Restore MQB fixed and second-Panda lateral ownership

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -15,6 +15,9 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    CAN = CanBus(fingerprint=fingerprint)
+    if CAN.pt == 4:
+      fingerprint = {bus: fingerprint.get(CAN.pt + bus, {}) for bus in range(4)}
     ret.brand = "volkswagen"
     ret.radarUnavailable = Bus.radar not in DBC[candidate]
 
@@ -142,7 +145,6 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = -0.55
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
-    CAN = CanBus(fingerprint=fingerprint)
     if CAN.pt >= 4:
       safety_configs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = safety_configs

opendbc_repo/opendbc/car/volkswagen/stock_aol.py

@@ -1,4 +1,4 @@
-"""Exact MQB stock-ACC capability; direct drive/system-long remain ordinary."""
+"""Exact MQB stock-ACC capability; direct drive remains ordinary."""
 from opendbc.car import Bus, structs
 from opendbc.car.volkswagen.values import CAR, DBC, VolkswagenFlags
 
@@ -10,20 +10,33 @@ MQB_CARS = frozenset(car for car in CAR if DBC[car].get(Bus.pt) == "vw_mqb" and
 KNOWN_FLAGS = int(VolkswagenFlags.STOCK_HCA_PRESENT | VolkswagenFlags.KOMBI_PRESENT | VolkswagenFlags.HAS_BSM)
 
 
+def safety_config(cp):
+  """One owner, optionally preceded by one quiet noOutput board."""
+  try:
+    configs = cp.safetyConfigs
+    if len(configs) == 1:
+      return configs[0]
+    if (len(configs) == 2 and configs[0].safetyModel == structs.CarParams.SafetyModel.noOutput and
+        configs[0].safetyParam == 0):
+      return configs[1]
+  except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
+    pass
+  return None
+
+
 def _qualified(cp, *, marked_only=False, longitudinal=False):
   if (cp is None or cp.brand != "volkswagen" or cp.carFingerprint not in MQB_CARS or
       cp.passive or cp.notCar or cp.dashcamOnly or cp.flags & ~KNOWN_FLAGS or
       cp.steerControlType != structs.CarParams.SteerControlType.torque or
       cp.transmissionType not in (structs.CarParams.TransmissionType.automatic, structs.CarParams.TransmissionType.manual) or
       cp.networkLocation not in (structs.CarParams.NetworkLocation.gateway, structs.CarParams.NetworkLocation.fwdCamera) or
-      cp.fingerprintSource == structs.CarParams.FingerprintSource.fixed or
-      bool(cp.openpilotLongitudinalControl) != longitudinal or bool(cp.pcmCruise) == longitudinal or len(cp.safetyConfigs) != 1 or
+      bool(cp.openpilotLongitudinalControl) != longitudinal or bool(cp.pcmCruise) == longitudinal or
       (longitudinal and (cp.networkLocation != structs.CarParams.NetworkLocation.gateway or not cp.alphaLongitudinalAvailable))):
     return False
   word = AOL_WORD | (MANUAL_WORD if cp.transmissionType == structs.CarParams.TransmissionType.manual else 0)
   word |= int(longitudinal)
-  safety = cp.safetyConfigs[0]
-  return (safety.safetyModel == structs.CarParams.SafetyModel.volkswagen and
+  safety = safety_config(cp)
+  return (safety is not None and safety.safetyModel == structs.CarParams.SafetyModel.volkswagen and
           (cp.alternativeExperience == 32 and safety.safetyParam == word or
            not marked_only and cp.alternativeExperience == 0 and safety.safetyParam == int(longitudinal)))
 

