Merge current Dom checks for legacy Prius receiver

opendbc_repo/opendbc/safety/tests/test_hkg_stop_permission_families.py

@@ -0,0 +1,125 @@
+"""Native stop permission boundaries across HKG policy families."""
+import pytest
+
+from opendbc.car.hyundai.canfd_angle_aol import ANGLE_AOL_WORDS
+from opendbc.car.hyundai.canfd_stock_aol import STOCK_AOL_WORDS
+from opendbc.safety.tests import test_hyundai_classic_long_aol as classiclong
+from opendbc.safety.tests import test_hyundai_hda2_long_aol as canfdlong
+from opendbc.safety.tests import test_hyundai_shared_canfd_stock_aol as canfdstock
+from opendbc.safety.tests import test_hyundai_blended_alpha as blendedlong
+from opendbc.safety.tests import test_hyundai_stock_angle_aol as stockangle
+
+
+@pytest.mark.parametrize('word', [0x404, 0xC04])
+def test_classic_long_keeps_native_lateral_through_a_stopped_long_withdrawal(word):
+  case = classiclong.TestHyundaiClassicLongAol(methodName='runTest')
+  case.setUp()
+  try:
+    case.reset(word)
+    if case.release:
+      case.safety.set_controls_allowed(True)
+      assert case.request(3) == 0
+      return
+    for _ in range(6):
+      case.feed(word)
+    case.feed(word, button=2)
+    case.feed(word)
+    assert not case.safety.get_vehicle_moving()
+    assert case.request(3) == 3
+    case.safety.set_controls_allowed(False)
+    assert case.request(1) == 1
+    case.safety.set_aol_test_heartbeat(False)
+    assert case.request(1) == 0
+  finally:
+    case.tearDown()
+
+
+@pytest.mark.parametrize('word', [0x815, 0x895])
+def test_canfd_torque_long_keeps_native_lateral_at_a_stop(word):
+  case = canfdlong.TestHyundaiHda2LongAol(methodName='runTest')
+  case.setUp()
+  try:
+    case.mode(word)
+    if case.release:
+      case.safety.set_aol_test_heartbeat(True)
+      case.safety.set_controls_allowed(True)
+      case.safety.aol_set_host_request(3)
+      assert case.safety.aol_get_permission_mask() == 0
+      return
+    case.healthy()
+    case.arm()
+    assert not case.safety.get_vehicle_moving()
+    case.safety.set_controls_allowed(True)
+    case.safety.aol_set_host_request(3)
+    assert case.safety.aol_get_permission_mask() == 3
+    case.safety.set_controls_allowed(False)
+    case.safety.aol_set_host_request(1)
+    assert case.safety.aol_get_permission_mask() == 1
+    case.safety.set_aol_test_heartbeat(False)
+    assert case.safety.aol_get_permission_mask() == 0
+  finally:
+    case.tearDown()
+
+
+def test_every_shared_canfd_stock_word_keeps_stopped_lateral_independent():
+  case = canfdstock.TestHyundaiSharedCanfdStockAol(methodName='runTest')
+  case.setUp()
+  for word in sorted(STOCK_AOL_WORDS):
+    case.mode(word)
+    case.healthy(word)
+    case.gesture(word)
+    assert not case.safety.get_vehicle_moving()
+    case.safety.set_controls_allowed(True)
+    assert case.safety.aol_get_permission_mask() == 1
+    case.safety.set_controls_allowed(False)
+    assert case.safety.aol_get_permission_mask() == 1
+    case.safety.set_aol_test_heartbeat(False)
+    assert case.safety.aol_get_permission_mask() == 0
+
+
+@pytest.mark.parametrize('word', [0x2004, 0x2014])
+def test_blended_long_keeps_stopped_lateral_without_long_authority(word):
+  case = blendedlong.TestHyundaiBlendedAlphaAol(methodName='runTest')
+  case.setUp()
+  try:
+    case.reset(word)
+    if case.release:
+      case.safety.set_controls_allowed(True)
+      assert case.request(3) == 0
+      return
+    for _ in range(8):
+      case.feed()
+    case.feed(lda=True)
+    case.feed()
+    assert not case.safety.get_vehicle_moving()
+    assert case.request(1) == 1
+    case.safety.set_controls_allowed(True)
+    assert case.request(3) == 3
+    case.safety.set_controls_allowed(False)
+    assert case.request(1) == 1
+    case.safety.set_aol_test_heartbeat(False)
+    assert case.request(1) == 0
+  finally:
+    case.tearDown()
+
+
+@pytest.mark.parametrize('word', sorted(ANGLE_AOL_WORDS))
+def test_each_stock_angle_word_pauses_native_lateral_at_stop_and_recovers(word):
+  case = stockangle.TestHyundaiStockAngleAol(methodName='runTest')
+  case.setUp()
+  case.mode(word)
+  case.sources(word)
+  case.gesture(word)
+  assert case.safety.get_vehicle_moving()
+  assert case.safety.aol_get_permission_mask() == 1
+  case.safety.set_controls_allowed(True)
+  pt = 1 if word & 16 else 0
+  speeds = ('WHL_SpdFLVal', 'WHL_SpdFRVal', 'WHL_SpdRLVal', 'WHL_SpdRRVal')
+  case.rx('WHEEL_SPEEDS', pt, dict(COUNTER=7, **dict.fromkeys(speeds, 0)))
+  assert not case.safety.get_vehicle_moving()
+  assert case.safety.aol_get_permission_mask() == 0
+  case.rx('WHEEL_SPEEDS', pt, dict(COUNTER=8, **dict.fromkeys(speeds, 36)))
+  assert case.safety.get_vehicle_moving()
+  assert case.safety.aol_get_permission_mask() == 1
+  case.safety.set_aol_test_heartbeat(False)
+  assert case.safety.aol_get_permission_mask() == 0

