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royjrroyjr
committed
Merge remote-tracking branch 'upstream/master' into ccnc-port
2 parents e59acbe + eca6969 commit bf6049b

31 files changed

+399
-292
lines changed

‎opendbc/car/gm/interface.py

+1
Original file line numberDiff line numberDiff line change
@@ -87,6 +87,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
8787

8888
if candidate in EV_CAR:
8989
ret.transmissionType = TransmissionType.direct
90+
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.EV.value
9091
else:
9192
ret.transmissionType = TransmissionType.automatic
9293

‎opendbc/car/gm/values.py

+1
Original file line numberDiff line numberDiff line change
@@ -63,6 +63,7 @@ def __init__(self, CP):
6363
class GMSafetyFlags(IntFlag):
6464
HW_CAM = 1
6565
HW_CAM_LONG = 2
66+
EV = 4
6667

6768

6869
@dataclass

‎opendbc/car/honda/fingerprints.py

+4
Original file line numberDiff line numberDiff line change
@@ -863,6 +863,7 @@
863863
CAR.HONDA_CIVIC_2022: {
864864
(Ecu.eps, 0x18da30f1, None): [
865865
b'39990-T24-T120\x00\x00',
866+
b'39990-T38-A040\x00\x00',
866867
b'39990-T39-A130\x00\x00',
867868
b'39990-T43-J020\x00\x00',
868869
b'39990-T60-J030\x00\x00',
@@ -873,6 +874,7 @@
873874
b'38897-T20-A310\x00\x00',
874875
b'38897-T20-A510\x00\x00',
875876
b'38897-T21-A010\x00\x00',
877+
b'38897-T22-A110\x00\x00',
876878
b'38897-T24-Z120\x00\x00',
877879
b'38897-T60-A110\x00\x00',
878880
],
@@ -890,6 +892,7 @@
890892
b'36161-T20-A070\x00\x00',
891893
b'36161-T20-A080\x00\x00',
892894
b'36161-T24-T070\x00\x00',
895+
b'36161-T38-A060\x00\x00',
893896
b'36161-T47-A050\x00\x00',
894897
b'36161-T47-A070\x00\x00',
895898
b'8S102-T20-AA10\x00\x00',
@@ -899,6 +902,7 @@
899902
(Ecu.vsa, 0x18da28f1, None): [
900903
b'57114-T20-AB40\x00\x00',
901904
b'57114-T24-TB30\x00\x00',
905+
b'57114-T38-AA20\x00\x00',
902906
b'57114-T43-JB30\x00\x00',
903907
b'57114-T60-AA20\x00\x00',
904908
],

‎opendbc/car/hyundai/carcontroller.py

+77-69
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@
33
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
44
from opendbc.car.common.conversions import Conversions as CV
55
from opendbc.car.hyundai import hyundaicanfd, hyundaican
6-
from opendbc.car.hyundai.carstate import CarState
76
from opendbc.car.hyundai.hyundaicanfd import CanBus
87
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
98
from opendbc.car.interfaces import CarControllerBase
@@ -72,6 +71,7 @@ def update(self, CC, CS, now_nanos):
7271
apply_torque = 0
7372

7473
# Hold torque with induced temporary fault when cutting the actuation bit
74+
# FIXME: we don't use this with CAN FD?
7575
torque_fault = CC.latActive and not apply_steer_req
7676

7777
self.apply_torque_last = apply_torque
@@ -81,10 +81,6 @@ def update(self, CC, CS, now_nanos):
8181
stopping = actuators.longControlState == LongCtrlState.stopping
8282
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
8383

84-
# HUD messages
85-
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
86-
hud_control)
87-
8884
can_sends = []
8985

9086
# *** common hyundai stuff ***
@@ -101,70 +97,13 @@ def update(self, CC, CS, now_nanos):
10197
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
10298
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
10399

104-
# CAN-FD platforms
100+
# *** CAN/CAN FD specific ***
105101
if self.CP.flags & HyundaiFlags.CANFD:
106-
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
107-
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
108-
109-
# steering control
110-
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))
111-
112-
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
113-
if self.frame % 5 == 0 and lka_steering:
114-
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
115-
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
116-
117-
# LFA and HDA icons
118-
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
119-
if self.CP.flags & HyundaiFlags.CCNC:
120-
can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP, CC, CS))
121-
else:
122-
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
123-
124-
# blinkers
125-
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
126-
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
127-
128-
if self.CP.openpilotLongitudinalControl:
129-
if lka_steering:
130-
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
131-
elif not self.CP.flags & HyundaiFlags.CCNC:
132-
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
133-
if self.frame % 2 == 0:
134-
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
135-
set_speed_in_units, hud_control, CS.cruise_info if self.CP.flags & HyundaiFlags.CCNC else None))
136-
self.accel_last = accel
137-
else:
138-
# button presses
139-
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
102+
can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, accel,
103+
stopping, hud_control, CS, CC))
140104
else:
141-
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
142-
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
143-
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
144-
left_lane_warning, right_lane_warning))
145-
146-
if not self.CP.openpilotLongitudinalControl:
147-
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
148-
149-
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
150-
# TODO: unclear if this is needed
151-
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
152-
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
153-
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
154-
hud_control, set_speed_in_units, stopping,
155-
CC.cruiseControl.override, use_fca, self.CP))
156-
157-
# 20 Hz LFA MFA message
158-
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
159-
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
160-
161-
# 5 Hz ACC options
162-
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
163-
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
164-
165-
# 2 Hz front radar options
166-
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
167-
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
105+
can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
106+
stopping, hud_control, actuators, CS, CC))
168107

