Support stock Prius retrofit AOL

openpilot/starpilot/car/toyota/aol.py

@@ -85,7 +85,20 @@ def matrix_stock_qualified(cp, *, marked_only=False):
   return config.safetyModel == structs.CarParams.SafetyModel.toyota and config.safetyParam == 856
 
 
+def stock_prius_retrofit_qualified(cp, *, marked_only=False):
+  if (cp is None or cp.brand != 'toyota' or cp.carFingerprint != CAR.TOYOTA_PRIUS_RETROFIT or
+      cp.notCar or cp.passive or cp.dashcamOnly or cp.secOcRequired or not cp.pcmCruise or
+      cp.openpilotLongitudinalControl or cp.steerControlType != structs.CarParams.SteerControlType.torque or
+      len(cp.safetyConfigs) != 1 or cp.flags & ~int(ToyotaFlags.ZSS) != int(ToyotaFlags.HYBRID) or
+      cp.alternativeExperience not in ((32,) if marked_only else (0, 32))):
+    return False
+  config = cp.safetyConfigs[0]
+  return config.safetyModel == structs.CarParams.SafetyModel.toyota and config.safetyParam == 585
+
+
 def qualified(cp, *, marked_only=False):
+  if stock_prius_retrofit_qualified(cp, marked_only=marked_only):
+    return True
   if matrix_stock_qualified(cp, marked_only=marked_only):
     return True
   if angle_qualified(cp, marked_only=marked_only):

openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py

@@ -0,0 +1,69 @@
+import pytest
+import struct
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import CAR, ToyotaFlags
+from openpilot.starpilot.car.toyota.aol import policy_for, qualified, stock_prius_retrofit_qualified
+
+
+def factory(*, alpha=False, zss=False):
+  fp = gen_empty_fingerprint()
+  if zss:
+    fp[0][0x23] = 8
+  fw = [structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x7A1,
+                              fwVersion=b'8965B47070' + bytes(6), brand='toyota', bus=0)]
+  return CarInterface.get_params(CAR.TOYOTA_PRIUS_RETROFIT, fp, fw, alpha, False, False)
+
+
+@pytest.mark.parametrize('alpha', (False, True))
+@pytest.mark.parametrize('zss', (False, True))
+def test_manual_stock_prius_retrofit_factory_and_policy(alpha, zss):
+  cp = factory(alpha=alpha, zss=zss)
+  before = cp.to_dict()
+  assert not cp.openpilotLongitudinalControl and cp.pcmCruise and not cp.dashcamOnly
+  assert cp.safetyConfigs[0].safetyParam == 585
+  assert cp.flags == int(ToyotaFlags.HYBRID) | (int(ToyotaFlags.ZSS) if zss else 0)
+  assert cp.steerActuatorDelay == struct.unpack('<f', struct.pack('<f', .14))[0]
+  assert cp.lateralTuning.torque.steeringAngleDeadzoneDeg == struct.unpack('<f', struct.pack('<f', .3))[0]
+  assert stock_prius_retrofit_qualified(cp) and qualified(cp)
+  assert policy_for(cp).runtime_supported
+  assert cp.to_dict() == before, 'Admission must not change any existing tune or configuration'
+  assert not stock_prius_retrofit_qualified(cp, marked_only=True)
+  cp.alternativeExperience = 32
+  assert stock_prius_retrofit_qualified(cp, marked_only=True) and qualified(cp, marked_only=True)
+
+
+@pytest.mark.parametrize('field,value', (
+  ('notCar', True), ('passive', True), ('dashcamOnly', True), ('secOcRequired', True),
+  ('pcmCruise', False), ('openpilotLongitudinalControl', True), ('flags', 0),
+  ('flags', int(ToyotaFlags.HYBRID | ToyotaFlags.LONG_FILTER)),
+  ('flags', int(ToyotaFlags.HYBRID | ToyotaFlags.GAS_INTERCEPTOR)),
+  ('flags', int(ToyotaFlags.HYBRID | ToyotaFlags.AUTO_BRAKE_HOLD)),
+  ('steerControlType', structs.CarParams.SteerControlType.angle),
+  ('carFingerprint', CAR.TOYOTA_PRIUS), ('carFingerprint', CAR.TOYOTA_MATRIX_RETROFIT),
+  ('brand', 'gm'), ('alternativeExperience', 128), ('alternativeExperience', 160),
+))
+def test_stock_prius_retrofit_admission_refuses_foreign_configuration(field, value):
+  cp = factory()
+  setattr(cp, field, value)
+  assert not stock_prius_retrofit_qualified(cp)
+
+
+@pytest.mark.parametrize('word', (73, 584, 586, 4169, 4681, 0x8042, 0x8242, 0xC042, 0xC242))
+def test_stock_prius_retrofit_rejects_other_native_owners(word):
+  cp = factory()
+  cp.safetyConfigs[0].safetyParam = word
+  assert not stock_prius_retrofit_qualified(cp)
+
+
+def test_stock_prius_retrofit_refuses_invalid_native_inventory():
+  cp = factory()
+  cp.safetyConfigs = []
+  assert not stock_prius_retrofit_qualified(cp)
+  cp = factory()
+  cp.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0]]
+  assert not stock_prius_retrofit_qualified(cp)
+  cp = factory()
+  cp.safetyConfigs[0].safetyModel = structs.CarParams.SafetyModel.gm
+  assert not stock_prius_retrofit_qualified(cp)
+  assert not stock_prius_retrofit_qualified(None)

openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py

@@ -0,0 +1,74 @@
+"""Manual EPS73 Prius through the current factory, callers, C++ peer and native.
+
+Manual selection, acquired firmware, CAN/perception and USB are input fixtures.
+These tests do not establish physical vehicle or scheduling acceptance.
+"""
+import struct
+
+import pytest
+from opendbc.car import structs
+from opendbc.car.toyota.values import CAR, ToyotaFlags
+from openpilot.starpilot.car.toyota.tests import test_rav4h_caller_native as helpers
+from openpilot.starpilot.car.toyota.tests.test_toyota_cpp_transport import host_heartbeat_bridge as host_heartbeat_bridge
+
+source_matched_native = helpers.source_matched_native
+daemon_gc_scope = helpers.daemon_gc_scope
+
+
+@pytest.mark.parametrize('scenario', ('startup-main', 'physical', 'saved-long-off', 'ordinary-cruise'))
+def test_actual_prius_retrofit_stock_lifecycle(scenario, host_heartbeat_bridge):
+  def physical(packer, **fields):
+    fields['sdsu'] = None
+    if scenario == 'startup-main':
+      fields['cruise'] = False
+    frames = helpers.physical(packer, **fields)
+    frames.append(packer.make_can_msg('ACC_CONTROL', 0, {}))
+    assert len(next(data for address, data, bus in frames if address == 0x262 and bus == 0)) == 8
+    assert len(next(data for address, data, bus in frames if address == 0x1D3 and bus == 0)) == 8
+    return frames
+
+  def on_state(tick, host, cs):
+    cp = host.CP
+    assert cp.carFingerprint == CAR.TOYOTA_PRIUS_RETROFIT
+    assert cp.safetyConfigs[0].safetyParam == 585 and cp.flags == int(ToyotaFlags.HYBRID)
+    assert cp.pcmCruise and not cp.openpilotLongitudinalControl
+    assert cp.steerActuatorDelay == struct.unpack('<f', struct.pack('<f', .14))[0]
+    assert cp.lateralTuning.torque.steeringAngleDeadzoneDeg == struct.unpack('<f', struct.pack('<f', .3))[0]
+
+  def observe(tick, host, cs, cc, safety, native):
+    assert not cc.longActive and not safety.aol_get_permission_mask() & 2
+    if scenario == 'physical':
+      if tick == 265:
+        assert cs.gasPressed and not cs.brakePressed
+        assert cc.latActive and safety.aol_get_permission_mask() == 1
+      if tick == 355:
+        assert cs.brakePressed and cs.standstill
+        assert cc.latActive and safety.aol_get_permission_mask() == 1
+      if tick == 415:
+        assert cs.gearShifter == structs.CarState.GearShifter.neutral
+        assert not cc.latActive and not cc.longActive and safety.aol_get_permission_mask() == 0
+      if tick == 425:
+        assert cs.gearShifter == structs.CarState.GearShifter.reverse
+        assert not cc.latActive and not cc.longActive and safety.aol_get_permission_mask() == 0
+      if tick == 505:
+        assert cs.gearShifter == structs.CarState.GearShifter.drive
+        assert cc.latActive and safety.aol_get_permission_mask() == 1
+    if scenario == 'startup-main' and tick >= 220:
+      assert cs.cruiseState.available and not cs.cruiseState.enabled
+      assert host.aol_card_intent.allowed_latch and cc.latActive
+      assert safety.aol_get_permission_mask() == 1
+    if scenario == 'ordinary-cruise' and tick >= 220:
+      assert not host.aol_card_intent.settings.enabled
+      assert not host.aol_card_intent.allowed_latch
+      assert cs.cruiseState.enabled and cc.enabled and cc.latActive
+    if scenario == 'saved-long-off' and tick >= 310:
+      assert not host.CP.openpilotLongitudinalControl and not cc.longActive
+      assert host.CP.safetyConfigs[0].safetyParam == 585
+
+  fw = [structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x7A1,
+                              fwVersion=b'8965B47070' + bytes(6), brand='toyota', bus=0)]
+  actual_scenario = 'physical' if scenario == 'physical' else 'off' if scenario == 'saved-long-off' else 'nominal'
+  helpers.run_case(True, actual_scenario, candidate=CAR.TOYOTA_PRIUS_RETROFIT,
+                   bridge=host_heartbeat_bridge, input_clock=True, aol=scenario != 'ordinary-cruise',
+                   sdsu_words=(585, 585), firmware_override=fw, fingerprint_frames=[], manual_selection=True,
+                   physical_frames=physical, on_state=on_state, on_sample=observe)

