#!/usr/bin/env python3
import argparse
import os
from collections import Counter
from panda.tests.libpanda import libpanda_py
from panda.tests.safety_replay.helpers import package_can_msg, init_segment
# replay a drive to check for safety violations
[docs]
def replay_drive(lr, safety_mode, param, alternative_experience, segment=False):
safety = libpanda_py.libpanda
err = safety.set_safety_hooks(safety_mode, param)
assert err == 0, "invalid safety mode: %d" % safety_mode
safety.set_alternative_experience(alternative_experience)
if segment:
init_segment(safety, lr, safety_mode, param)
lr.reset()
rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0
safety_tick_rx_invalid = False
blocked_addrs = Counter()
invalid_addrs = set()
can_msgs = [m for m in lr if m.which() in ('can', 'sendcan')]
start_t = can_msgs[0].logMonoTime
end_t = can_msgs[-1].logMonoTime
for msg in can_msgs:
safety.set_timer((msg.logMonoTime // 1000) % 0xFFFFFFFF)
# skip start and end of route, warm up/down period
if msg.logMonoTime - start_t > 1e9 and end_t - msg.logMonoTime > 1e9:
safety.safety_tick_current_safety_config()
safety_tick_rx_invalid |= not safety.safety_config_valid() or safety_tick_rx_invalid
if msg.which() == 'sendcan':
for canmsg in msg.sendcan:
to_send = package_can_msg(canmsg)
sent = safety.safety_tx_hook(to_send)
if not sent:
tx_blocked += 1
tx_controls_blocked += safety.get_controls_allowed()
blocked_addrs[canmsg.address] += 1
if "DEBUG" in os.environ:
print("blocked bus %d msg %d at %f" % (canmsg.src, canmsg.address, (msg.logMonoTime - start_t) / 1e9))
tx_controls += safety.get_controls_allowed()
tx_tot += 1
elif msg.which() == 'can':
# ignore msgs we sent
for canmsg in filter(lambda m: m.src < 128, msg.can):
to_push = package_can_msg(canmsg)
recv = safety.safety_rx_hook(to_push)
if not recv:
rx_invalid += 1
invalid_addrs.add(canmsg.address)
rx_tot += 1
print("\nRX")
print("total rx msgs:", rx_tot)
print("invalid rx msgs:", rx_invalid)
print("safety tick rx invalid:", safety_tick_rx_invalid)
print("invalid addrs:", invalid_addrs)
print("\nTX")
print("total openpilot msgs:", tx_tot)
print("total msgs with controls allowed:", tx_controls)
print("blocked msgs:", tx_blocked)
print("blocked with controls allowed:", tx_controls_blocked)
print("blocked addrs:", blocked_addrs)
return tx_controls_blocked == 0 and rx_invalid == 0 and not safety_tick_rx_invalid
if __name__ == "__main__":
from openpilot.tools.lib.logreader import LogReader
parser = argparse.ArgumentParser(description="Replay CAN messages from a route or segment through a safety mode",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("route_or_segment_name", nargs='+')
parser.add_argument("--mode", type=int, help="Override the safety mode from the log")
parser.add_argument("--param", type=int, help="Override the safety param from the log")
parser.add_argument("--alternative-experience", type=int, help="Override the alternative experience from the log")
args = parser.parse_args()
lr = LogReader(args.route_or_segment_name[0])
if None in (args.mode, args.param, args.alternative_experience):
for msg in lr:
if msg.which() == 'carParams':
if args.mode is None:
args.mode = msg.carParams.safetyConfigs[-1].safetyModel.raw
if args.param is None:
args.param = msg.carParams.safetyConfigs[-1].safetyParam
if args.alternative_experience is None:
args.alternative_experience = msg.carParams.alternativeExperience
break
else:
raise Exception("carParams not found in log. Set safety mode and param manually.")
lr.reset()
print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}")
replay_drive(lr, args.mode, args.param, args.alternative_experience, segment=len(lr.logreader_identifiers) == 1)