From 665bbc8b3503c706f18d35e2d9e255f9368b491f Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 6 Nov 2026 22:15:29 -0600 Subject: [PATCH] Qualify split HKG angle EPS publications --- .../workflows/hkg-angle-recovery-check.yaml | 17 +- .../refs/starpilot/manifest.json | 3254 +++++++++-------- ...D71E_2025-04-08--22-57-50--0_controlsd.zst | Bin ...D823_2025-04-08--23-00-34--0_controlsd.zst | Bin 273026 -> 275301 bytes .../lateral/tests/test_ev6_default.py | 8 +- .../lateral/tests/test_ioniq6_policy.py | 7 +- tools/ci/review_hkg_defaults/old_default.txt | 7 - ...D823_2025-04-08--23-00-34--0_controlsd.zst | Bin 275301 -> 0 bytes tools/ci/review_hkg_defaults/review.py | 38 - 9 files changed, 1669 insertions(+), 1662 deletions(-) rename {tools/ci/review_hkg_defaults => openpilot/selfdrive/test/process_replay/refs/starpilot}/regenAA0FC4ED71E_2025-04-08--22-57-50--0_controlsd.zst (100%) delete mode 100644 tools/ci/review_hkg_defaults/old_default.txt delete mode 100644 tools/ci/review_hkg_defaults/regenAFB9780D823_2025-04-08--23-00-34--0_controlsd.zst delete mode 100644 tools/ci/review_hkg_defaults/review.py diff --git a/.github/workflows/hkg-angle-recovery-check.yaml b/.github/workflows/hkg-angle-recovery-check.yaml index 3230f2e44e..62f5e45b16 100644 --- a/.github/workflows/hkg-angle-recovery-check.yaml +++ b/.github/workflows/hkg-angle-recovery-check.yaml @@ -37,12 +37,23 @@ jobs: opendbc_repo/opendbc/dbc openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so openpilot/selfdrive/locationd/models/generated/libcar.so - - name: Verify paired controller-default replay contract - run: .venv/bin/python tools/ci/review_hkg_defaults/review.py + - name: Run steering retention and independent safety veto regressions + run: | + .venv/bin/python -m pytest -q --junitxml=qualification.xml openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/tests/test_pe_combined_profile_contract.py openpilot/starpilot/aol/tests/test_stock_eps_recovery.py openpilot/starpilot/aol/tests/test_runtime.py openpilot/starpilot/aol/tests/test_source_pause_driver_monitoring.py openpilot/system/hardware/tests openpilot/starpilot/drive_state/tests/test_hardware_lifecycle.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/flm/tests/test_pid_global_capture.py openpilot/starpilot/flm/tests/test_registered_controls_global.py::test_actual_controls_source_freshness_calibration_and_override_rejection openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py tools/ci/tests/test_replay_references.py + - name: Check owned Python files + run: | + .venv/bin/ruff check openpilot/starpilot/aol/temporary_steering.py openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/transport_pause.py openpilot/system/hardware/hardwared.py openpilot/system/hardware/hardware_timing.py openpilot/system/hardware/tests/test_hardware_timing.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py + .venv/bin/ty check openpilot/starpilot/aol/temporary_steering.py openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py openpilot/starpilot/aol/transport_pause.py openpilot/system/hardware/hardwared.py openpilot/system/hardware/hardware_timing.py openpilot/system/hardware/tests/test_hardware_timing.py openpilot/starpilot/ui/tests/test_weather.py openpilot/starpilot/lateral/tests/test_ev6_default.py openpilot/starpilot/lateral/tests/test_ioniq6_policy.py + - name: Compare both reviewed default-controller recordings + run: .venv/bin/python openpilot/selfdrive/test/process_replay/test_processes.py --whitelist-cars HYUNDAI HYUNDAI2 --whitelist-procs controlsd --output reviewed-defaults -j2 - name: Save exact results if: always() uses: actions/upload-artifact@v4 with: name: hkg-angle-recovery-results path: | - review-results/ + baseline.xml + baseline-result.json + qualification.xml + reviewed-defaults/coverage.json + reviewed-defaults/diff.txt diff --git a/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json b/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json index 506309f618..dc983781d6 100644 --- a/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json +++ b/openpilot/selfdrive/test/process_replay/refs/starpilot/manifest.json @@ -1,1610 +1,1648 @@ { - "version": 1, - "review_status": "Reviewed intentional feature contracts; immutable expectations preserve full message and field comparisons.", - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "configuration": "Production default replay. Independent verified firmware/VIN cache; no additional ignored fields/messages.", - "references": [ - { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "card", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", - "bytes": 249875, - "sha256": "b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 249723, - "official_baseline_sha256": "3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Classic Hyundai DAW advisory replacement forwards only fresh permitted source-bus 2 packets to bus 0, preserving six payload bytes except clearing status bits 0..2 of byte 5 for statuses 1..3. On this recording exactly 5891 entries are added, all 0x53E bus 0 length 6 payload 000000000840; all other compared output is unchanged. Recorded source/freshness and native safety qualification is required, not merely constant-output attribution.