Windows: find brand folders by basename, libsafety with the firmware packet layout

.gitattributes

@@ -0,0 +1 @@
+* text=auto eol=lf

.github/workflows/tests.yml

@@ -8,19 +8,33 @@ on:
 
 jobs:
   tests:
-    name: ./test.sh
+    name: ./test.sh (${{ matrix.os }})
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
           - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+          - os: windows-latest
+            shell: msys2 {0}
+            timeout: 180  # a 4-core GitHub-hosted runner: the unit tests alone take most of a minute there
+    defaults:
+      run:
+        shell: ${{ matrix.shell || 'bash -e {0}' }}
     steps:
     - uses: actions/checkout@v4
+    - uses: msys2/setup-msys2@v2
+      if: runner.os == 'Windows'
+      with:
+        msystem: CLANG64
+        path-type: inherit  # uv and Git for Windows stay visible
+        install: mingw-w64-clang-x86_64-clang  # cc for libsafety
+    - uses: astral-sh/setup-uv@v5
+      if: runner.os == 'Windows'
     - uses: commaai/timeout@v1
       with:
-        timeout: ${{ github.repository == 'commaai/opendbc' && '90' || '999' }}
+        timeout: ${{ matrix.timeout || (github.repository == 'commaai/opendbc' && '90' || '999') }}
     - run: ./test.sh
 
   safety_tests:

lefthook.yml

@@ -24,6 +24,8 @@ test:
       run: cpplint --exclude=opendbc/can/*_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces opendbc/
     misra:
       run: opendbc/safety/tests/misra/test_misra.sh
+      skip:
+        - run: test "$(uname -o)" = Msys  # TODO: drop with the cppcheck exclusion in setup.sh
 
     # *** tests ***
     unittest:

opendbc/car/interfaces.py

@@ -382,7 +382,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
   result = {}
   for car_folder in sorted([x[0] for x in os.walk(BASEDIR)]):
     try:
-      brand_name = car_folder.split('/')[-1]
+      brand_name = os.path.basename(car_folder)
       brand_values = __import__(f'opendbc.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr])
       if hasattr(brand_values, attr) or not ignore_none:
         attr_data = getattr(brand_values, attr, None)