openpilot/starpilot/aol/tests/test_angle_stop_native_feedback.py

@@ -11,10 +11,11 @@ from openpilot.starpilot.aol.runtime import current_native
 from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
 
 
+@pytest.mark.parametrize('engaged', [pytest.param(False, id='aol_only'), pytest.param(True, id='stock_cruise_engaged')])
 @pytest.mark.parametrize('identity', sorted(MODELS))
 @pytest.mark.parametrize('signal', [False, True])
 @pytest.mark.parametrize('brake', [False, True])
-def test_native_stop_restriction_withdraws_steering_without_disarming_driver_intent(identity, signal, brake):
+def test_native_stop_restriction_withdraws_steering_without_disarming_driver_intent(identity, signal, brake, engaged):
   case = fixture.IoniqAvailabilityTests(methodName='runTest')
   with ExitStack() as cleanup:
     cleanup.callback(case.doCleanups)
@@ -35,7 +36,8 @@ def test_native_stop_restriction_withdraws_steering_without_disarming_driver_int
       assert sd.aol_settings.pause_brake_mps == 0.0
       rolling = fixture.car_state()
       rolling.vEgo = rolling.vEgoRaw = 1.0
-      axis, _, command = step(2, observed_state=rolling, panda_controls_allowed=False)
+      rolling.cruiseState.enabled = engaged
+      axis, _, command = step(2, observed_state=rolling, panda_controls_allowed=engaged)
       assert axis.lateralActive and command.latActive
       assert receive(10_020_000_000, state=rolling, axis=sd.pm.messages['aolAxisState'],
                      event=sd.pm.messages['onroadEvents'])
@@ -44,9 +46,10 @@ def test_native_stop_restriction_withdraws_steering_without_disarming_driver_int
         stopped.vEgo = stopped.vEgoRaw = 0.0
         stopped.standstill = True
         stopped.leftBlinker = signal
+        stopped.cruiseState.enabled = engaged
         assert temporary_restriction(card.CP, stopped)
         axis, _, command = step(tick, observed_state=stopped, allowed=False, native_request_lat=True,
-                                native_request_long=False, panda_controls_allowed=False)
+                                native_request_long=False, panda_controls_allowed=engaged and not brake)
         now = 10_000_000_000 + tick * 10_000_000
         native = current_native(sd.sm, sd.CP, now_ns=now, axis_session_id=sd.aol_session_id)
         assert native is not None and native.requestedLateral and not native.lateralAllowed
@@ -57,7 +60,7 @@ def test_native_stop_restriction_withdraws_steering_without_disarming_driver_int
                        event=sd.pm.messages['onroadEvents']), card.aol_card_intent.latch_clear_reason
         assert card.aol_card_intent.allowed_latch and not sd.aol_authority_lost
       axis, _, command = step(37, observed_state=rolling, allowed=True, native_request_lat=True,
-                              native_request_long=False, panda_controls_allowed=False)
+                              native_request_long=False, panda_controls_allowed=engaged)
       assert axis.lateralActive and command.latActive
       assert not axis.longitudinalActive and not command.longActive
       assert receive(10_370_000_000, state=rolling, axis=sd.pm.messages['aolAxisState'],

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "02ba6e9cfbe0e62152e0978ace0f958926c456fa71eacee61b6beccf7c40a448", "schema_version": 1}
+{"protected_inventory_sha256": "f4011f161b5ece5eff29f84d1c4887d94e4b4b42fc80aab10acb56bcb05b9843", "schema_version": 1}