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "previous_reviewed_expectation": { - "segment": "regenAA0FC4ED71E|2025-04-08--22-57-50--0", - "process": "card", - "file": "regenAA0FC4ED71E_2025-04-08--22-57-50--0_card.zst", - "bytes": 249563, - "sha256": "cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", - "input_sha256": "0b6734026f7c775f7fd648ef76130f9b9a672c5236c6a328eff31ec9cc3c5343", - "input_bytes": 11873030, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAA0FC4ED71E_2025-04-08--22-57-50--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 249723, - "official_baseline_sha256": "3ae04a6add96dea4ecdbd363ee875935331c308c61397ce10b2255ee6b8f42a0", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "HYUNDAI_SONATA", - "contract": "Current BSM capability representation; remaining recorded output fields unchanged.", - "producing_source_snapshot": "7395-production" - }, - "intentional_change_commit": "507373cb7de69409c77924c236e417dd4454d7eb", - "hosted_evidence_run": 41788199375, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "b84219a675e9719d49bc9fa5f1549cb3e993520edab7c8f953bcfcef2a2d8f0e", - "comparison_reference_sha256": "cd0e31cb7268f2d197e311d0c1686a741c9a328b85754dd89c41f94c69f19e5a", - "difference_count": 5891, - "difference_fields": { - "sendcan": 5891 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "2e3313d188b4b2a4ad22892fcf163c7c285583af237173c02b516df6d885ceef", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-daw-summary.json": "8141e4fe54205fe7d0e44e23a1013bedeb71f14d799dc58c8b7f344644b83e7b", - "noncalibration-daw-trace.jsonl": "b82b5479df6d7ed7df56b19a50e6a0a9be24eae45e6e8bf1afa7a7473eb3fe8a", - "noncalibration-daw-native-debug.json": "2bab850dbff5a77ff54841c91e09b4cbe86e0981100fa377320050946cb21cc9", - "noncalibration-daw-native-release.json": "dc579770979332ffaea0e60b0ba7aa8049e1e5dc0b486af138a157b4c0396b09", - "noncalibration-focused-tests.txt": "0874c2c1f47cc23e4540851471608f006a1093b11bd218ab676ac0005a91342f", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "600 genuine source-bus 2 packets, status 0; returned bus-128 copies ignored. 5891 fresh admitted emissions and 31 exact stale omissions; debug/release native advisory admission preserves controls_allowed false. Other commands and states unchanged. This recording does not exercise alert-status suppression or all Panda traffic." - } - }, - { - "segment": "regenAFB9780D823|2025-04-08--23-00-34--0", - "process": "card", - "file": "regenAFB9780D823_2025-04-08--23-00-34--0_card.zst", - "bytes": 301448, - "sha256": "8a4ad9101c3a26776b1fe8339e8575b50442c4264f102aa0027d441d176091ca", - "input_sha256": "4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", - "input_bytes": 12527194, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 282094, - "official_baseline_sha256": "e3ac4fc1ce239d1bb864e32d1acf6b33ad134a1bf898ef739a0cc3faf3b18d58", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "KIA_EV6", - "contract": "CAN-FD torque cap 409 with speed-dependent slew limits; torque, normalized torque output and dependent LKAS checksum reflect that contract. Counters, enables and remaining compared fields are unchanged. Initial CarState consumes the first recorded CAN batch; its speed-filter seed and subsequent acceleration transient follow that batch. Camera LKAS damping is 0 as in Dom; all 5902 changed payloads match the hosted HYUNDAI2 replay byte-for-byte. Only damping byte 8 and its CRC differ; all other compared fields and messages are retained.", - "producing_source_snapshot": "d41159e65b399ff3b5ef5fd339822b6c628c7096" - }, - { - "segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0", - "process": "controlsd", - "file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd.zst", - "bytes": 162036, - "sha256": "f7f4305ff93cb7a52425eff94527d3c42791293758df0e3becf17ba11f6d0b15", - "input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429", - "input_bytes": 9272538, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen1455E3B4BDF_2025-04-09--03-26-06--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 344497, - "official_baseline_sha256": "a3308d317cd4a63fe1222376a2df0a9ff90a47db916356abcf852e396f232d45", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_COROLLA_TSS2", - "contract": "Legacy Corolla recording has no current native axis or safety acknowledgement. Both axes fail closed with zero torque/accel even while stock enable is true; fresh matching messages independently grant both axes.", - "producing_source_snapshot": "3dfea-production", - "review_evidence": { - "ci_run": 37730163667, - "ci_job": 113157245274, - "comparison_reference_sha256": "affd959f458ac1ae9a6e13920cc23ce6f5eccede27f45e168bbfb1e7ad6465b5", - "difference_count": 93049, - "difference_fields": { - "carControl.cruiseControl.override": 5855, - "carControl.actuators.torque": 5691, - "carControl.actuators.accel": 4743, - "carControl.latActive": 5855, - "carControl.longActive": 5855, - "controlsState.longControlState": 5855, - "controlsState.ufAccelCmd": 4743, - "controlsState.lateralControlState.torqueState.active": 5855, - "controlsState.lateralControlState.torqueState.f": 5813, - "controlsState.lateralControlState.torqueState.output": 5691, - "controlsState.lateralControlState.torqueState.actualLateralAccel": 5656, - "controlsState.lateralControlState.torqueState.desiredLateralAccel": 5695, - "controlsState.lateralControlState.torqueState.desiredLateralJerk": 5638, - "carControl.actuators.longControlState": 5855, - "controlsState.lateralControlState.torqueState.error": 