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CANParser: clip `counter_fail` to the max (#976) 

* test

* fix

* clean up

* test

* fix

* clean up

* debug

* Revert "debug"

This reverts commit 3fc8cf5a2073d65cf1efa81515b420a29e8298a4.

* recover

* also can update at bottom since we don't break early

* changes

* Revert "changes"

This reverts commit a3b6fb5f6b38bb2f7ebd46c730487552bde8c6cb.

* don't need \n

* cmt

* no need to change print behavior here

* fix

fix

revert

* info needs \n
This commit is contained in:
Shane Smiskol 2023-11-17 23:53:13 -08:00 committed by GitHub
parent ffa2ffdefe
commit 098fbe1b0e
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 32 additions and 9 deletions
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14
can/parser.cc
View File

@ -74,20 +74,16 @@ bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
uint8_t old_counter = counter;
counter = v;
if (((old_counter+1) & ((1 << cnt_size) -1)) != v) {
counter_fail += 1;
if (((counter + 1) & ((1 << cnt_size) -1)) != v) {
counter_fail = std::min(counter_fail + 1, MAX_BAD_COUNTER);
if (counter_fail > 1) {
INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, old_counter, (int)v);
}
if (counter_fail >= MAX_BAD_COUNTER) {
return false;
INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, counter, (int)v);
}
} else if (counter_fail > 0) {
counter_fail--;
}
return true;
counter = v;
return counter_fail < MAX_BAD_COUNTER;
}

27
can/tests/test_packer_parser.py
View File

@ -7,6 +7,8 @@ from opendbc.can.parser import CANParser
from opendbc.can.packer import CANPacker
from opendbc.can.tests import TEST_DBC
MAX_BAD_COUNTER = 5
# Python implementation so we don't have to depend on boardd
def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
@ -94,6 +96,31 @@ class TestCanParserPacker(unittest.TestCase):
parser.update_strings([dat])
self.assertTrue(parser.can_valid)
def test_parser_counter_can_valid(self):
"""
Tests number of allowed bad counters + ensures CAN stays invalid
while receiving invalid messages + that we can recover
"""
msgs = [
("STEERING_CONTROL", 0),
]
packer = CANPacker("honda_civic_touring_2016_can_generated")
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
bts = can_list_to_can_capnp([msg])
# bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
for idx in range(0x1000):
parser.update_strings([bts])
self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid)
# one to recover
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
bts = can_list_to_can_capnp([msg])
parser.update_strings([bts])
self.assertTrue(parser.can_valid)
def test_packer_parser(self):
msgs = [
("Brake_Status", 0),