Avoid repeated CCNC longitudinal configuration clones

opendbc_repo/opendbc/car/hyundai/ev9_longitudinal.py

@@ -314,7 +314,7 @@ def qualified(cp):
       cp.alternativeExperience not in (0, 32) or
       not cp.alphaLongitudinalAvailable or len(cp.safetyConfigs) != 1 or cp.safetyConfigs[0].safetyParam != LONG_PARAM):
     return False
-  if type(cp) is _DynamicStructBuilder and cp.schema == structs.CarParams.schema:
+  if type(cp) in (_DynamicStructBuilder, _DynamicStructReader) and cp.schema == structs.CarParams.schema:
     return metadata_qualified(cp)
   stock = stock_copy(cp)
   stock.alternativeExperience = 0

opendbc_repo/opendbc/car/hyundai/ioniq5pe_long_profile.py

@@ -1,8 +1,9 @@
 from math import isfinite
+from capnp.lib.capnp import _DynamicStructBuilder, _DynamicStructReader
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import CAR
-from opendbc.car.hyundai.ccnc_ev_stock import qualified as stock_qualified
+from opendbc.car.hyundai.ccnc_ev_stock import qualified as stock_qualified, metadata_qualified
 from opendbc.car.hyundai.ev9_longitudinal import copy_cp
 
 STOCK_PARAM = 0x5491
@@ -36,13 +37,17 @@ def qualified(cp):
   if (not required(cp) or cp.pcmCruise or not cp.alphaLongitudinalAvailable or
       cp.alternativeExperience not in (0, 32) or len(cp.safetyConfigs) != 1 or
       cp.safetyConfigs[0].safetyParam != LONG_PARAM or
-      cp.steerControlType != structs.CarParams.SteerControlType.angle or not cp.deprecated.startingState or
-      not all(isfinite(value) for value in (cp.deprecated.startAccel, cp.deprecated.vEgoStarting, cp.deprecated.vEgoStopping,
-                                             cp.deprecated.stoppingDecelRate, cp.longitudinalActuatorDelay)) or
-      abs(cp.deprecated.startAccel - 1.) > 1e-6 or abs(cp.deprecated.vEgoStarting - .4) > 1e-6 or
-      abs(cp.deprecated.vEgoStopping - .3) > 1e-6 or abs(cp.deprecated.stoppingDecelRate - .4) > 1e-6 or
+      cp.steerControlType != structs.CarParams.SteerControlType.angle):
+    return False
+  deprecated = cp.deprecated
+  if (not deprecated.startingState or not all(isfinite(value) for value in (deprecated.startAccel, deprecated.vEgoStarting, deprecated.vEgoStopping,
+                                             deprecated.stoppingDecelRate, cp.longitudinalActuatorDelay)) or
+      abs(deprecated.startAccel - 1.) > 1e-6 or abs(deprecated.vEgoStarting - .4) > 1e-6 or
+      abs(deprecated.vEgoStopping - .3) > 1e-6 or abs(deprecated.stoppingDecelRate - .4) > 1e-6 or
       abs(cp.longitudinalActuatorDelay - .35) > 1e-6):
     return False
+  if type(cp) in (_DynamicStructBuilder, _DynamicStructReader) and cp.schema == structs.CarParams.schema:
+    return metadata_qualified(cp)
   stock = copy_cp(cp)
   stock.alternativeExperience = 0
   stock.openpilotLongitudinalControl = False