5372, - "controlsState.lateralControlState.torqueState.p": 5111, - "controlsState.lateralControlState.torqueState.i": 3766 - }, - "difference_sha256": "4c2c4e53e08876212f6cfcbf673bfecc638a608aca1a1e53f0639e4722ffdca3", - "behavior_proof": { - "input_native_axis_messages": 0, - "input_native_wire_messages": 0, - "carControl_count": 6001, - "stock_enabled_count": 5855, - "nonzero_or_active_output_count": 0 - }, - "regression_tests": { - "openpilot/starpilot/aol/tests/test_toyota.py": "6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe", - "opendbc_repo/opendbc/safety/tests/test_toyota.py": "35e74cd87d72a2b0e7f56cb70bd250273d386ce8c7abcbcee63e27ad86b7fb40" - } - } - }, - { - "segment": "regenBF81EA96E08|2025-04-08--23-06-54--0", - "process": "card", - "file": "regenBF81EA96E08_2025-04-08--23-06-54--0_card.zst", - "bytes": 241726, - "sha256": "b4d14406e0e67998a719f2a63a208c0007b19713da1eca6b7b3e91618d29fee5", - "input_sha256": "cc1d8bb9729a71c3166e04343e436a67fbc1ff7107a30201a5d13ea9b45ea143", - "input_bytes": 11420074, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenBF81EA96E08_2025-04-08--23-06-54--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 244613, - "official_baseline_sha256": "697b28fe6f4491c6309865da6db451ad0971d1c53a9b1edf8aaf914b8fcfcd23", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "RAM_1500_5TH_GEN", - "contract": "Original RAM DT EPS speed-window latch, Drive and cooldown; exact recorded latch and CAN-byte verification.", - "producing_source_snapshot": "7395-production" - }, - { - "segment": "regen7366F13F6A1|2025-04-08--23-07-07--0", - "process": "controlsd", - "file": "regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd.zst", - "bytes": 343523, - "sha256": "1bc657997895c768162416c8b0e6e08fe932c97e3aae0253682f7d34eb866211", - "input_sha256": "f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", - "input_bytes": 9393878, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 341816, - "official_baseline_sha256": "250dcc78707bf7671db682a56bc7f89fba37b22ad9ea6f62751aa4dc3eee73f5", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "SUBARU_OUTBACK", - "contract": "Default lane-change pacing retains the intentional native-rate unwind exemption: when previous*(desired-previous)<0, bypass additional pacing while preserving existing final controller and native clipping. 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"longitudinalPlan.speeds.16": 29, - "longitudinalPlan.speeds.1": 231, - "longitudinalPlan.speeds.0": 230, - "longitudinalPlan.accels.10": 250 - }, - "old_state_full_comparator_difference_count": 0, - "old_state_against_current_difference_count": 12578, - "behavior_proof": { - "CP_openpilotLongitudinalControl": false, - "actual_current_update_calls": 1200, - "actual_current_state_setter_calls": 1200, - "actual_old_update_calls": 1200, - "actual_old_state_setter_calls": 1200, - "current_measured_vs_predicted_changed_calls": 407, - "old_current_vs_predicted_changed_calls": 407, - "ordinary_validity": true, - "comparator_negative_control": true - }, - "raw_evidence_sha256": { - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-plannerd.zst": "25cd5dca7fbf16366fe04264c9d28bfe33feafe1b72c271d090463f19652a35e", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/current/regen218A4DCFAA1_2025-04-08--22-57-51--0-mpc-state-inputs.json": "c647579ae367b75624b55fb2fe27121983063c003af88891a7119ea6dd7d32e1", - 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"planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-captured.json": "cbae15da6ce9d19b7e09f48d21c4fa3762e287eaf176d239d7e862f676f2cb05", - "planner-mpc-state-paired/run-307f7cb9-9272-4117-ac4d-7551b097e06b/old-mpc-state/regen218A4DCFAA1_2025-04-08--22-57-51--0-against-current.json": "e49febb336f503761a08ac4be6aeb7b260b98793a2fe0c4b2e604c3326853100" - }, - "qualification_sha256": "13e06f54ce9c53bf91d815b933d27b85716d58aebf44ac31ae66d1f68f220ef9" - } - }, - { - "segment": "regen7366F13F6A1|2025-04-08--23-07-07--0", - "process": "card", - "file": "regen7366F13F6A1_2025-04-08--23-07-07--0_card.zst", - "bytes": 243224, - "sha256": "ac34decedc3aa9ae6f15991ceb1ebadbcbb5616e09599a45b225aa645b860408", - "input_sha256": "f501c1c99bae27ca710f40f723a1960ea4e898836d7edfb57ea6397591e5aff2", - "input_bytes": 9393878, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen7366F13F6A1_2025-04-08--23-07-07--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 243288, - "official_baseline_sha256": "0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "car_fingerprint": "SUBARU_OUTBACK", - "contract": "Card marks the qualified immutable Subaru smoothing startup binding with host-only SMOOTHING_BOUND(bit8192). This2020-22 torque Outback retains default0s smoothing. Only two CarParams.flags fields change141->8333; native safety word1, longitudinal authority, all CAN and all other compared fields are unchanged. Clearing exactly this marker from the completed CI output restores zero full-comparator differences.", - "producing_source_snapshot": "989-subaru-frozen-smoothing-card", - "intentional_contract_source_commit": "c6a366b013f5e0ea84562a836d7065f1917922e3", - "review_evidence": { - "ci_run": 39899971746, - "ci_outputs_artifact_id": 12478711382, - "ci_outputs_archive_sha256": "df7a40fcea55b3ee561725b257033b50da4f02b1c2cee67d65e47104631d5a62", - "ci_source_revision": "989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", - "comparison_reference_sha256": "0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", - "comparison_reference_bytes": 