sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

panda/tests/misra/test_mutation.py

@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+import os
+import glob
+import pytest
+import shutil
+import subprocess
+import tempfile
+import random
+
+HERE = os.path.abspath(os.path.dirname(__file__))
+ROOT = os.path.join(HERE, "../../")
+
+# skip mutating these paths
+IGNORED_PATHS = (
+  'board/obj',
+  'board/jungle',
+  'board/body',
+  'board/stm32h7/inc',
+  'board/fake_stm.h',
+
+  # bootstub only files
+  'board/flasher.h',
+  'board/bootstub.c',
+  'board/bootstub_declarations.h',
+  'board/stm32h7/llflash.h',
+)
+
+mutations = [
+  (None, None, False),  # no mods, should pass
+  ("board/stm32h7/llfdcan.h", "s/return ret;/if (true) { return ret; } else { return false; }/g", True),
+]
+
+patterns = [
+  # misra-c2012-13.3
+  "$a void test(int tmp) { int tmp2 = tmp++ + 2; if (tmp2) {;}}",
+  # misra-c2012-13.4
+  "$a int test(int x, int y) { return (x=2) && (y=2); }",
+  # misra-c2012-13.5
+  "$a void test(int tmp) { if (true && tmp++) {;} }",
+  # misra-c2012-13.6
+  "$a void test(int tmp) { if (sizeof(tmp++)) {;} }",
+  # misra-c2012-14.1
+  "$a void test(float len) { for (float j = 0; j < len; j++) {;} }",
+  # misra-c2012-14.4
+  "$a void test(int len) { if (len - 8) {;} }",
+  # misra-c2012-16.4
+  r"$a void test(int temp) {switch (temp) { case 1: ; }}\n",
+  # misra-c2012-17.8
+  "$a void test(int cnt) { for (cnt=0;;cnt++) {;} }",
+  # misra-c2012-20.4
+  r"$a #define auto 1\n",
+  # misra-c2012-20.5
+  r"$a #define TEST 1\n#undef TEST\n",
+]
+
+all_files = glob.glob('board/**', root_dir=ROOT, recursive=True)
+files = sorted(f for f in all_files if f.endswith(('.c', '.h')) and not f.startswith(IGNORED_PATHS))
+assert len(files) > 50, all(d in files for d in ('board/main.c', 'board/stm32h7/llfdcan.h'))
+
+# fixed seed so every xdist worker collects the same test params
+rng = random.Random(len(files))
+for p in patterns:
+  mutations.append((rng.choice(files), p, True))
+
+# sample to keep CI fast, but always include the no-mutation case
+mutations = [mutations[0]] + rng.sample(mutations[1:], min(2, len(mutations) - 1))
+
+@pytest.mark.parametrize("fn, patch, should_fail", mutations)
+def test_misra_mutation(fn, patch, should_fail):
+  with tempfile.TemporaryDirectory() as tmp:
+    shutil.copytree(ROOT, tmp + "/panda", dirs_exist_ok=True)
+
+    # apply patch
+    if fn is not None:
+      fpath = os.path.join(tmp, "panda", fn)
+      with open(fpath) as f:
+        content = f.read()
+      if patch.startswith("s/"):
+        old, new = patch[2:].rsplit("/g", 1)[0].split("/", 1)
+        content = content.replace(old, new)
+      elif patch.startswith("$a "):
+        content += patch[3:].replace(r"\n", "\n")
+      with open(fpath, "w") as f:
+        f.write(content)
+
+    # run test
+    r = subprocess.run("SKIP_TABLES_DIFF=1 panda/tests/misra/test_misra.sh", cwd=tmp, shell=True)
+    failed = r.returncode != 0
+    assert failed == should_fail