Honor Panda fault policy before ECU takeover

opendbc_repo/opendbc/car/hyundai/tests/test_startup_diagnostic_faults.py

@@ -0,0 +1,96 @@
+"""Actual Card diagnostic gate before ECU mutation, including the recorded G90 IRQ8."""
+from types import SimpleNamespace
+from typing import cast
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.hyundai.g90_startup import G90Startup, Outcome
+from openpilot.cereal import messaging
+from openpilot.common.params import Params
+from openpilot.starpilot.vehicle_startup import VehicleStartupOwner
+from openpilot.selfdrive.car.card import Car
+from openpilot.starpilot.aol.tests.test_sonata_irq_policy import recorded as sonata_recorded
+
+
+def recorded(identity='GENESIS_G90'):
+  cp = structs.CarParams(brand='hyundai', carFingerprint=identity, flags=0x1001000,
+    openpilotLongitudinalControl=True, pcmCruise=False, alternativeExperience=32,
+    safetyConfigs=[structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.hyundai, safetyParam=0xc04)])
+  if identity == 'KIA_EV9':
+    cp.flags = 2281712129
+    cp.alternativeExperience = 0
+    cp.steerControlType = 'angle'
+    cp.safetyConfigs[0].safetyModel = 'hyundaiCanfd'
+    cp.safetyConfigs[0].safetyParam = 0x5c95
+  return cp
+
+
+def card_for(cp, faults):
+  card = object.__new__(Car)
+  panda = SimpleNamespace(safetyModel=structs.CarParams.SafetyModel.elm327, safetyParam=1,
+    controlsAllowed=False, safetyRxChecksInvalid=False, ignitionLine=True, ignitionCan=False, faults=faults)
+
+  class Source:
+    seen = valid = alive = {'pandaStates': True}
+    logMonoTime = {'pandaStates': 10_000_000_000}
+    recv_time = {'pandaStates': 10.}
+
+    def __init__(self, panda):
+      self.messages = {'pandaStates': [panda]}
+
+    def __getitem__(self, name):
+      return self.messages[name]
+
+    def update(self, timeout):
+      pass
+
+  if faults is not None:
+    message = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=10_000_000_000)
+    message.pandaStates[0] = dict(safetyModel='elm327', safetyParam=1, controlsAllowed=False,
+      safetyRxChecksInvalid=False, ignitionLine=True, ignitionCan=False, faults=faults)
+    panda = message.as_reader().pandaStates[0]
+  card.sm = cast(messaging.SubMaster, Source(panda))
+  card.params = cast(Params, SimpleNamespace(get_bool=lambda name: False))
+  card.vehicle_startup = VehicleStartupOwner(SimpleNamespace(cp=cp))
+  return card
+
+
+@pytest.mark.parametrize('identity', ['GENESIS_G90', 'KIA_EV9', None])
+@pytest.mark.parametrize('faults,allowed', [([], True), (['interruptRateCan2'], False),
+  (['interruptRateCan1'], False), (['relayMalfunction'], False), (['registerDivergent'], False),
+  (['interruptRateCan2', 'relayMalfunction'], False), (None, False)])
+def test_current_fault_admission_cannot_mutate_an_unexempt_vehicle(identity, faults, allowed):
+  cp = recorded(identity) if identity else None
+  card = card_for(cp, faults)
+  with patch('time.monotonic_ns', return_value=10_000_000_000), patch('time.clock_gettime_ns', return_value=10_000_000_000):
+    assert card.startup_diagnostic_admission() is allowed
+
+
+def test_recorded_g90_fault_prevents_ecu_mutation():
+  cp = recorded()
+  before = cp.to_dict()
+  card = card_for(cp, ['interruptRateCan2'])
+  sends = []
+  owner = G90Startup(cp, (lambda **kwargs: [], sends.extend))
+  card.vehicle_startup.owner = owner
+  with patch('time.monotonic_ns', return_value=10_000_000_000), patch('time.clock_gettime_ns', return_value=10_000_000_000):
+    assert not card.startup_diagnostic_admission()
+    fallback = owner.prepare(admission=card.startup_diagnostic_admission)
+  assert owner.outcome is Outcome.STOCK_UNTOUCHED
+  assert not owner.session_attempted and not owner.disable_attempted and not sends
+  assert not fallback.openpilotLongitudinalControl and fallback.pcmCruise
+  assert cp.to_dict() == before
+  assert [str(value) for value in card.sm['pandaStates'][0].faults] == ['interruptRateCan2']
+
+
+@pytest.mark.parametrize('mixed', [False, True])
+def test_existing_exact_sonata_diagnostic_classification_is_preserved(mixed):
+  cp = sonata_recorded()
+  before = cp.to_dict()
+  faults = ['interruptRateCan2'] + (['relayMalfunction'] if mixed else [])
+  card = card_for(cp, faults)
+  with patch('time.monotonic_ns', return_value=10_000_000_000), patch('time.clock_gettime_ns', return_value=10_000_000_000):
+    assert card.startup_diagnostic_admission() is (not mixed)
+  assert cp.to_dict() == before and [str(value) for value in card.sm['pandaStates'][0].faults] == faults

openpilot/selfdrive/car/card.py

@@ -1228,6 +1228,7 @@ class Car:
                        panda_current=panda_current)
 
   def startup_diagnostic_admission(self):
+    from openpilot.starpilot.aol.panda_faults import blocking_fault_list
     self.sm.update(0)
     now, boot = time.monotonic_ns(), time.clock_gettime_ns(time.CLOCK_BOOTTIME)
     sm = self.sm
@@ -1247,7 +1248,8 @@ class Car:
                 0 < stamp <= boot and boot - stamp <= 300_000_000 and
                 0 < receipt <= now and now - receipt <= 300_000_000 and len(pandas) == count and
                 all(ps.safetyModel == structs.CarParams.SafetyModel.elm327 and ps.safetyParam == 1 and
-                    not ps.controlsAllowed and not ps.safetyRxChecksInvalid for ps in pandas) and
+                    not ps.controlsAllowed and not ps.safetyRxChecksInvalid and
+                    not blocking_fault_list(getattr(ps, 'faults', None), getattr(owner, 'cp', None)) for ps in pandas) and
                 all(ps.ignitionLine or ps.ignitionCan for ps in ignition_pandas))
 
   def startup_panda_configured(self, *, inactive_keepalive=False):

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "0f60df516139cd3d3de7afc26989a738ea49e9525f48ce8a4089784a9abd64e0", "schema_version": 1}
+{"protected_inventory_sha256": "8795c3f74d210f6cde5b0bca56d488ffe2eee20dd7f56ea29593d66f0a7ee1c3", "schema_version": 1}