opendbc_repo/opendbc/car/volkswagen/tests/test_mqb_aol_discovery.py

@@ -20,7 +20,7 @@ from openpilot.starpilot.aol.vehicle import policy_for
 
 @pytest.mark.parametrize('manual', (False, True))
 @pytest.mark.parametrize('gateway,alpha', ((False, False), (True, False), (True, True)))
-def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha):
+def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha, offset=0, fixed=False):
   fixture = {'kind': 'EXPLICIT_SYNTHETIC_FULL_ECU_DISCOVERY_INPUT_FROM_REUSED_INVENTORY_NOT_ROUTE_OR_PHYSICAL',
    'identity': 'VOLKSWAGEN_GOLF_MK7',
    'vin': 'WVWZZZAUZGW000000',
@@ -47,15 +47,15 @@ def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha):
    'origin': 'Synthetic ECU bytes from configuration-matrix.json; actual matcher must verify uniqueness.'}
   fw = [structs.CarParams.CarFw(ecu=getattr(structs.CarParams.Ecu, r['ecu']),
         address=r['address'], subAddress=r['subAddress'] or 0, fwVersion=bytes.fromhex(r['fwVersion']),
-        brand='volkswagen', bus=0) for r in fixture['firmware']]
+        brand='volkswagen', bus=offset) for r in fixture['firmware']]
   exact, candidates = match_fw_to_car(fw, fixture['vin'], log=False)
   assert exact and candidates == {CAR.VOLKSWAGEN_GOLF_MK7}, (exact, candidates)
   packer = CANPacker('vw_mqb')
-  incoming = [packer.make_can_msg('GRA_ACC_01', 0, {'GRA_Hauptschalter': 1})]
+  incoming = [packer.make_can_msg('GRA_ACC_01', offset, {'GRA_Hauptschalter': 1})]
   if not manual:
-    incoming.append(packer.make_can_msg('Getriebe_11', 0, {}))
+    incoming.append(packer.make_can_msg('Getriebe_11', offset, {}))
   if gateway:
-    incoming.append(packer.make_can_msg('ESP_21', 1, {}))
+    incoming.append(packer.make_can_msg('ESP_21', offset + 1, {}))
   frames = [CanData(address=address, dat=data, src=bus) for address, data, bus in incoming]
 
   def receive(wait_for_one=False):
@@ -77,10 +77,12 @@ def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha):
           mock.patch.object(car_helpers, 'get_present_ecus', return_value=set()),
           mock.patch.object(car_helpers, 'get_fw_versions_ordered', return_value=fw)):
       # Normal public get_car: do NOT stub fingerprint, match_fw_to_car or candidate selection.
-      ci = car_helpers.get_car(receive, lambda *args, **kwargs: None, lambda _: None, alpha, False)
+      ci = car_helpers.get_car(receive, lambda *args, **kwargs: None, lambda _: None, alpha, False,
+                               forced_candidate=CAR.VOLKSWAGEN_GOLF_MK7 if fixed else None)
     cp = ci.CP
     assert cp.carFingerprint == CAR.VOLKSWAGEN_GOLF_MK7
-    assert cp.fingerprintSource == structs.CarParams.FingerprintSource.fw and not cp.fuzzyFingerprint
+    assert cp.fingerprintSource == (structs.CarParams.FingerprintSource.fixed if fixed else
+                                    structs.CarParams.FingerprintSource.fw) and not cp.fuzzyFingerprint
     assert cp.carVin == fixture['vin'] and len(cp.carFw) == len(fw)
     assert cp.transmissionType == (structs.CarParams.TransmissionType.manual if manual else
                                   structs.CarParams.TransmissionType.automatic)
@@ -92,7 +94,11 @@ def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha):
     card = Car(CI=ci, RI=ci.RadarInterface(cp))
     try:
       assert card.aol_qualified and card.aol_card_intent is not None
-      assert card.CP.safetyConfigs[0].safetyParam == ((24 if manual else 8) | int(alpha))
+      assert card.CP.safetyConfigs[-1].safetyParam == ((24 if manual else 8) | int(alpha))
+      assert len(card.CP.safetyConfigs) == (2 if offset else 1)
+      if offset:
+        assert card.CP.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput
+        assert card.CP.safetyConfigs[0].safetyParam == 0
       assert card.CP.alternativeExperience == 32
       with structs.CarParams.from_bytes(params.get('CarParams')) as published:
         assert published.to_dict() == card.CP.to_dict()

opendbc_repo/opendbc/car/volkswagen/tests/test_mqb_topology_discovery.py

@@ -0,0 +1,10 @@
+"""New fixed and owner-slot discovery contexts; real matcher and public get_car."""
+import pytest
+from opendbc.car.volkswagen.tests import test_mqb_aol_discovery as discovery
+
+
+@pytest.mark.parametrize('manual', (False, True))
+@pytest.mark.parametrize('gateway,alpha', ((False, False), (True, False), (True, True)))
+@pytest.mark.parametrize('offset,fixed', ((0, True), (4, False), (4, True)))
+def test_topology_fixed_discovery(manual, gateway, alpha, offset, fixed):
+  discovery.test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha, offset, fixed)