169108
new_actuators = actuators.as_builder()
170109
new_actuators.torque = apply_torque / self.params.STEER_MAX
@@ -174,9 +113,20 @@ def update(self, CC, CS, now_nanos):
174113
self.frame += 1
175114
return new_actuators, can_sends
176115

177-
def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
116+
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC):
178117
can_sends = []
179-
if use_clu11:
118+
119+
# HUD messages
120+
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
121+
hud_control)
122+
123+
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
124+
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
125+
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
126+
left_lane_warning, right_lane_warning))
127+
128+
# Button messages
129+
if not self.CP.openpilotLongitudinalControl:
180130
if CC.cruiseControl.cancel:
181131
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
182132
elif CC.cruiseControl.resume:
@@ -186,7 +136,65 @@ def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11
186136
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
187137
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
188138
self.last_button_frame = self.frame
139+
140+
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
141+
# TODO: unclear if this is needed
142+
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
143+
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
144+
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
145+
hud_control, set_speed_in_units, stopping,
146+
CC.cruiseControl.override, use_fca, self.CP))
147+
148+
# 20 Hz LFA MFA message
149+
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
150+
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
151+
152+
# 5 Hz ACC options
153+
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
154+
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
155+
156+
# 2 Hz front radar options
157+
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
158+
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
159+
160+
return can_sends
161+
162+
def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, accel, stopping, hud_control, CS, CC):
163+
can_sends = []
164+
165+
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
166+
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
167+
168+
# steering control
169+
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))
170+
171+
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
172+
if self.frame % 5 == 0 and lka_steering:
173+
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
174+
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
175+
176+
# LFA and HDA icons
177+
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
178+
if self.CP.flags & HyundaiFlags.CCNC:
179+
can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP, CC, CS))
180+
else:
181+
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
182+
183+
# blinkers
184+
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
185+
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
186+
187+
if self.CP.openpilotLongitudinalControl:
188+
if lka_steering:
189+
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
190+
elif not self.CP.flags & HyundaiFlags.CCNC:
191+
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
192+
if self.frame % 2 == 0:
193+
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
194+
set_speed_in_units, hud_control, CS.cruise_info if self.CP.flags & HyundaiFlags.CCNC else None))
195+
self.accel_last = accel
189196
else:
197+
# button presses
190198
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
191199
# cruise cancel
192200
if CC.cruiseControl.cancel:

‎opendbc/car/hyundai/hyundaicanfd.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -210,7 +210,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
210210
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
211211

212212

213-
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
213+
def create_spas_messages(packer, CAN, left_blink, right_blink):
214214
ret = []
215215

216216
values = {

‎opendbc/car/hyundai/interface.py

-2
Original file line numberDiff line numberDiff line change
@@ -133,8 +133,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
133133
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.EV_GAS.value
134134
elif ret.flags & HyundaiFlags.FCEV:
135135
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
136-
# The safety is not properly implemented
137-
ret.dashcamOnly = True
138136

139137
# Car specific configuration overrides
140138

‎opendbc/car/mazda/fingerprints.py

+2
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,7 @@
1111
(Ecu.engine, 0x7e0, None): [
1212
b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
1313
b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
14+
b'PW67-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
1415
b'PX2C-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
1516
b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
1617
b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -36,6 +37,7 @@
3637
(Ecu.transmission, 0x7e1, None): [
3738
b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
3839
b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
40+
b'PW66-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
3941
b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
4042
b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
4143
b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

‎opendbc/dbc/generator/subaru/_subaru_preglobal_2015.dbc

+1-1
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@ BO_ 208 G_Sensor: 8 XXX
4646
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
4747
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
4848

49-
BO_ 209 Brake_Pedal: 8 XXX
49+
BO_ 209 Brake_Pedal: 4 XXX
5050
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
5151
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
5252

‎opendbc/dbc/tesla_model3_party.dbc

+9-1
Original file line numberDiff line numberDiff line change
@@ -208,7 +208,7 @@ BO_ 297 SCCM_steeringAngleSensor: 8 PARTY
208208
SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] "" epas3s
209209
SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] "" epas3s
210210

211-
BO_ 646 DI_state: 7 ETH
211+
BO_ 646 DI_state: 8 ETH
212212
SG_ DI_summonInPanic : 48|1@1+ (1,0) [0|0] "" X
213213
SG_ DI_rollPreventionState : 45|3@1+ (1,0) [0|0] "" X
214214
SG_ DI_vehicleHoldState : 42|3@1+ (1,0) [0|0] "" X
@@ -223,11 +223,19 @@ BO_ 646 DI_state: 7 ETH
223223
SG_ DI_locStatusCounter : 8|4@1+ (1,0) [0|0] "" X
224224
SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X
225225