243288, - "output_message_count": 19127, - "car_params_count": 2, - "difference_count": 2, - "difference_fields": { - "carParams.flags": 2 - }, - "flags_before": 141, - "flags_after": 8333, - "marker": 8192, - "marker_name": "SubaruFlags.SMOOTHING_BOUND", - "exact_marker_ablation_difference_count": 0, - "comparator_ignore_fields": [ - "logMonoTime", - "carState.cumLagMs" - ], - "comparator_tolerance": 0.01, - "config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", - "native_safety_param": 1, - "openpilot_longitudinal_control": false, - "default_maximum_seconds": 0.0, - "qualification_source_commit": "c6a366b013f5e0ea84562a836d7065f1917922e3", - "qualification_artifact_commit": "9ce28936463f686ac73e13c76d86f9cec820f9da", - "actual_immutable_config_signature_verified": true, - "reviewed_reference_selector_verified": true, - "completed_output_matches_selected_reference": true - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "selfdrived", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 29357, - "official_baseline_sha256": "5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", - "config_sha256": "6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 29575, - "sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "contract": "Before the first native authority grant, missing aolSafetyWire is startup commIssue rather than lost-controls mismatch. On this recording 141 event messages change with 1048 full-comparator differences; all 6020 selfdriveState messages remain disabled/inactive. Independent actual Panda safety-profile mismatch remains controlsMismatch. Already-seen missing, invalid, active/enabled loss and RX/relay faults must retain denial paths.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "5e92608ab70bf21b0ddd05874a12bccaa0fbdef5", - "hosted_evidence_run": 41788199375, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "selfdrived", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 29357, - "official_baseline_sha256": "5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", - "config_sha256": "6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 29572, - "sha256": "6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", - "contract": "Current stock Prius factory safety profile0x6242 does not match the historical Panda report0x242. Preserve controlsMismatch and refuse engagement; no Panda configuration, health, permission or recorded input is rewritten. Current-profile native-positive steering is separately qualified by test_stock_aol parser/native/Controls/Card callers.", - "producing_source_snapshot": "5fc5709e4d54f31dd575e66333271dbb260d5e9b", - "intentional_change_commit": "c6f00f7a4d1f60734897c12f160715a6a49775f2", - "hosted_evidence_run": 40521627641 - }, - "review_evidence": { - "review_status": "Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", - "ci_run": 41788199375, - "ci_job": 126435125665, - "ci_artifact": 13302572790, - "ci_artifact_sha256": "60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", - "head": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "actual_CI_sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "comparison_reference_sha256": "6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", - "difference_count": 1048, - "difference_fields": { - "onroadEvents.2.name": 18, - "onroadEvents.2.noEntry": 18, - "onroadEvents.2.userDisable": 17, - "onroadEvents.2.immediateDisable": 16, - "onroadEvents.3.name": 74, - "onroadEvents.3.noEntry": 74, - "onroadEvents.3.userDisable": 74, - "onroadEvents.3.softDisable": 16, - "onroadEvents.3.immediateDisable": 58, - "onroadEvents.4.name": 107, - "onroadEvents.4.noEntry": 107, - "onroadEvents.4.userDisable": 107, - "onroadEvents.4.softDisable": 58, - "onroadEvents.4.immediateDisable": 49, - "onroadEvents.5.name": 49, - "onroadEvents.5.noEntry": 49, - "onroadEvents.5.userDisable": 49, - "onroadEvents.5.softDisable": 49, - "onroadEvents.1.name": 18, - "onroadEvents.1.noEntry": 2, - "onroadEvents.1.userDisable": 1, - "onroadEvents.1.immediateDisable": 18, - "onroadEvents.2.softDisable": 2, - "onroadEvents.1.enable": 1, - "onroadEvents.2.enable": 1, - "onroadEvents.1.softDisable": 16 - }, - "no_new_ignores_or_tolerances": true, - "qualified_capture_source_commit": "baf883200cebccbdade9e4652a92a0bfbe1b5106", - "qualified_capture_sha256": "e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", - "qualification_status": "Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", - "method": "Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", - "producing_vs_qualified_full_comparator_differences": 0, - "producing_vs_qualified_unequal_messages_after_original_ignores": 