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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| #include "selfdrive/pandad/pandad.h" | ||
| #include "cereal/messaging/messaging.h" | ||
| #include "common/swaglog.h" | ||
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| void PandaSafety::configureSafetyMode() { | ||
| bool is_onroad = params_.getBool("IsOnroad"); | ||
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|
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| if (is_onroad && !safety_configured_) { | ||
| updateMultiplexingMode(); | ||
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| auto car_params = fetchCarParams(); | ||
| if (!car_params.empty()) { | ||
| LOGW("got %lu bytes CarParams", car_params.size()); | ||
| setSafetyMode(car_params); | ||
| safety_configured_ = true; | ||
| } | ||
| } else if (!is_onroad) { | ||
| initialized_ = false; | ||
| safety_configured_ = false; | ||
| } | ||
| } | ||
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|
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| void PandaSafety::updateMultiplexingMode() { | ||
| // Initialize to ELM327 without OBD multiplexing for initial fingerprinting | ||
| if (!initialized_) { | ||
| prev_obd_multiplexing_ = false; | ||
| for (int i = 0; i < pandas_.size(); ++i) { | ||
| pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); | ||
| } | ||
| initialized_ = true; | ||
| } | ||
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| // Switch between multiplexing modes based on the OBD multiplexing request | ||
| bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled"); | ||
| if (obd_multiplexing_requested != prev_obd_multiplexing_) { | ||
| for (int i = 0; i < pandas_.size(); ++i) { | ||
| const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; | ||
| pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); | ||
| } | ||
| prev_obd_multiplexing_ = obd_multiplexing_requested; | ||
| params_.putBool("ObdMultiplexingChanged", true); | ||
| } | ||
| } | ||
|
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| std::string PandaSafety::fetchCarParams() { | ||
| if (!params_.getBool("FirmwareQueryDone")) { | ||
| return {}; | ||
| } | ||
| LOGW("Finished FW query"); | ||
|
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| LOGW("Waiting for params to set safety model"); | ||
| if (!params_.getBool("ControlsReady")) { | ||
| return {}; | ||
| } | ||
| return params_.get("CarParams"); | ||
| } | ||
|
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| void PandaSafety::setSafetyMode(const std::string ¶ms_string) { | ||
| AlignedBuffer aligned_buf; | ||
| capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size())); | ||
| cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>(); | ||
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| auto safety_configs = car_params.getSafetyConfigs(); | ||
| uint16_t alternative_experience = car_params.getAlternativeExperience(); | ||
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| for (int i = 0; i < pandas_.size(); ++i) { | ||
| // Default to SILENT safety model if not specified | ||
| cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT; | ||
| uint16_t safety_param = 0U; | ||
| if (i < safety_configs.size()) { | ||
| safety_model = safety_configs[i].getSafetyModel(); | ||
| safety_param = safety_configs[i].getSafetyParam(); | ||
| } | ||
|
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| LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience); | ||
| pandas_[i]->set_alternative_experience(alternative_experience); | ||
| pandas_[i]->set_safety_model(safety_model, safety_param); | ||
| } | ||
| } |
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