226+
BO_ 659 DAS_settings: 8 XXX
227+
SG_ DAS_autopilotEnabled : 38|1@0+ (1,0) [0|1] "" XXX
228+
SG_ DAS_settingCounter : 52|4@1+ (1,0) [0|15] "" XXX
229+
SG_ DAS_settingChecksum : 63|8@0+ (1,0) [0|255] "" XXX
230+
226231
BO_ 785 UI_warning: 7 XXX
227232
SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX
233+
SG_ scrollWheelRightTilt : 21|1@0+ (1,0) [0|1] "" XXX
228234
SG_ leftBlinkerOn : 22|1@0+ (1,0) [0|1] "" XXX
229235
SG_ rightBlinkerOn : 23|1@0+ (1,0) [0|1] "" XXX
230236
SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX
237+
SG_ wiperSettings : 39|8@0+ (1,0) [0|255] "" XXX
238+
SG_ highBeam : 50|1@0+ (1,0) [0|1] "" XXX
231239

232240
BO_ 923 DAS_status: 8 PARTY
233241
SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|255] "" aps

‎opendbc/safety/safety.h

+19-18
Original file line numberDiff line numberDiff line change
@@ -211,19 +211,20 @@ bool safety_rx_hook(const CANPacket_t *to_push) {
211211
bool controls_allowed_prev = controls_allowed;
212212

213213
bool valid = rx_msg_safety_check(to_push, &current_safety_config, current_hooks);
214-
if (valid) {
214+
bool whitelisted = get_addr_check_index(to_push, current_safety_config.rx_checks, current_safety_config.rx_checks_len) != -1;
215+
if (valid && whitelisted) {
215216
current_hooks->rx(to_push);
217+
}
216218

217-
const int bus = GET_BUS(to_push);
218-
const int addr = GET_ADDR(to_push);
219-
220-
// check all tx msgs for liveness on sending bus if specified.
221-
// used to detect a relay malfunction or control messages from disabled ECUs like the radar
222-
for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
223-
const CanMsg *m = &current_safety_config.tx_msgs[i];
224-
if (m->check_relay) {
225-
generic_rx_checks((m->addr == addr) && (m->bus == bus));
226-
}
219+
// the relay malfunction hook runs on all incoming rx messages.
220+
// check all tx msgs for liveness on sending bus if specified.
221+
// used to detect a relay malfunction or control messages from disabled ECUs like the radar
222+
const int bus = GET_BUS(to_push);
223+
const int addr = GET_ADDR(to_push);
224+
for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
225+
const CanMsg *m = &current_safety_config.tx_msgs[i];
226+
if (m->check_relay) {
227+
generic_rx_checks((m->addr == addr) && (m->bus == bus));
227228
}
228229
}
229230

@@ -240,28 +241,28 @@ static bool tx_msg_safety_check(const CANPacket_t *to_send, const CanMsg msg_lis
240241
int bus = GET_BUS(to_send);
241242
int length = GET_LEN(to_send);
242243

243-
bool allowed = false;
244+
bool whitelisted = false;
244245
for (int i = 0; i < len; i++) {
245246
if ((addr == msg_list[i].addr) && (bus == msg_list[i].bus) && (length == msg_list[i].len)) {
246-
allowed = true;
247+
whitelisted = true;
247248
break;
248249
}
249250
}
250-
return allowed;
251+
return whitelisted;
251252
}
252253

253254
bool safety_tx_hook(CANPacket_t *to_send) {
254-
bool allowed = tx_msg_safety_check(to_send, current_safety_config.tx_msgs, current_safety_config.tx_msgs_len);
255+
bool whitelisted = tx_msg_safety_check(to_send, current_safety_config.tx_msgs, current_safety_config.tx_msgs_len);
255256
if ((current_safety_mode == SAFETY_ALLOUTPUT) || (current_safety_mode == SAFETY_ELM327)) {
256-
allowed = true;
257+
whitelisted = true;
257258
}
258259

259260
bool safety_allowed = false;
260-
if (allowed) {
261+
if (whitelisted) {
261262
safety_allowed = current_hooks->tx(to_send);
262263
}
263264

264-
return !relay_malfunction && allowed && safety_allowed;
265+
return !relay_malfunction && whitelisted && safety_allowed;
265266
}
266267

267268
static int get_fwd_bus(int bus_num) {

‎opendbc/safety/safety/safety_defaults.h

+3
Original file line numberDiff line numberDiff line change
@@ -2,9 +2,12 @@
22

33
#include "safety_declarations.h"
44

5+
// GCOV_EXCL_START
6+
// Unreachable by design (doesn't define any rx msgs)
57
void default_rx_hook(const CANPacket_t *to_push) {
68
UNUSED(to_push);
79
}
10+
// GCOV_EXCL_STOP
811

912
// *** no output safety mode ***
1013

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