Preserve GM ACC startup and routing with blind-spot monitoring

opendbc_repo/opendbc/car/gm/tests/test_ordinary_bsm.py

@@ -0,0 +1,66 @@
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.gm.aol import qualified_gm
+from opendbc.car.gm.carcontroller import CarController
+from opendbc.car.gm.carstate import CarState
+from opendbc.car.gm.tests.test_ascm_intercept import params
+from opendbc.car.gm.tests.test_bolt_cc import native
+from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.car.gm.values import (DBC, GMFlags, ORDINARY_ASCM_CAR, ORDINARY_SDGM_CAR,
+                                  is_ordinary_ascm_profile, is_ordinary_sdgm_profile)
+from openpilot.starpilot.aol.tests import test_gm_startup_continuity as startup
+
+
+CARS = sorted(ORDINARY_ASCM_CAR | ORDINARY_SDGM_CAR)
+
+
+@pytest.mark.parametrize('candidate', CARS)
+def test_bsm_preserves_exact_control_owners(candidate):
+  profile = is_ordinary_sdgm_profile if candidate in ORDINARY_SDGM_CAR else is_ordinary_ascm_profile
+  for alpha in (False, True):
+    for release in (False, True):
+      for accelerator in (False, True):
+        for radar in (False, True):
+          cp = params(candidate, sascm=True, accelerator=accelerator, radar=radar, alpha=alpha, release=release)
+          word = cp.safetyConfigs[0].safetyParam
+          cp.flags |= int(GMFlags.HAS_BSM)
+          longitudinal = alpha and not release
+          assert profile(cp, longitudinal=longitudinal)
+          assert qualified_gm(cp)
+          assert cp.safetyConfigs[0].safetyParam == word
+          assert not profile(cp, longitudinal=not longitudinal)
+          for bit in (1, 2, 4, 8, 32, 1 << 30):
+            denied = cp.as_reader().as_builder()
+            denied.flags |= bit
+            assert not profile(denied, longitudinal=longitudinal)
+          cp.safetyConfigs[0].safetyParam |= 4
+          assert not profile(cp, longitudinal=longitudinal)
+
+
+@pytest.mark.parametrize('candidate', CARS)
+def test_bsm_startup_replaces_all_acc_messages_on_correct_buses(candidate):
+  cp = params(candidate, sascm=True, alpha=True)
+  cp.flags |= int(GMFlags.HAS_BSM)
+  controller = CarController(DBC[candidate], cp)
+  assert controller.startup_acc_keepalive
+  assert controller.ordinary_sdgm_long == (candidate in ORDINARY_SDGM_CAR)
+  state = CarState(cp)
+  state.pscm_status = dict.fromkeys(('HandsOffSWDetectionMode', 'HandsOffSWlDetectionStatus',
+                                    'LKATorqueDeliveredStatus', 'LKADriverAppldTrq', 'LKATorqueDelivered',
+                                    'LKATotalTorqueDelivered', 'RollingCounter', 'PSCMStatusChecksum'), 0)
+  state.out = structs.CarState.new_message(canValid=True).as_reader()
+  control = structs.CarControl.new_message(enabled=True, latActive=True, longActive=True)
+  control.actuators.accel = 1.
+  control.actuators.torque = 1.
+  _, frames = controller.update(control.as_reader(), state, 1_000_000_000, startup_keepalive=True)
+  safety = libsafety_py.libsafety
+  safety.init_tests()
+  assert safety.set_safety_hooks(cp.safetyConfigs[0].safetyModel.raw, cp.safetyConfigs[0].safetyParam) == 0
+  for message in frames:
+    if message[0] in (0x2CB, 0x315, 0x370):
+      assert native('tx', message, 1_000_000), message
+  expected_brake_bus = 2 if candidate in ORDINARY_SDGM_CAR else 0
+  assert {(0x2CB, 0), (0x315, expected_brake_bus), (0x370, 0)} <= {(a, b) for a, _, b in frames}
+  assert not any(a == 0x315 and b != expected_brake_bus for a, _, b in frames)
+  startup.test_initializing_gm_output_is_inactive_and_profile_complete(cp)

opendbc_repo/opendbc/car/gm/values.py

@@ -985,7 +985,7 @@ def is_ordinary_ascm_profile(cp, *, longitudinal):
     word = int(configs[0].safetyParam)
     return (cp.brand == "gm" and cp.carFingerprint in ORDINARY_ASCM_CAR and
             cp.networkLocation == CarParams.NetworkLocation.fwdCamera and
-            not cp.passive and not cp.dashcamOnly and not cp.notCar and cp.flags == 0 and
+            not cp.passive and not cp.dashcamOnly and not cp.notCar and control_flags(cp) == 0 and
             cp.openpilotLongitudinalControl == longitudinal and cp.pcmCruise != longitudinal and
             (not longitudinal or cp.alphaLongitudinalAvailable) and
             len(configs) == 1 and configs[0].safetyModel == CarParams.SafetyModel.gm and
@@ -1009,7 +1009,7 @@ def is_ordinary_sdgm_profile(cp, *, longitudinal):
     configs = cp.safetyConfigs
     return (cp.brand == 'gm' and cp.carFingerprint in ORDINARY_SDGM_CAR and
             cp.networkLocation == CarParams.NetworkLocation.fwdCamera and
-            not cp.passive and not cp.dashcamOnly and not cp.notCar and cp.flags == 0 and
+            not cp.passive and not cp.dashcamOnly and not cp.notCar and control_flags(cp) == 0 and
             cp.openpilotLongitudinalControl == longitudinal and cp.pcmCruise != longitudinal and
             (not longitudinal or cp.alphaLongitudinalAvailable) and
             len(configs) == 1 and configs[0].safetyModel == CarParams.SafetyModel.gm and