Reuse exact native qualification across all vehicle makes

openpilot/starpilot/aol/tests/test_crossmake_native_admission.py

@@ -0,0 +1,220 @@
+"""All registered makes share exact-packet structural reuse and live vetoes."""
+from dataclasses import replace
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.car_helpers import interfaces
+from openpilot.cereal import messaging
+from openpilot.starpilot.aol import runtime, transport_pause, vehicle
+from openpilot.starpilot.aol.tests.test_native_observation_admission import receive
+from openpilot.starpilot.aol.tests.test_panda_inventory import NOW, bound_state, sm_for
+from openpilot.starpilot.aol.tests.test_runtime import car_state
+
+BRANDS = ('honda', 'hyundai', 'gm', 'ford', 'mazda', 'tesla', 'toyota', 'subaru', 'nissan', 'chrysler', 'rivian', 'volkswagen')
+
+
+def profile(brand):
+  if brand in ('honda', 'hyundai', 'gm', 'ford', 'mazda', 'tesla', 'toyota'):
+    from openpilot.starpilot.aol.tests.test_vehicle_policy_cache import profile as factory
+    cp = factory(brand)
+  elif brand == 'chrysler':
+    from opendbc.car.chrysler.aol_contract import CHRYSLER_AOL_CARS
+    from openpilot.starpilot.aol.tests.test_chrysler import cp_for
+    cp = cp_for(sorted(CHRYSLER_AOL_CARS)[0])
+  elif brand == 'volkswagen':
+    from opendbc.car.volkswagen.values import CAR
+    from openpilot.starpilot.aol.tests.test_mqb_topology_contract import params
+    cp = params(CAR.VOLKSWAGEN_GOLF_MK7, False, False, 4, False)
+  else:
+    fp = gen_empty_fingerprint()
+    if brand == 'subaru':
+      from opendbc.car.subaru.values import CAR
+      identity = CAR.SUBARU_OUTBACK_2023
+    elif brand == 'nissan':
+      from opendbc.car.nissan.values import CAR
+      identity = CAR.NISSAN_LEAF
+    else:
+      from opendbc.car.rivian.values import CAR
+      identity = CAR.RIVIAN_R1
+      fp[0][0x321] = 7
+    cp = interfaces[identity].get_params(identity, fp, [], False, False, False)
+  policy = vehicle.policy_for(cp)
+  assert policy.intent_supported, brand
+  config = (vehicle.hyundai.aol_safety_config(cp) if brand == 'hyundai' else
+            vehicle.ford.aol_safety_config(cp) if brand == 'ford' else
+            vehicle.volkswagen.aol_safety_config(cp) if brand == 'volkswagen' else cp.safetyConfigs[-1])
+  assert config is not None
+  config.safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience |= policy.alternative_experience_addition
+  assert vehicle.native_matches_cp(cp, int(config.safetyModel.raw), int(config.safetyParam)), brand
+  return cp
+
+
+@pytest.fixture(params=BRANDS)
+def cp(request):
+  return profile(request.param)
+
+
+def full_oracle(sm, cp, *, now=NOW, session=None):
+  actual = runtime.current_native(sm, cp, now_ns=now, axis_session_id=session)
+  with patch.object(runtime, 'native_admission_key', return_value=None):
+    expected = runtime.current_native(sm, cp, now_ns=now, axis_session_id=session)
+  assert actual == expected
+  return actual
+
+
+def test_matrix_covers_every_registered_make():
+  assert set(BRANDS) == set(vehicle._PORTS)
+
+
+def test_one_validation_per_original_packet_and_owner_isolation(cp):
+  before = cp.to_dict()
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  other = sm_for(cp, state)
+  with patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as check:
+    for tick in range(10):
+      assert runtime.current_native(sm, cp, now_ns=NOW + tick * 1_000_000) == state
+    assert check.call_count == 1
+    assert runtime.current_native(other, cp, now_ns=NOW) == state
+    assert check.call_count == 2
+    updated = bound_state(cp, now=NOW + 10_000_000)
+    receive(sm, updated)
+    assert runtime.current_native(sm, cp, now_ns=NOW + 10_000_000) == updated
+    assert check.call_count == 3
+  assert cp.to_dict() == before
+
+
+@pytest.mark.parametrize('field', ('brand', 'carFingerprint', 'flags', 'passive', 'notCar', 'dashcamOnly',
+                                  'pcmCruise', 'openpilotLongitudinalControl', 'alternativeExperience',
+                                  'safetyParam', 'safetyModel', 'safetyConfigs', 'carVin'))
+def test_hot_configuration_mutations_match_full_validation(cp, field):
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  assert runtime.current_native(sm, cp, now_ns=NOW) == state
+  key = vehicle.native_admission_key(cp)
+  if field == 'safetyParam':
+    cp.safetyConfigs[-1].safetyParam ^= 1
+  elif field == 'safetyModel':
+    cp.safetyConfigs[-1].safetyModel = 'noOutput'
+  elif field == 'safetyConfigs':
+    cp.safetyConfigs = []
+  elif field in ('passive', 'notCar', 'dashcamOnly', 'pcmCruise', 'openpilotLongitudinalControl'):
+    setattr(cp, field, not getattr(cp, field))
+  else:
+    setattr(cp, field, {'brand': 'unregistered', 'carFingerprint': 'unregistered', 'flags': int(cp.flags) ^ 1,
+                        'alternativeExperience': int(cp.alternativeExperience) ^ 1, 'carVin': 'MUTATED'}[field])
+  assert vehicle.native_admission_key(cp) != key
