87 lines
4.4 KiB
Python
87 lines
4.4 KiB
Python
"""Verify actual ARM CAN -> AS/VCU display -> UART code with mocked HAL I/O."""
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import argparse
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import hashlib
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import json
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from pathlib import Path
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from verify_wheel_speed_firmware import Firmware, ROOT
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from send_vcu_status_can import build_payload
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def verify(path):
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checks=[]
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f=Firmware(path)
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def states():
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return list(f.uc.mem_read(f.symbols['vcu_display_state'],4))
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def flush():
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f.uc.mem_write(f.symbols['vcu_display_dirty'],b'\x0f')
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f.commands.clear()
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f.drain()
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expected=[f'{prefix}={value}' for prefix,value in zip(
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('current_task','lock_state','ebs_state','as_state'),states())]
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assert all(cmd in f.commands for cmd in expected),(expected,f.commands)
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assert states()==[7,0,0,6]
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flush()
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checks.append('boot: all four unknown; complete UART commands end in real FF FF FF')
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for port in (1,2):
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for task in range(7):
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for as_state in range(6):
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for flags in range(16):
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f.now=1000
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f.receive(build_payload(task,task&1,(task+1)&1,flags,255,as_state),port,ident=0x183)
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expected=[task if flags&1 else 7,
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(1 if task&1 else 2) if flags&2 else 0,
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(1 if (task+1)&1 else 2) if flags&4 else 0,
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as_state if flags&8 else 6]
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assert states()==expected,(port,task,as_state,flags,states())
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flush()
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checks.append(f'CAN{port}: all 7 tasks x 6 AS states x 16 independent validity combinations; UART checked')
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for flags in range(8):
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f.receive(build_payload(2,1,1,15,0,4),ident=0x183)
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f.receive(build_payload(2,1,1,flags,0,version=1),ident=0x183)
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assert states()[3]==6
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flush()
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checks.append('legacy v1 always clears previous v2 AS to unknown; all 8 legacy flags accepted')
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baseline=build_payload(2,1,1,15,0,1)
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malformed=[]
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for index,value in [(0,7),(1,2),(2,2),(3,16),(5,6),(5,255),(6,1),(7,0),(7,3)]:
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b=bytearray(baseline);b[index]=value;malformed.append((bytes(b),{}))
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b=bytearray(baseline);b[3]=7;b[5]=6;malformed.append((bytes(b),{}))
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for index,value in [(3,8),(5,1),(6,1)]:
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b=bytearray(build_payload(2,1,1,7,0,version=1));b[index]=value;malformed.append((bytes(b),{}))
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for opts in ({'dlc':7},{'dlc':9},{'id_type':0x40000000},{'remote':0x20000000},{'fd':0x00200000}):
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malformed.append((baseline,opts))
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for port in (1,2):
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for data,opts in malformed:
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f.now=2000;f.receive(baseline,port,ident=0x183)
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before=states();f.now=2200;f.receive(data,port,ident=0x183,**opts)
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assert states()==before
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assert f.read_u32('vcu_status_last_rx_ms')==2000
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f.service(2501);assert states()==[7,0,0,6]
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checks.append('both ports: malformed DLC/version/enum/reserved/extended/remote/FD rejected without timeout renewal')
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for start,boundary,expired in ((0,500,501),(0xFFFFFF00,244,245)):
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f=Firmware(path)
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f.now=start;f.receive(baseline,ident=0x183)
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f.service(boundary);assert states()==[2,1,1,1]
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f.service(expired);assert states()==[7,0,0,6]
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if f.now < 800: f.now=800
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flush()
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checks.append('timeout at >500 ms, tick zero and wrap verified; all four unknown transmitted')
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f=Firmware(path);f.now=1000;f.receive(baseline,ident=0x183)
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f.now=1400;f.receive(bytes(4),ident=0x6A2)
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f.service(1501);assert states()==[7,0,0,6]
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f.now=1502;f.receive(baseline,ident=0x183);flush();assert states()==[2,1,1,1]
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f.now=6502;f.receive(baseline,ident=0x183)
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f.commands.clear();f.service();f.drain()
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assert 'as_state=1' in f.commands
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checks.append('other CAN cannot renew AS; same-value recovery and periodic resync UART work')
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return dict(elf=str(path.relative_to(ROOT)),sha256=hashlib.sha256(path.read_bytes()).hexdigest(),
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result='passed',checks=checks,evidence='ARM emulation with mocked HAL; no physical CAN/HMI')
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if __name__=='__main__':
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p=argparse.ArgumentParser(description=__doc__)
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p.add_argument('--output',type=Path)
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a=p.parse_args()
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result=[verify(ROOT/f'firmware/build/{mode}/AMI_Controller.elf') for mode in ('Debug','Release')]
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text=json.dumps(result,ensure_ascii=False,indent=2)
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if a.output:a.output.parent.mkdir(parents=True,exist_ok=True);a.output.write_text(text+'\n',encoding='utf-8')
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print(text)
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