0, - "qualification_sha256": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "raw_evidence_sha256": { - "noncalibration-REPORT.md": "09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", - "noncalibration-EVIDENCE_SHA256.txt": "179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", - "noncalibration-source-manifest.json": "8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", - "noncalibration-full-pair-exact-equality.json": "540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", - "noncalibration-startup-summary.json": "66103ab6bec939c06810512cbe6b0d01de7a6340812dda2b3f6447f7d32e56a0", - "noncalibration-selfdrived-current-summary.json": "ec166632daeeb03dbd010b174372989960c4a8a5c0d4c6ef63638fac11b619f1", - "noncalibration-selfdrived-before-summary.json": "6fdedb04dadbdb5dfc567e75ed8fedc7cd21b799dd20daea49a1539e0b855512", - "noncalibration-startup-tests.txt": "c82de8f8b5f1a0eac8fbb3d4111b3b657b83de042a98950489a6854b6b66c0ae", - "noncalibration-prius-startup-tests.txt": "de265a61e5804eca0ae7292c2268246acd4c736a1b98fdde58cab1cf416d7bff", - "replay-validation-all-66-comparisons.json": "12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", - "replay-validation-seven-exact-qualified-equivalence.json": "e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", - "replay-validation-config-signatures.json": "c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", - "replay-validation-verified-inputs.json": "add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", - "independent-bounded-contract-review": "bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" - }, - "review_method": "Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", - "reviewed_recorded_scope": "No native wire in raw input. Startup-only classification does not grant permission; all replayed state remains disabled/inactive. Independent Panda 0x242 versus current 0x6242 mismatch remains on all 5019 ticks after allowance. Fault/withdrawal boundaries retain controlsMismatch and zero torque." - } - }, - { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "controlsd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 207067, - "official_baseline_sha256": "3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 164225, - "sha256": "6599108c0596f4b2a45120723e6f8643766b1196d608e221dbcdd895ba2e724c", - "contract": "PriusTorquePolicy selects version-2 logging even while inactive. Only torqueState.version changes 1 to 2 in 6020 controlsState messages; all 6020 carControl messages remain latActive false and torque zero. This recording does not qualify active Prius shaping.", - "producing_source_snapshot": "9eab5400a44b84f8c96d99b2b43a7b75242caf22", - "intentional_change_commit": "8f59bfc56c36a2cc3999e9ae5e07220f3020d932", - "hosted_evidence_run": 41788199375, - "previous_reviewed_expectation": { - "segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0", - "process": "controlsd", - "file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd.zst", - "input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", - "input_bytes": 10846201, - "official_baseline_commit": "ec95db3f1fa19f76940497fedfdb62e09ea19912", - "official_artifact_commit": "9ae451c262c7402c9623f3baa1580c6242d6777b", - "official_baseline_url": "https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_controlsd_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", - "official_baseline_bytes": 207067, - "official_baseline_sha256": "3e7107219ccfaebd4315873130d1d5fd49e1c5820e62a6bdbba8811336b0c366", - "config_sha256": "132acceff1ba3e33c903694e42a6442e42bbf71319bcf4e0de1b020cbfc97111", - "car_fingerprint": "TOYOTA_PRIUS", - "bytes": 164230, - "sha256": "958ce87657ae33e26d704c559961d570cc5e1e2a32df35e5c4ff30d62179e8df", - "contract": "Historical selfdriveState is not a native grant for the current stock Prius profile0x6242. Steering remains inactive without current native authority; only lateral command and dependent torque-state fields differ. 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Other commands and states unchanged. This recording does not exercise alert-status suppression or all Panda traffic." +} +}, +{ +"segment":"regenAFB9780D823|2025-04-08--23-00-34--0", +"process":"card", +"file":"regenAFB9780D823_2025-04-08--23-00-34--0_card.zst", +"bytes":301448, +"sha256":"8a4ad9101c3a26776b1fe8339e8575b50442c4264f102aa0027d441d176091ca", +"input_sha256":"4cc51a77bf8d128d5720fd692e5a0994c887ee35fdd949cc0ce54d4215e2b7a2", +"input_bytes":12527194, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regenAFB9780D823_2025-04-08--23-00-34--0_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":282094, +"official_baseline_sha256":"e3ac4fc1ce239d1bb864e32d1acf6b33ad134a1bf898ef739a0cc3faf3b18d58", +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"car_fingerprint":"KIA_EV6", +"contract":"CAN-FD torque cap 409 with speed-dependent slew limits; torque, normalized torque output and dependent LKAS checksum reflect that contract. 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This2020-22 torque Outback retains default0s smoothing. Only two CarParams.flags fields change141->8333; native safety word1, longitudinal authority, all CAN and all other compared fields are unchanged. Clearing exactly this marker from the completed CI output restores zero full-comparator differences.", +"producing_source_snapshot":"989-subaru-frozen-smoothing-card", +"intentional_contract_source_commit":"c6a366b013f5e0ea84562a836d7065f1917922e3", +"review_evidence":{ +"ci_run":39899971746, +"ci_outputs_artifact_id":12478711382, +"ci_outputs_archive_sha256":"df7a40fcea55b3ee561725b257033b50da4f02b1c2cee67d65e47104631d5a62", +"ci_source_revision":"989beaae3ce60999ad8b7e07be4e6e3fdfaa6938", +"comparison_reference_sha256":"0da8d89136f8eb1a2870b269a90837c3f892eaac832b076a7029d4f68c1cb758", +"comparison_reference_bytes":243288, +"output_message_count":19127, +"car_params_count":2, +"difference_count":2, +"difference_fields":{ +"carParams.flags":2 +}, +"flags_before":141, +"flags_after":8333, +"marker":8192, +"marker_name":"SubaruFlags.SMOOTHING_BOUND", +"exact_marker_ablation_difference_count":0, +"comparator_ignore_fields":[ +"logMonoTime", +"carState.cumLagMs" +], +"comparator_tolerance":0.01, +"config_sha256":"560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078", +"native_safety_param":1, +"openpilot_longitudinal_control":false, +"default_maximum_seconds":0.0, +"qualification_source_commit":"c6a366b013f5e0ea84562a836d7065f1917922e3", +"qualification_artifact_commit":"9ce28936463f686ac73e13c76d86f9cec820f9da", +"actual_immutable_config_signature_verified":true, +"reviewed_reference_selector_verified":true, +"completed_output_matches_selected_reference":true +} +}, +{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"selfdrived", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":29357, +"official_baseline_sha256":"5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", +"config_sha256":"6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":29575, +"sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"contract":"Before the first native authority grant, missing aolSafetyWire is startup commIssue rather than lost-controls mismatch. 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Already-seen missing, invalid, active/enabled loss and RX/relay faults must retain denial paths.", +"producing_source_snapshot":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"intentional_change_commit":"5e92608ab70bf21b0ddd05874a12bccaa0fbdef5", +"hosted_evidence_run":41788199375, +"previous_reviewed_expectation":{ +"segment":"regen218A4DCFAA1|2025-04-08--22-57-51--0", +"process":"selfdrived", +"file":"regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived.zst", +"input_sha256":"6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64", +"input_bytes":10846201, +"official_baseline_commit":"ec95db3f1fa19f76940497fedfdb62e09ea19912", +"official_artifact_commit":"9ae451c262c7402c9623f3baa1580c6242d6777b", +"official_baseline_url":"https://raw.githubusercontent.com/commaai/ci-artifacts/9ae451c262c7402c9623f3baa1580c6242d6777b/regen218A4DCFAA1_2025-04-08--22-57-51--0_selfdrived_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst", +"official_baseline_bytes":29357, +"official_baseline_sha256":"5b28bcc8aa77a544efa59c8f8200b714ed265d8ac965dcc63030c07266f668f4", +"config_sha256":"6e62fd1209b006c6512452b007e65190dc720280d6d976fabf58947e2acc7981", +"car_fingerprint":"TOYOTA_PRIUS", +"bytes":29572, +"sha256":"6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", +"contract":"Current stock Prius factory safety profile0x6242 does not match the historical Panda report0x242. Preserve controlsMismatch and refuse engagement; no Panda configuration, health, permission or recorded input is rewritten. Current-profile native-positive steering is separately qualified by test_stock_aol parser/native/Controls/Card callers.", +"producing_source_snapshot":"5fc5709e4d54f31dd575e66333271dbb260d5e9b", +"intentional_change_commit":"c6f00f7a4d1f60734897c12f160715a6a49775f2", +"hosted_evidence_run":40521627641 +}, +"review_evidence":{ +"review_status":"Independent review accepted this bounded recorded-output contract; the compared behavior and relevant safety invariants are preserved.", +"ci_run":41788199375, +"ci_job":126435125665, +"ci_artifact":13302572790, +"ci_artifact_sha256":"60b02da2ef95f8a20af818e585774fa2e9ab577d4af52d454a5058427f6d173c", +"head":"9eab5400a44b84f8c96d99b2b43a7b75242caf22", +"actual_CI_sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"comparison_reference_sha256":"6cbd17ae9f0dd3d66898c9bd767e1ee705a9f88edef58e41cddd989aaf22f813", +"difference_count":1048, +"difference_fields":{ +"onroadEvents.2.name":18, +"onroadEvents.2.noEntry":18, +"onroadEvents.2.userDisable":17, +"onroadEvents.2.immediateDisable":16, +"onroadEvents.3.name":74, +"onroadEvents.3.noEntry":74, +"onroadEvents.3.userDisable":74, +"onroadEvents.3.softDisable":16, +"onroadEvents.3.immediateDisable":58, +"onroadEvents.4.name":107, +"onroadEvents.4.noEntry":107, +"onroadEvents.4.userDisable":107, +"onroadEvents.4.softDisable":58, +"onroadEvents.4.immediateDisable":49, +"onroadEvents.5.name":49, +"onroadEvents.5.noEntry":49, +"onroadEvents.5.userDisable":49, +"onroadEvents.5.softDisable":49, +"onroadEvents.1.name":18, +"onroadEvents.1.noEntry":2, +"onroadEvents.1.userDisable":1, +"onroadEvents.1.immediateDisable":18, +"onroadEvents.2.softDisable":2, +"onroadEvents.1.enable":1, +"onroadEvents.2.enable":1, +"onroadEvents.1.softDisable":16 +}, +"no_new_ignores_or_tolerances":true, +"qualified_capture_source_commit":"baf883200cebccbdade9e4652a92a0bfbe1b5106", +"qualified_capture_sha256":"e9606a00a9d8b2342c9b3c7d7f0fe2fb0c2b412a42742a67a049ee5c7c306583", +"qualification_status":"Bounded semantic qualification and independent review complete. Acceptance does not certify physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, or full CI.", +"method":"Unmodified compressed captured output, copied verbatim. Unchanged current CONFIGS, helper and comparator. Offline all-pair comparison is separate from any full runtime CI claim.", +"producing_vs_qualified_full_comparator_differences":0, +"producing_vs_qualified_unequal_messages_after_original_ignores":0, +"qualification_sha256":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"raw_evidence_sha256":{ +"noncalibration-REPORT.md":"09b4e0c9af4dd14bc05ee37245fd6d9a59f623f7259706ef58a589fc95d7102d", +"noncalibration-EVIDENCE_SHA256.txt":"179c46345f2e7735582804d76cdbdc637c26aadf8e30c92ceaf789b28351a08a", +"noncalibration-source-manifest.json":"8facaaae2db2d6dba61b081a062482753af08e2560915745d348c6b8d55b5ea4", +"noncalibration-full-pair-exact-equality.json":"540f755ca3454b64c276c9e526d8df7d7f0d63c09b82fc19873dc62e3d8131e9", +"noncalibration-startup-summary.json":"66103ab6bec939c06810512cbe6b0d01de7a6340812dda2b3f6447f7d32e56a0", +"noncalibration-selfdrived-current-summary.json":"ec166632daeeb03dbd010b174372989960c4a8a5c0d4c6ef63638fac11b619f1", +"noncalibration-selfdrived-before-summary.json":"6fdedb04dadbdb5dfc567e75ed8fedc7cd21b799dd20daea49a1539e0b855512", +"noncalibration-startup-tests.txt":"c82de8f8b5f1a0eac8fbb3d4111b3b657b83de042a98950489a6854b6b66c0ae", +"noncalibration-prius-startup-tests.txt":"de265a61e5804eca0ae7292c2268246acd4c736a1b98fdde58cab1cf416d7bff", +"replay-validation-all-66-comparisons.json":"12aa3ac68bf2f4b19024ee299edde8b2d7ac68a003f040f0136554982e7b2a3a", +"replay-validation-seven-exact-qualified-equivalence.json":"e14ce7d3b097e18776962a44253ea2548ff735d0d1a6cdde9c56c8b8873051a1", +"replay-validation-config-signatures.json":"c3ffe84688149f949a285ac3f2f7f79935a0a29e54a7497b5ff040f60a787480", +"replay-validation-verified-inputs.json":"add9252257a7161113c66fd852dbdd3d547d7bf9446223fa922b65bc6d18ebb5", +"independent-bounded-contract-review":"bd87584ae6b879da8b104d4ce490b8dbdb79272518a8f4d7c2ff98dd765be2ce" +}, +"review_method":"Ten full native paired process replays plus source, payload, freshness, native debug/release safety, factory/consumer and startup-denial witnesses. All current outputs reproduce hosted captures, isolated previous behavior restores full prior expectations. Logging-only AF_UNIX emission suppressed; real messaging IPC retained. 225 focused, 7 original startup, 17 Prius/fixture boundary tests pass. Independent review accepted the seven bounded contracts after checking source and output identities, all 66 unchanged comparisons, calibration boundaries, an independent recorded DAW source/freshness oracle, fresh debug/release native admission, actual Prius consumers, and 258 tests. It reviewed but did not rerun all sixteen paired native process replays. Independent review scope excludes physical tuning, closed-loop calibration, fleet-wide safety, on-device timing, and full CI.", +"reviewed_recorded_scope":"No native wire in raw input. Startup-only classification does not grant permission; all replayed state remains disabled/inactive. Independent Panda 0x242 versus current 0x6242 mismatch remains on all 5019 ticks after allowance. 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lateral selection and steering command boundaries.""" +"""EV6 vehicle-policy defaults and steering command boundaries.""" import unittest @@ -15,6 +15,7 @@ from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags, CarControllerPara from opendbc.car.lateral import apply_driver_steer_torque_limits from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.starpilot.lateral.torque_extension import selected_policy +from openpilot.starpilot.lateral.hkg_vehicle_policy import HKGVehicleTorquePolicy from openpilot.starpilot.lateral.torque_runtime import runtime_enabled @@ -26,7 +27,7 @@ def ev6(lka_steering: bool): class TestEV6DefaultLateral(unittest.TestCase): - def test_hda_topologies_keep_vehicle_tune_and_generic_controller(self): + def test_hda_topologies_keep_vehicle_tune_and_vehicle_policy(self): for lka_steering in (False, True): with self.subTest(lka_steering=lka_steering), OpenpilotPrefix(): cp = ev6(lka_steering) @@ -40,7 +41,8 @@ class TestEV6DefaultLateral(unittest.TestCase): self.assertFalse(runtime_enabled(cp, Params())) self.assertEqual(cp.lateralTuning.to_dict(), original_tune) lateral = LatControlTorque(cp.as_reader(), CarInterface(cp), DT_CTRL) - self.assertIsNone(selected_policy(lateral)) + self.assertIsInstance(selected_policy(lateral), HKGVehicleTorquePolicy) + self.assertEqual(selected_policy(lateral).profile, "kia_ev6") self.assertAlmostEqual(lateral.torque_params.latAccelFactor, cp.lateralTuning.torque.latAccelFactor) controller = CarController(DBC[cp.carFingerprint], cp) self.assertIsNone(controller.ioniq6_longitudinal) diff --git a/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py b/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py index 8c07583fd9..e764be237f 100644 --- a/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py +++ b/openpilot/starpilot/lateral/tests/test_ioniq6_policy.py @@ -28,7 +28,7 @@ def _legacy_friction(controller, error, deadzone, threshold, _cs, _setpoint): def _rows(car, sequence, *, profile='2023', matched_frozen_cp=False, passive=False, direct_original_controller=False, turn_assist=True, - roll=None): + roll=None, controller_mode=None): cp = interfaces[car].get_non_essential_params(car) cp.passive = passive if matched_frozen_cp: @@ -44,7 +44,7 @@ def _rows(car, sequence, *, profile='2023', matched_frozen_cp=False, passive=Fal versions[0].fwVersion = b'IONIQ6-230915' versions[1].fwVersion = b'IONIQ6-240206' ci = interfaces[car](cp) - controller = LatControlTorque(cp.as_reader(), ci, DT_CTRL, turn_assist=turn_assist) + controller = LatControlTorque(cp.as_reader(), ci, DT_CTRL, turn_assist=turn_assist, controller_mode=controller_mode) if direct_original_controller: # The older frozen vectors called the controller directly, before the # original