openpilot/starpilot/car/toyota/tests/test_rav4h_caller_native.py

@@ -248,8 +248,13 @@ def run_case(stock, scenario='nominal', *, aol=True, candidate=CAR.TOYOTA_RAV4H,
       params.put('AolBrakePauseSpeedMps', float(brake_pause_mps), block=True)
     fw = firmware(candidate) if firmware_override is None else firmware_override
     if manual_selection:
-      assert candidate == CAR.TOYOTA_MATRIX_RETROFIT and stock and not fw
-      assert firmware_override == [] and fingerprint_frames == []
+      assert stock and fingerprint_frames == []
+      if candidate == CAR.TOYOTA_MATRIX_RETROFIT:
+        assert not fw and firmware_override == []
+      else:
+        assert candidate == CAR.TOYOTA_PRIUS_RETROFIT and len(fw) == 1
+        assert fw[0].ecu == structs.CarParams.Ecu.eps and fw[0].address == 0x7A1 and fw[0].bus == 0
+        assert bytes(fw[0].fwVersion) == b'8965B47070' + bytes(6)
     else:
       exact, found = match_fw_to_car(fw, '', log=False)
       assert exact and found == {candidate}

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "4e7069cd3da0a1f7965dac62ce06f6bfc8711c9ca7ae71c48488a1b1ad2be14d", "schema_version": 1}
+{"protected_inventory_sha256": "b62ac613ee4e66f5782643aff34ead6342241e888d716d437c4e70f75c09d6b3", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -24,6 +24,8 @@ from tools.ci import lifecycle_shards, vehicle_pytest
 # Representative production callers plus their source/native refusal cases.
 # The emitted selected_test_ids record exact parametrized configurations.
 AOL_LIFECYCLE_TARGETS = (
+  'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py',
+  'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py',
   'openpilot/starpilot/aol/tests/test_crossmake_native_admission.py',
   'openpilot/starpilot/aol/tests/test_hkg_source_policy_cache.py',
   'openpilot/starpilot/aol/tests/test_hkg_native_admission.py',
@@ -206,6 +208,8 @@ DEBUG_SAFETY_CLASS_TARGETS = {
 
 
 RELEASE_TARGETS = (
+  'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py',
+  'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py',
   'opendbc_repo/opendbc/car/hyundai/tests/test_long_cp_copy.py',
   'opendbc_repo/opendbc/car/ford/tests/test_mache_display_handoff.py',
   'opendbc_repo/opendbc/safety/tests/test_ford_mache_display.py',