+  with patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as check:
+    full_oracle(sm, cp)
+    assert check.call_count == 2
+
+
+@pytest.mark.parametrize('change', ('rx', 'heartbeat', 'fault', 'inventory', 'serial', 'lateral', 'longitudinal',
+                                   'session', 'expired', 'future', 'invalid', 'not_alive', 'not_seen'))
+def test_every_live_change_matches_full_validation(cp, change):
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  assert runtime.current_native(sm, cp, now_ns=NOW) == state
+  now, session = NOW, None
+  if change in ('rx', 'heartbeat', 'fault', 'inventory'):
+    field, value = {'rx': ('safetyRxChecksInvalid', True), 'heartbeat': ('heartbeatLost', True),
+                    'fault': ('faults', 1), 'inventory': ('safetyParam', state.pandaInventory[-1].safetyParam ^ 1)}[change]
+    slots = (*state.pandaInventory[:-1], replace(state.pandaInventory[-1], **{field: value}))
+    receive(sm, replace(state, pandaInventory=slots))
+  elif change in ('serial', 'lateral', 'longitudinal'):
+    field, value = {'serial': ('pandaSerial', 'other'), 'lateral': ('lateralAllowed', False),
+                    'longitudinal': ('longitudinalAllowed', False)}[change]
+    receive(sm, replace(state, **{field: value}))
+  elif change == 'session':
+    session = 'other'
+  elif change == 'expired':
+    now = state.validUntilMonoTime + 1
+  elif change == 'future':
+    now -= 1
+  else:
+    getattr(sm, {'invalid': 'valid', 'not_alive': 'alive', 'not_seen': 'seen'}[change])['aolSafetyWire'] = False
+  result = full_oracle(sm, cp, now=now, session=session)
+  if change in ('lateral', 'longitudinal'):
+    assert result is not None and not getattr(result, 'lateralAllowed' if change == 'lateral' else 'longitudinalAllowed')
+  else:
+    assert result is None
+
+
+def test_latest_panda_veto_is_checked_after_structural_hit(cp):
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  assert transport_pause.healthy_transport(sm, cp, car_state(), state.axisSessionId, NOW)
+  message = messaging.new_message('pandaStates', len(cp.safetyConfigs), valid=True, logMonoTime=state.sourcePandaStatesMonoTime)
+  for index, panda in enumerate(sm['pandaStates']):
+    message.pandaStates[index] = panda
+  message.pandaStates[-1].heartbeatLost = True
+  sm.update_msgs(NOW / 1e9, [message.as_reader()])
+  assert runtime.current_native(sm, cp, now_ns=NOW) == state
+  assert not transport_pause.healthy_transport(sm, cp, car_state(), state.axisSessionId, NOW)
+
+
+def test_same_builder_mutation_during_miss_cannot_bind_old_key(cp):
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  original = runtime.native_inventory_matches_cp
+
+  def mutate(native, params):
+    result = original(native, params)
+    params.carVin = 'CHANGED-DURING-MISS'
+    return result
+
+  with patch.object(runtime, 'native_inventory_matches_cp', side_effect=mutate):
+    assert runtime.current_native(sm, cp, now_ns=NOW) == state
+  assert sm._aol_native_admission is None
+  full_oracle(sm, cp)
+
+
+def test_oversize_cp_bypasses_reuse_without_changing_admission(cp):
+  cp.carVin = 'X' * (vehicle._POLICY_CACHE_MAX_BYTES + 1)
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  assert vehicle.native_admission_key(cp) is None
+  with patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as check:
+    assert runtime.current_native(sm, cp, now_ns=NOW) == state
+    assert runtime.current_native(sm, cp, now_ns=NOW) == state
+    assert check.call_count == 2
+
+
+def test_snapshot_failure_falls_back_to_full_validation(cp):
+  state = bound_state(cp)
+  sm = sm_for(cp, state)
+  assert runtime.current_native(sm, cp, now_ns=NOW) == state
+  with patch.object(vehicle, '_car_params_bytes', return_value=None), \
+       patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as check:
+    assert runtime.current_native(sm, cp, now_ns=NOW) == state
+    assert runtime.current_native(sm, cp, now_ns=NOW) == state
+    assert check.call_count == 2
+  assert sm._aol_native_admission is None
+
+
+@pytest.mark.parametrize('legacy', (False, True))
+def test_legacy_or_slotted_owner_keeps_full_validation(cp, legacy):
+  state = bound_state(cp)
+  if legacy:
+    state = replace(state, sourcePandaStatesMonoTime=0, pandaInventory=())
+  original = sm_for(cp, state)
+
+  class SlottedOwner:
+    __slots__ = ('valid', 'alive', 'seen', 'logMonoTime')
+
+    def __init__(self):
+      for name in self.__slots__:
+        setattr(self, name, getattr(original, name))
+
+    def __getitem__(self, name):
+      return original[name]
+
+  sm = original if legacy else SlottedOwner()
+  expected = state if not legacy or len(cp.safetyConfigs) == 1 else None
+  with patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as check:
+    assert runtime.current_native(sm, cp, now_ns=NOW) == expected
+    assert runtime.current_native(sm, cp, now_ns=NOW) == expected
+    assert check.call_count == 2