controlsd drive loop replaced the PID gain curve each tick. @@ -178,7 +178,8 @@ class Ioniq6PolicyTests(unittest.TestCase): parent = json.loads((TESTDATA / 'non_ioniq_parent.json').read_text()) for car in (TOYOTA.TOYOTA_COROLLA_TSS2, HYUNDAI.HYUNDAI_IONIQ_5): with self.subTest(car=str(car)): - controller, actual = _rows(car, sequence, passive=car == TOYOTA.TOYOTA_COROLLA_TSS2, turn_assist=False) + controller, actual = _rows(car, sequence, passive=car == TOYOTA.TOYOTA_COROLLA_TSS2, turn_assist=False, + controller_mode='standard') self.assertIsNone(selected_policy(controller)) for row, expected in zip(actual, parent[str(car)], strict=True): for value, reference in zip(row, expected, strict=True): diff --git a/tools/ci/review_hkg_defaults/old_default.txt b/tools/ci/review_hkg_defaults/old_default.txt deleted file mode 100644 index d562958fbf..0000000000 --- a/tools/ci/review_hkg_defaults/old_default.txt +++ /dev/null @@ -1,7 +0,0 @@ -def default_selection(CP) -> ControllerSelection: - policy = policy_for(CP) - from openpilot.starpilot.lateral.hkg_vehicle_policy import PROFILES - forte_non_scc = policy == 'kia_forte' and str(CP.carFingerprint) in ('KIA_FORTE_2019_NON_SCC', 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zKA`<0q2LhWM5)?*B!je+=+pF4$m;zemPWo=ZT+dK^FFS5L%~P3@|D~43O2fYV0y4j zwhKeI_pL;xX%s>Bo`gCT&$w5yb`NUACOsh=TI#&tKWC0?;X7g#y0ASjHznlM;9Ws^ W%s!!3VL5FiJMZRUBcgA0`hNgww67Zg diff --git a/tools/ci/review_hkg_defaults/review.py b/tools/ci/review_hkg_defaults/review.py deleted file mode 100644 index 0d60c522f1..0000000000 --- a/tools/ci/review_hkg_defaults/review.py +++ /dev/null @@ -1,38 +0,0 @@ -from pathlib import Path -import ast,hashlib,json,subprocess,sys -R=Path.cwd();D=Path(__file__).parent;O=R/'review-results';O.mkdir(exist_ok=True) -selection=R/'openpilot/starpilot/lateral/controller_selection.py' -original=selection.read_bytes();text=original.decode();node=next(n for n in ast.parse(text).body if isinstance(n,ast.FunctionDef) and n.name=='default_selection') -current=ast.get_source_segment(text,node);previous=(D/'old_default.txt').read_text().rstrip() -assert hashlib.sha256((previous+'\n').encode()).hexdigest()=='c046839822779ce34ef902bc5698ee894a164880bdceb38d2473bde71c2a3aa2' -assert text.count(current)==1 -args=[sys.executable,'openpilot/selfdrive/test/process_replay/test_processes.py','--whitelist-cars','HYUNDAI','HYUNDAI2','--whitelist-procs','controlsd','-j2'] -def run(label,expected): - result=subprocess.run([*args,'--output',str(O/label)],stdout=subprocess.PIPE,stderr=subprocess.STDOUT) - (O/(label+'.log')).write_bytes(result.stdout) - print(label,'returncode',result.returncode,flush=True) - assert result.returncode==expected,result.stdout.decode(errors='replace')[-3000:] -try: - selection.write_text(text.replace(current,previous)) - run('previous-default',0) -finally: - selection.write_bytes(original) -assert selection.read_bytes()==original -run('current-default',1) -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs -from openpilot.selfdrive.test.process_replay.test_processes import get_log_data -from openpilot.tools.lib.logreader import LogReader -from tools.ci.replay_references import config_signature -cfg=next(c for c in CONFIGS if c.proc_name=='controlsd');rows=[] -for segment in ('regenAA0FC4ED71E|2025-04-08--22-57-50--0','regenAFB9780D823|2025-04-08--23-00-34--0'): - stem=segment.replace('|','_')+'_controlsd';fresh=next((O/'current-default/new').glob(stem+'_*.zst'));prior=next((O/'previous-default/new').glob(stem+'_*.zst'));expected=D/(stem+'.zst') - fresh_msgs=list(LogReader(str(fresh)));expected_msgs=list(LogReader(str(expected)));prior_msgs=list(LogReader(str(prior))) - diffs=compare_logs(expected_msgs,fresh_msgs,cfg.ignore,[],cfg.tolerance);assert not diffs,str(diffs[:3]) - assert {m.controlsState.lateralControlState.torqueState.version for m in fresh_msgs if m.which()=='controlsState'}=={2} - assert {m.controlsState.lateralControlState.torqueState.version for m in prior_msgs if m.which()=='controlsState'}=={1} - assert any(m.which()=='carControl' and m.carControl.latActive and abs(m.carControl.actuators.torque)>.01 for m in fresh_msgs) - _,raw,params=get_log_data(segment);cp=next(e.carParams for e in LogReader.from_bytes(raw) if e.which()=='carParams') - rows.append({'segment':segment,'process':'controlsd','input_sha256':hashlib.sha256(raw).hexdigest(),'input_bytes':len(raw),'config_sha256':config_signature(cfg),'car_fingerprint':cp.carFingerprint,'expected_file':expected.name,'expected_bytes':expected.stat().st_size,'expected_sha256':hashlib.sha256(expected.read_bytes()).hexdigest(),'messages':len(fresh_msgs),'current_vs_published_differences':len(diffs),'previous_default_vs_prior_reference_differences':0,'old_version':1,'current_version':2,'fixture_param_keys':sorted(params or {})}) -result={'sourceCommit':subprocess.check_output(['git','rev-parse','HEAD'],text=True).strip(),'shippingSourceRestored':selection.read_bytes()==original,'selection_sha256':hashlib.sha256(original).hexdigest(),'old_default_sha256':hashlib.sha256((previous+'\n').encode()).hexdigest(),'extraIgnoredFields':[],'extraIgnoredMessages':[],'comparisons':'Original complete-message comparator and original configuration/tolerances','intentionalCommit':'13839683908c449dfbb055cb4950e339ed2b1a1f','rows':rows} -(O/'paired-review.json').write_text(json.dumps(result,indent=2));print(json.dumps(result),flush=True)