Keep Mazda source handoffs within the original control lease

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -829,8 +829,10 @@ class SelfdriveD:
   def source_deadline_deferral_supported(self):
     from openpilot.starpilot.car.hyundai.aol import source_deadline_supported
     from openpilot.starpilot.car.toyota.aol import qualified as qualified_toyota
+    from opendbc.car.mazda.stock_aol import qualified as qualified_mazda
     return (qualified_ioniq6(self.CP) or qualified_gm(self.CP) or source_deadline_supported(self.CP) or
-            qualified_toyota(self.CP, marked_only=True) or self.ford_source_deadline_supported())
+            qualified_toyota(self.CP, marked_only=True) or qualified_mazda(self.CP, marked_only=True) or
+            self.ford_source_deadline_supported())
 
   def held_axis_override_wait(self, CS, proof, now_ns, *, fresh_successor=False):
     """Recognize an already applied override; never admit a new physical edge."""

openpilot/starpilot/aol/tests/test_mazda_source_deadline.py

@@ -0,0 +1,126 @@
+"""Recorded Mazda source cutoff; real SD/Controls, synthetic clocks and transport."""
+from contextlib import ExitStack
+from dataclasses import replace
+from unittest import mock
+
+import pytest
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.mazda.interface import CarInterface
+from opendbc.car.mazda.values import CAR
+from openpilot.cereal import log
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
+from openpilot.starpilot.aol.tests.test_input_deadline_continuity import BASE, intent
+from openpilot.starpilot.aol.wire import decode_intent, encode_intent
+
+
+@pytest.mark.parametrize('identity', (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021))
+@pytest.mark.parametrize('condition', ('healthy', 'deadline', 'native_denied', 'cancel', 'brake', 'main_off',
+                                      'eps_fault', 'invalid_can', 'producer', 'pause', 'repeated'))
+def test_mazda_source_cutoff_preserves_only_original_command_lease(identity, condition):
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    case = fixture.IoniqAvailabilityTests(methodName='runTest')
+    cleanup.callback(case.doCleanups)
+    cp = CarInterface.get_params(identity, gen_empty_fingerprint(), [], False, False, False)
+    sd, controls, drive = case._authority_callers(True, cp=cp, genuine_events=True)
+    state = fixture.car_state()
+    state.cruiseState.available = state.cruiseState.enabled = True
+    drive(0, observed_state=state, native_request_long=False, long_allowed=False, panda_controls_allowed=True)
+    old, _, command = drive(2, state_stamp=BASE, offset_ns=4_237_448,
+      intent_message=intent(BASE, 3), observed_state=state, native_request_long=False, long_allowed=False, panda_controls_allowed=True)
+    assert old.lateralActive and command.latActive and not command.longActive
+    original = sd.pm.messages['aolAxisState'].as_builder().to_bytes()
+    now = BASE + 30_453_437
+    sd.aol_step_input_proof = sd.aol_published_input_proof
+    sd.aol_step_deferral_checked = False
+    sd.aol_step_intent_drain_count = 0
+    sd.aol_step_intent_drain_ok = True
+    if condition == 'deadline':
+      now = old.validUntilMonoTime
+    elif condition == 'native_denied':
+      sd.sm.valid['aolSafetyWire'] = False
+    elif condition == 'cancel':
+      sd.events.add(log.OnroadEvent.EventName.buttonCancel)
+    elif condition == 'brake':
+      state.brakePressed = True
+    elif condition == 'main_off':
+      state.cruiseState.available = False
+      state.cruiseState.enabled = False
+      sd.events.add(log.OnroadEvent.EventName.wrongCarMode)
+    elif condition == 'eps_fault':
+      state.steerFaultPermanent = True
+    elif condition == 'invalid_can':
+      state.canValid = False
+    elif condition in ('producer', 'pause'):
+      message = intent(BASE + 29_000_000, 4)
+      value = decode_intent(message.aolIntentWire)
+      message.aolIntentWire = encode_intent(replace(value, **(
+        {'producerSessionId': 'different-card'} if condition == 'producer' else {'pauseLateral': True})))
+      sd.aol_intent_companion._observe(message.logMonoTime, message.valid, message.aolIntentWire)
+    elif condition == 'repeated':
+      sd.aol_step_deferral_checked = True
+    initial = (sd.state_machine.state, sd.state_machine.soft_disable_timer, sd.enabled, sd.active)