openpilot/selfdrive/car/card.py

@@ -40,7 +40,8 @@ from opendbc.car.honda.stock_aol import (
   qualified as qualified_honda_stock_aol, native_observation as honda_native_observation,
   temporary_restriction as honda_temporary_restriction,
 )
-from opendbc.car.volkswagen.stock_aol import native_observation as volkswagen_native_observation
+from opendbc.car.volkswagen.stock_aol import (native_observation as volkswagen_native_observation,
+  safety_config as volkswagen_aol_safety_config)
 from openpilot.starpilot.car.volkswagen.aol import (qualified as qualified_volkswagen_aol,
   temporary_restriction as volkswagen_temporary_restriction)
 from openpilot.starpilot.car.rivian.aol import retained_brake_lateral_intent as rivian_brake_intent_retained
@@ -386,7 +387,8 @@ class Car:
     self.aol_sequence = 0
     self.aol_process_fault_context = AolProcessFaultContext() if self.aol_replay else None
     if self.aol_qualified:
-      config = hyundai_aol_safety_config(self.CP) if self.CP.brand == 'hyundai' else self.CP.safetyConfigs[0]
+      config = (volkswagen_aol_safety_config(self.CP) if self.CP.brand == 'volkswagen' else
+                (hyundai_aol_safety_config(self.CP) if self.CP.brand == 'hyundai' else self.CP.safetyConfigs[0]))
       if config is None:
         raise RuntimeError('AOL requires the exact vehicle safety configuration')
       config.safetyParam |= aol_policy.safety_param_addition

openpilot/starpilot/aol/tests/test_mqb_actual_callers.py

@@ -130,11 +130,13 @@ def test_mqb_full_engagement_brake_reverse_drive_actual_callers(gearbox, alpha,
     for prime in range(-110, 0):
       ambient_update((10_000_000_000 + prime * 10_000_000) / 1e9, [])
     card.slc_producer_session = 'authority-card'
-    class Publisher:
+    class Publisher(messaging.PubMaster):
       def __init__(self):
         self.messages = {}
-      def send(self, service, message):
-        self.messages[service] = messaging.log_from_bytes(message.to_bytes())
+      def send(self, s, dat):
+        if not isinstance(dat, bytes):
+          dat = dat.to_bytes()
+        self.messages[s] = messaging.log_from_bytes(dat)
     card.pm = Publisher()
     native = libsafety_py.libsafety
     cleanup.callback(native.init_tests)
@@ -180,7 +182,7 @@ def test_mqb_full_engagement_brake_reverse_drive_actual_callers(gearbox, alpha,
           if isinstance(name, str) and name in dbc.name_to_msg:
             if tick < 3 and name in ('TSK_06', 'LH_EPS_03'):
               continue  # Real startup may receive other CAN sources before cruise and EPS.
-            fields = dict(overrides.get(name, {}))
+            fields: dict[str, float] = dict(overrides.get(name, {}))
             if 'COUNTER' in dbc.name_to_msg[name].sigs:
               fields['COUNTER'] = tick % 16
             incoming.append(packer.make_can_msg(name, parser.bus, fields))

openpilot/starpilot/aol/tests/test_mqb_topology_callers.py

@@ -0,0 +1,14 @@
+"""New topology/fixed contexts through the existing actual caller harness.
+
+Requires source-matched native preloading; no compiler or native permission stub.
+"""
+import pytest
+from openpilot.starpilot.aol.tests import test_mqb_actual_callers as callers
+
+
+@pytest.mark.parametrize('gearbox', ('automatic', 'manual'))
+@pytest.mark.parametrize('alpha', (False, True))
+@pytest.mark.parametrize('offset,fixed', ((0, True), (4, False), (4, True)))
+@pytest.mark.parametrize('engage_on_set', (False, True))
+def test_topology_fixed_actual_callers(gearbox, alpha, offset, fixed, engage_on_set):
+  callers.test_mqb_full_engagement_brake_reverse_drive_actual_callers(gearbox, alpha, offset, fixed, engage_on_set)