opendbc/dbc/mazda_rx8.dbc

@@ -1,77 +1,77 @@
-VERSION ""
-
-
-NS_ : 
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: PowertrainControlModule InstrumentCluster ElectricPowerSteering AntilockBrakeSystem
-
-
-BO_ 129 steering: 8 ElectricPowerSteering
- SG_ SteeringAngle : 23|16@0- (1,0) [0|0] "deg" Vector__XXX
-
-BO_ 513 speed: 8 PowertrainControlModule
- SG_ EngineRPM : 7|16@0+ (0.25,0) [0|0] "rpm" Vector__XXX
- SG_ VehicleSpeed : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
- SG_ AcceleratorPos : 55|8@0+ (0.5,0) [0|0] "%" Vector__XXX
-
-BO_ 592 throttle_body: 8 PowertrainControlModule
- SG_ IntakeAirTemperature : 31|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
- SG_ AcceleratorPedalSensorRaw : 23|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AcceleratorPedalSensorFiltered : 55|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 658 brake_controls: 8 PowertrainControlModule
- SG_ BrakePedalSwitch : 43|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ ParkingBrakeSwitch : 38|1@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1056 coolant: 8 PowertrainControlModule
- SG_ CoolantTemperature : 7|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
-
-BO_ 1072 instrument_cluster: 8 InstrumentCluster
- SG_ FuelLevel : 7|8@0+ (0.392156,0) [0|0] "%" Vector__XXX
- SG_ FuelTankSensorLeft : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ FuelTankSensorRight : 23|8@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 1200 wheel_speed: 8 AntilockBrakeSystem
- SG_ WheelSpeedFL : 7|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
- SG_ WheelSpeedFR : 23|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
- SG_ WheelSpeedRL : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
- SG_ WheelSpeedRR : 55|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
-
-CM_ SG_ 129 SteeringAngle "Steering wheel angle: positive is right and negative is left";
-CM_ SG_ 513 AcceleratorPos "processed interpretation of AcceleratorPedalSensor values";
-CM_ SG_ 1072 FuelTankSensorLeft "lower sensor values indicate a more full tank";
-CM_ SG_ 1072 FuelTankSensorRight "lower sensor values indicate a more full tank";
-
-
-
-
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: PowertrainControlModule InstrumentCluster ElectricPowerSteering AntilockBrakeSystem
+
+
+BO_ 129 steering: 8 ElectricPowerSteering
+ SG_ SteeringAngle : 23|16@0- (1,0) [0|0] "deg" Vector__XXX
+
+BO_ 513 speed: 8 PowertrainControlModule
+ SG_ EngineRPM : 7|16@0+ (0.25,0) [0|0] "rpm" Vector__XXX
+ SG_ VehicleSpeed : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
+ SG_ AcceleratorPos : 55|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+
+BO_ 592 throttle_body: 8 PowertrainControlModule
+ SG_ IntakeAirTemperature : 31|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
+ SG_ AcceleratorPedalSensorRaw : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ AcceleratorPedalSensorFiltered : 55|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 658 brake_controls: 8 PowertrainControlModule
+ SG_ BrakePedalSwitch : 43|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ParkingBrakeSwitch : 38|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1056 coolant: 8 PowertrainControlModule
+ SG_ CoolantTemperature : 7|8@0+ (1,-40) [0|0] "Cel" Vector__XXX
+
+BO_ 1072 instrument_cluster: 8 InstrumentCluster
+ SG_ FuelLevel : 7|8@0+ (0.392156,0) [0|0] "%" Vector__XXX
+ SG_ FuelTankSensorLeft : 15|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelTankSensorRight : 23|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1200 wheel_speed: 8 AntilockBrakeSystem
+ SG_ WheelSpeedFL : 7|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
+ SG_ WheelSpeedFR : 23|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
+ SG_ WheelSpeedRL : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
+ SG_ WheelSpeedRR : 55|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX
+
+CM_ SG_ 129 SteeringAngle "Steering wheel angle: positive is right and negative is left";
+CM_ SG_ 513 AcceleratorPos "processed interpretation of AcceleratorPedalSensor values";
+CM_ SG_ 1072 FuelTankSensorLeft "lower sensor values indicate a more full tank";
+CM_ SG_ 1072 FuelTankSensorRight "lower sensor values indicate a more full tank";
+
+
+
+

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -1,5 +1,6 @@
 import os
 import subprocess
+import sys
 import tempfile
 from pathlib import Path
 
@@ -23,6 +24,8 @@ def _build_libsafety(release: bool = False) -> str:
   ldflags = [
     '-fsanitize=undefined', '-fno-sanitize-recover=undefined',
   ]
+  if sys.platform == 'win32':
+    cflags += ['-mno-ms-bitfields']  # mingw's MS layout would put CANPacket_t's checksum at byte 8 instead of 5
   if not release:
     cflags += ['-DALLOW_DEBUG', '-fprofile-arcs', '-ftest-coverage']
     ldflags += ['-fprofile-arcs', '-ftest-coverage']
@@ -44,9 +47,11 @@ def _build_libsafety(release: bool = False) -> str:
   unsigned char fd : 1;
   unsigned char bus : 3;
   unsigned char data_len_code : 4;
-  unsigned char rejected : 1;
-  unsigned char returned : 1;
-  unsigned char extended : 1;
+  // unsigned int, not the header's unsigned char: identical bits under GCC's rules (packed), and the only
+  // declaration cffi lays out like the firmware under its MSVC rules on Windows (checksum at byte 5)
+  unsigned int rejected : 1;
+  unsigned int returned : 1;
+  unsigned int extended : 1;
   unsigned int addr : 29;
   unsigned char checksum;
   unsigned char data[64];

setup.sh

@@ -18,5 +18,13 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras --all-groups --inexact
-source "$PYTHONPATH/.venv/bin/activate"
+SYNC_ARGS=()
+VENV_BIN=bin
+if [[ "$(uname -s)" == MINGW* || "$(uname -s)" == MSYS* ]]; then
+  # MSYS2 shell with a native Python: the venv keeps its scripts in Scripts/
+  # TODO: drop the exclusion once comma-deps-cppcheck has a win_amd64 wheel on PyPI; the release-cppcheck shim cannot install on Windows
+  SYNC_ARGS=(--no-install-package cppcheck)
+  VENV_BIN=Scripts
+fi
+uv sync --all-extras --all-groups --inexact "${SYNC_ARGS[@]}"
+source "$PYTHONPATH/.venv/$VENV_BIN/activate"