+    sd.car_state_samples = ((state.as_reader(), True),)
+    with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', return_value=now):
+      deferred = sd.defer_expired_axis_publication(state, initial, now_ns=now)
+    assert deferred == (condition == 'healthy')
+    assert sd.pm.messages['aolAxisState'].as_builder().to_bytes() == original
+    assert old.sourceCarStateMonoTime == BASE
+    assert old.validUntilMonoTime == BASE + 34_237_448
+    # Every consumer still withdraws at the original absolute deadline.
+    with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=old.validUntilMonoTime + 1):
+      expired, _ = controls.state_control()
+    assert not expired.latActive and not expired.longActive
+    if condition == 'healthy':
+      fresh = BASE + 27_821_823
+      axis, _, command = drive(6, state_stamp=fresh, offset_ns=-7_000_000,
+        intent_message=intent(fresh, 4), observed_state=state, native_request_long=False, long_allowed=False, panda_controls_allowed=True)
+      assert axis.sourceCarStateMonoTime == fresh and axis.lateralActive and command.latActive
+      assert not command.longActive
+      assert log.OnroadEvent.EventName.commIssue not in sd.events.names
+      assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
+
+
+@pytest.mark.parametrize('identity', (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021))
+def test_mazda_actual_step_defers_warning_then_consumes_fresh_successor(identity):
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    case = fixture.IoniqAvailabilityTests(methodName='runTest')
+    cleanup.callback(case.doCleanups)
+    cp = CarInterface.get_params(identity, gen_empty_fingerprint(), [], False, False, False)
+    sd, controls, drive = case._authority_callers(True, cp=cp, genuine_events=True)
+    state = fixture.car_state()
+    state.cruiseState.available = state.cruiseState.enabled = True
+    options = {'observed_state': state, 'native_request_long': False,
+               'long_allowed': False, 'panda_controls_allowed': True}
+    drive(0, **options)
+    old, _, command = drive(2, state_stamp=BASE, offset_ns=4_237_448,
+      intent_message=intent(BASE, 3), **options)
+    assert old.lateralActive and command.latActive
+    original = sd.pm.messages['aolAxisState'].as_builder().to_bytes()
+    now = [BASE + 29_900_000]
+    actual_events = sd.update_events
+
+    def events(cs):
+      result = actual_events(cs)
+      now[0] = BASE + 30_453_437
+      return result
+
+    with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=lambda: now[0]), \
+         mock.patch.object(sd, 'update_events', side_effect=events):
+      axis, _, command = drive(5, timeout=True, offset_ns=-100_000,
+        intent_message=intent(BASE, 3), **options)
+    assert sd.aol_axis_publication_deferred
+    assert sd.pm.messages['aolAxisState'].as_builder().to_bytes() == original
+    assert command.latActive and not command.longActive
+    assert log.OnroadEvent.EventName.commIssue not in sd.events.names
+    assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
+    with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=old.validUntilMonoTime + 1):
+      expired, _ = controls.state_control()
+    assert not expired.latActive and not expired.longActive
+    fresh = BASE + 27_821_823
+    axis, _, command = drive(6, state_stamp=fresh, offset_ns=-7_000_000,
+      intent_message=intent(fresh, 4), **options)
+    assert axis.sourceCarStateMonoTime == fresh and axis.lateralActive and command.latActive
+    assert not command.longActive
+    assert log.OnroadEvent.EventName.commIssue not in sd.events.names
+    assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "b1d97b7008d6b691c0ab1be89789b81b3a68217e1dfaa48c1bccdaef6532ae30", "schema_version": 1}
+{"protected_inventory_sha256": "3c88c96a3d4067ed5c4cb263e809b67c05ac819dd274f40c42af5c974c0998d2", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -39,6 +39,7 @@ FORD_BLUEPILOT_NATIVE_TARGETS = tuple(str(path.relative_to(ROOT)) for path in so
 # 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_mazda_source_deadline.py',
   "openpilot/starpilot/aol/tests/test_gv60_hda1_alpha_aol.py",
   "opendbc_repo/opendbc/car/hyundai/tests/test_torque_ev_deferred_takeover.py",
   'openpilot/starpilot/aol/tests/test_hkg_early_long_withdrawal.py',