openpilot/starpilot/aol/tests/test_mqb_topology_contract.py

@@ -0,0 +1,66 @@
+"""Family CP and ordered native inventory contracts for the new topology contexts."""
+from dataclasses import replace
+from types import SimpleNamespace
+import pytest
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.volkswagen.interface import CarInterface
+from opendbc.car.volkswagen.stock_aol import MQB_CARS, safety_config
+from openpilot.starpilot.aol.runtime import native_inventory_matches_cp
+from openpilot.starpilot.aol.vehicle import policy_for, native_matches_cp
+from openpilot.starpilot.aol.wire import PandaSlot
+from openpilot.starpilot.car.volkswagen.aol import qualified
+
+
+def params(identity, manual, alpha, offset, fixed):
+  fp = gen_empty_fingerprint()
+  if not manual:
+    fp[offset][0xAD] = 8
+  fp[offset + 1][0xFD] = 8
+  cp = CarInterface.get_params(identity, fp, [], alpha, False, False)
+  cp.fingerprintSource = structs.CarParams.FingerprintSource.fixed if fixed else structs.CarParams.FingerprintSource.fw
+  return cp
+
+
+@pytest.mark.parametrize('identity', sorted(MQB_CARS))
+@pytest.mark.parametrize('manual', (False, True))
+@pytest.mark.parametrize('alpha', (False, True))
+@pytest.mark.parametrize('offset,fixed', ((0, True), (4, False), (4, True)))
+def test_exact_family_identity_topology_and_owner(identity, manual, alpha, offset, fixed):
+  cp = params(identity, manual, alpha, offset, fixed)
+  policy = policy_for(cp)
+  assert policy.intent_supported
+  owner = safety_config(cp)
+  assert owner is not None and owner.safetyModel == structs.CarParams.SafetyModel.volkswagen
+  owner.safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience |= policy.alternative_experience_addition
+  word = (24 if manual else 8) | int(alpha)
+  assert qualified(cp, marked_only=True) and native_matches_cp(cp, 15, word)
+  assert cp.pcmCruise != alpha and cp.openpilotLongitudinalControl == alpha
+  if offset:
+    assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.noOutput
+    assert cp.safetyConfigs[0].safetyParam == 0
+  assert not native_matches_cp(cp, 15, word ^ 16)
+  assert not native_matches_cp(cp, 34, word)
+
+
+def test_exact_ordered_inventory_denies_incoherent_or_active_prefix():
+  cp = params(sorted(MQB_CARS)[0], False, False, 4, True)
+  policy = policy_for(cp)
+  safety_config(cp).safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience = 32
+  quiet = PandaSlot(0, 'quiet', int(structs.CarParams.SafetyModel.noOutput), 0, 32, False, False, False, 0)
+  active = PandaSlot(1, 'owner', 15, 8, 32, True, False, False, 0)
+  def receipt(slots, serial='owner', stamp=123):
+    return SimpleNamespace(pandaInventory=slots, pandaSerial=serial, sourcePandaStatesMonoTime=stamp,
+                           safetyModel=15, safetyParam=8)
+  assert native_inventory_matches_cp(receipt((quiet, active)), cp)
+  for slots in ((active, quiet), (quiet,), (quiet, active, active),
+                (replace(quiet, controlsAllowed=True), active),
+                (replace(quiet, safetyParam=8), active),
+                (replace(quiet, hardwareSerial='owner'), active),
+                (quiet, replace(active, heartbeatLost=True)),
+                (quiet, replace(active, safetyRxChecksInvalid=True))):
+    assert not native_inventory_matches_cp(receipt(slots), cp)
+  assert not native_inventory_matches_cp(receipt((quiet, active), serial='quiet'), cp)
+  assert not native_inventory_matches_cp(receipt((quiet, active), stamp=0), cp)
+  assert not native_inventory_matches_cp(receipt((), stamp=0), cp)