opendbc_repo/opendbc/car/hyundai/tests/test_ccnc_long_validation.py

@@ -0,0 +1,72 @@
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car.hyundai import ev9_longitudinal, ioniq5pe_long_profile
+from opendbc.car.hyundai.tests.test_stock_angle_aol import source_profile
+from opendbc.car.hyundai.values import CAR, HyundaiFlags
+
+
+def profile(identity):
+  module = ioniq5pe_long_profile if identity == CAR.HYUNDAI_IONIQ_5_PE else ev9_longitudinal
+  cp = module.candidate(source_profile(identity), enabled=True, is_release=False)
+  return module, cp
+
+
+@pytest.mark.parametrize('identity', (CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9))
+@pytest.mark.parametrize('reader', (False, True))
+def test_canonical_long_validation_does_not_clone_carparams(identity, reader):
+  module, cp = profile(identity)
+  cp.alternativeExperience = 32
+  value = cp.as_reader() if reader else cp
+  before = cp.to_dict()
+  with patch.object(module, 'copy_cp', side_effect=AssertionError('CYCLIC_LONG_QUALIFICATION_CLONED_CP')):
+    assert module.qualified(value)
+    cp.passive = True
+    assert not module.qualified(value)
+    cp.passive = False
+    assert module.qualified(value)
+  assert cp.to_dict() == before
+
+
+@pytest.mark.parametrize('identity', (CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9))
+@pytest.mark.parametrize('mutation', ('passive','dashcam','notcar','brand','fuel','long','pcm','experience','available','word','model','slots'))
+def test_every_admission_field_is_still_checked_on_every_call(identity, mutation):
+  module, cp = profile(identity)
+  assert module.qualified(cp)
+  if mutation == 'passive':
+    cp.passive = True
+  elif mutation == 'dashcam':
+    cp.dashcamOnly = True
+  elif mutation == 'notcar':
+    cp.notCar = True
+  elif mutation == 'brand':
+    cp.brand = 'toyota'
+  elif mutation == 'fuel':
+    cp.flags = int(cp.flags | HyundaiFlags.HYBRID)
+  elif mutation == 'long':
+    cp.openpilotLongitudinalControl = False
+  elif mutation == 'pcm':
+    cp.pcmCruise = True
+  elif mutation == 'experience':
+    cp.alternativeExperience = 33
+  elif mutation == 'available':
+    cp.alphaLongitudinalAvailable = False
+  elif mutation == 'word':
+    cp.safetyConfigs[0].safetyParam ^= 4
+  elif mutation == 'model':
+    cp.safetyConfigs[0].safetyModel = 'noOutput'
+  else:
+    cp.safetyConfigs = [cp.safetyConfigs[0].to_dict(), cp.safetyConfigs[0].to_dict()]
+  assert not module.qualified(cp)
+  assert not module.qualified(cp.as_reader())
+
+
+@pytest.mark.parametrize('field,value', [('startingState',False),('startAccel',.5),('vEgoStarting',.5),('vEgoStopping',.4),
+                                         ('stoppingDecelRate',.5),('startAccel',float('nan')),('startAccel',float('inf'))])
+def test_pe_frozen_longitudinal_values_still_refuse_mutation(field, value):
+  module, cp = profile(CAR.HYUNDAI_IONIQ_5_PE)
+  assert module.qualified(cp)
+  setattr(cp.deprecated, field, value)
+  assert not module.qualified(cp)
+  assert not module.qualified(cp.as_reader())

opendbc_repo/opendbc/car/hyundai/tests/test_ev9_long_controller.py

@@ -271,16 +271,16 @@ class TestEV9FreshMetadataQualification(unittest.TestCase):
       cp.safetyConfigs[0].safetyParam ^= 1
       self.assertTrue(qualified(cp))
 
-  def test_valid_builder_avoids_copy_and_reader_keeps_copy_contract(self):
+  def test_typed_builder_and_reader_avoid_copy_with_original_semantics(self):
     from unittest.mock import patch
     from opendbc.car.hyundai import ev9_longitudinal
     cp = self.base()
     with patch.object(ev9_longitudinal, 'stock_copy', side_effect=AssertionError('unexpected whole CP copy')):
       self.assertTrue(qualified(cp))
     with structs.CarParams.from_bytes(cp.to_bytes()) as reader:
-      with patch.object(ev9_longitudinal, 'stock_copy', wraps=ev9_longitudinal.stock_copy) as copied:
-        self.assertTrue(qualified(reader))
-        self.assertEqual(copied.call_count, 1)
+      expected = self.original(reader)
+      with patch.object(ev9_longitudinal, 'stock_copy', side_effect=AssertionError('unexpected whole CP copy')):
+        self.assertEqual(qualified(reader), expected)
 
   def test_custom_owner_keeps_original_access_and_copy_behavior(self):
     cp = self.base()

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "9d10e892ff4106a821c4c67568318d46598503096446efdb729bad3b2462d39c", "schema_version": 1}
+{"protected_inventory_sha256": "16b87cb64ab51930429e6251dad19d486b669b0c86e4f005f97fa7a5f9045661", "schema_version": 1}

tools/ci/run_vehicle_tests.py

@@ -45,6 +45,7 @@ AOL_LIFECYCLE_TARGETS = (
   'openpilot/starpilot/aol/tests/test_hkg_early_long_withdrawal.py',
   'openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py',
   'opendbc_repo/opendbc/car/hyundai/tests/test_angle_fault_recovery.py',
+  'opendbc_repo/opendbc/car/hyundai/tests/test_ccnc_long_validation.py',
   'opendbc_repo/opendbc/car/hyundai/tests/test_daw.py',
   'openpilot/starpilot/aol/tests/test_hkg_angle_limit_warning.py',
   'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py',