7 +30,7 @@ class TestHyundaiSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(7, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_HYUNDAI, 0)
     cls.safety.init_tests_hyundai()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_subaru.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -29,7 +30,7 @@ class TestSubaruSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(10, 0)
+    cls.safety.safety_set_mode(Panda.SAFETY_SUBARU, 0)
     cls.safety.init_tests_subaru()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_toyota.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -33,7 +34,7 @@ class TestToyotaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(2, 100)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA, 100)
     cls.safety.init_tests_toyota()
 
   def _send_msg(self, bus, addr, length):

tests/safety/test_toyota_ipas.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 import libpandasafety_py
+from panda import Panda
 
 IPAS_OVERRIDE_THRESHOLD = 200
 
@@ -25,7 +26,7 @@ class TestToyotaSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.safety_set_mode(0x1335, 66)
+    cls.safety.safety_set_mode(Panda.SAFETY_TOYOTA_IPAS, 66)
     cls.safety.init_tests_toyota()
 
   def _torque_driver_msg(self, torque):