openpilot/starpilot/aol/tests/test_native_observation_admission.py

@@ -211,8 +211,8 @@ def test_other_admitted_profiles_use_only_scoped_reuse(profile_name):
   with mock.patch.object(runtime, 'native_matches_cp', wraps=runtime.native_matches_cp) as profile:
     assert current(sm, cp) == state
     assert current(sm, cp) == state
-    assert profile.call_count == (1 if profile_name == 'ev6_two_pandas' else 2)
-  assert (sm._aol_native_admission is not None) == (profile_name == 'ev6_two_pandas')
+    assert profile.call_count == 1
+  assert sm._aol_native_admission is not None
 
 
 def test_rejected_observation_then_valid_recovery_cannot_reuse_a_failed_verdict():

openpilot/starpilot/aol/vehicle.py

@@ -104,12 +104,17 @@ def native_matches_cp(CP, model: int, param: int) -> bool:
 def native_admission_key(CP):
   """Bind structural reuse to the complete mutable vehicle configuration."""
   try:
-    if CP.brand == 'hyundai' and CP.carFingerprint in (hyundai.HyundaiCAR.KIA_EV6, hyundai.HyundaiCAR.KIA_EV9):
-      # Cache only structural admission of one exact wire packet. Full CP bytes
-      # invalidate every mutable field; unknown types keep full validation.
+    if CP.brand == 'hyundai':
+      existing = hyundai.native_admission_key(CP)
+      if existing is not None:
+        return existing
+    if CP.brand in _PORTS:
+      # Reuse only one exact packet's structural admission, for every owner.
+      # Full CP bytes invalidate every mutable field; live gates stay per call.
       key = _car_params_bytes(CP)
-      return ('hkg-full-cp', key) if key is not None else None
-    return hyundai.native_admission_key(CP) if CP.brand == 'hyundai' else None
+      if key is not None:
+        return ('vehicle-full-cp', key)
+    return None
   except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
     return None
 

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "9ac218d1b06065b7f3c3d769ab507101e89aeedd5d90b68de21f463b476096f3", "schema_version": 1}
+{"protected_inventory_sha256": "4e7069cd3da0a1f7965dac62ce06f6bfc8711c9ca7ae71c48488a1b1ad2be14d", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -24,6 +24,7 @@ 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/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',
   'openpilot/starpilot/aol/tests/test_native_observation_admission.py',