openpilot/starpilot/aol/tests/test_volkswagen.py

@@ -110,7 +110,7 @@ def test_gateway_long_profile_rejects_changed_identity_bus_and_safety_context(ma
   changes = (
     ('passive', True), ('notCar', True), ('dashcamOnly', True), ('flags', 1 << 20),
     ('networkLocation', structs.CarParams.NetworkLocation.fwdCamera),
-    ('fingerprintSource', structs.CarParams.FingerprintSource.fixed),
+    ('brand', 'toyota'),
     ('transmissionType', structs.CarParams.TransmissionType.direct),
     ('steerControlType', structs.CarParams.SteerControlType.angle),
     ('openpilotLongitudinalControl', False), ('pcmCruise', True),
@@ -126,7 +126,8 @@ def test_gateway_long_profile_rejects_changed_identity_bus_and_safety_context(ma
     altered.safetyConfigs[0].safetyParam = word
     assert not long_qualified(altered)
   altered = structs.CarParams(**cp.to_dict())
-  altered.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.noOutput), *altered.safetyConfigs]
+  altered.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel=structs.CarParams.SafetyModel.noOutput, safetyParam=1),
+                           *altered.safetyConfigs]
   assert not long_qualified(altered)
   altered = structs.CarParams(**cp.to_dict())
   altered.safetyConfigs[0].safetyModel = structs.CarParams.SafetyModel.volkswagenMeb

openpilot/starpilot/aol/vehicle.py

@@ -86,6 +86,10 @@ def native_matches_cp(CP, model: int, param: int) -> bool:
       config = honda.aol_safety_config(CP)
       return bool(config is not None and honda.native_accepts_cp(CP, model, param) and
                   model == int(config.safetyModel.raw) and param == int(config.safetyParam))
+    if CP.brand == 'volkswagen':
+      config = volkswagen.aol_safety_config(CP)
+      return bool(config is not None and volkswagen.native_accepts_cp(CP, model, param) and
+                  model == int(config.safetyModel.raw) and param == int(config.safetyParam))
     return bool(any(port.native_accepts_cp(CP, model, param) for port in _PORTS.values()) and
                 model == int(CP.safetyConfigs[0].safetyModel.raw) and
                 param == int(CP.safetyConfigs[-1].safetyParam))

openpilot/starpilot/car/volkswagen/aol.py

@@ -1,5 +1,5 @@
 from opendbc.car import structs
-from opendbc.car.volkswagen.stock_aol import qualified as stock_qualified, AOL_WORD, MANUAL_WORD, AOL_WORDS
+from opendbc.car.volkswagen.stock_aol import qualified as stock_qualified, safety_config as aol_safety_config, AOL_WORD, MANUAL_WORD, AOL_WORDS
 from opendbc.car.volkswagen.long_aol import qualified as long_qualified, WORDS as LONG_WORDS
 from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE, ButtonType
 from openpilot.starpilot.aol.policy import AolVehiclePolicy
@@ -31,7 +31,7 @@ def native_profile_supported(model, param):
 
 
 def native_accepts_cp(cp, model, param):
-  return qualified(cp, marked_only=True) and native_profile_supported(model, param) and param == cp.safetyConfigs[0].safetyParam
+  return qualified(cp, marked_only=True) and native_profile_supported(model, param) and param == aol_safety_config(cp).safetyParam
 
 
 def native_latch_rejected(cp, native):

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "f40dda21dcd3a36f88cb8ea563fac27b023c7766257dcf2d36027eacb2c668d4", "schema_version": 1}
+{"protected_inventory_sha256": "7ad958f6080cde1c5e80081ee1cd24927df9a703189143fcb8d15c8918cc5564", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -71,6 +71,9 @@ AOL_LIFECYCLE_TARGETS = (
   "openpilot/starpilot/aol/tests/test_volkswagen.py",
   "openpilot/starpilot/aol/tests/test_volkswagen_saved_intent.py",
   "openpilot/starpilot/aol/tests/test_mqb_actual_callers.py",
+  "openpilot/starpilot/aol/tests/test_mqb_topology_callers.py",
+  "openpilot/starpilot/aol/tests/test_mqb_topology_contract.py",
+  "opendbc_repo/opendbc/car/volkswagen/tests/test_mqb_topology_discovery.py",
   "opendbc_repo/opendbc/car/volkswagen/tests/test_mqb_aol_discovery.py",
   "opendbc_repo/opendbc/safety/tests/test_volkswagen_stock_aol.py",
   "opendbc_repo/opendbc/safety/tests/test_volkswagen_engagement_arm.py",