Reuse exact mixed Hyundai configuration qualification on the control path

opendbc_repo/opendbc/car/hyundai/blended_longitudinal.py

@@ -5,6 +5,9 @@ Shared Ioniq and generic Hyundai initialization are intentionally independent.
 """
 from dataclasses import dataclass
 from enum import Enum
+from functools import lru_cache
+
+from capnp.lib.capnp import _DynamicStructBuilder, _DynamicStructReader
 
 from opendbc.car.hyundai.values import CAR, is_blended, HyundaiFlags, HyundaiSafetyFlags
 
@@ -194,7 +197,7 @@ class BlendedLongitudinalController:
     return messages
 
 
-def mixed_startup_qualified(cp, *, is_release=False, allow_marked=False):
+def _mixed_startup_qualified_uncached(cp, *, is_release=False, allow_marked=False):
   """Exact prepared mixed owner; stock topology remains immutable."""
   from opendbc.car import structs
   from opendbc.car.hyundai.hyundaicanfd import CanBus
@@ -538,3 +541,23 @@ def startup_owner(cp, callbacks, *, requested):
   candidate = candidate_from_stock(cp, alpha_requested=requested,
                                    native_qualified=cp.alphaLongitudinalAvailable and mixed_startup_qualified(cp))
   return None if candidate is None else BlendedStartup(cp, candidate, callbacks)
+
+
+@lru_cache(maxsize=32)
+def _mixed_startup_for_bytes(key, is_release, allow_marked):
+  from opendbc.car import structs
+  with structs.CarParams.from_bytes(key) as cp:
+    return _mixed_startup_qualified_uncached(cp, is_release=is_release, allow_marked=allow_marked)
+
+
+def mixed_startup_qualified(cp, *, is_release=False, allow_marked=False):
+  from opendbc.car import structs
+  if type(cp) in (_DynamicStructBuilder, _DynamicStructReader) and cp.schema == structs.CarParams.schema:
+    try:
+      snapshot = cp.copy() if type(cp) is _DynamicStructBuilder else cp.as_builder()
+      key = snapshot.to_bytes()
+      if len(key) <= 65536:
+        return _mixed_startup_for_bytes(key, is_release, allow_marked)
+    except Exception:
+      pass
+  return _mixed_startup_qualified_uncached(cp, is_release=is_release, allow_marked=allow_marked)

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

@@ -0,0 +1,82 @@
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car.hyundai import blended_longitudinal as mixed
+from opendbc.car.hyundai.tests.test_blended_stock_aol import params
+
+
+@pytest.fixture(params=(False, True))
+def cp(request):
+  cache = getattr(mixed, '_mixed_startup_for_bytes', None)
+  if cache is not None:
+    cache.cache_clear()
+  return params(request.param)
+
+
+def test_same_static_configuration_is_qualified_once(cp):
+  before = cp.to_dict()
+  with patch.object(mixed, 'alpha_eligible', wraps=mixed.alpha_eligible) as evaluate:
+    for _ in range(20):
+      assert mixed.mixed_startup_qualified(cp)
+      assert mixed.mixed_startup_qualified(cp.as_reader())
+    assert evaluate.call_count == 1
+  assert cp.to_dict() == before
+
+
+@pytest.mark.parametrize('field', ('flags', 'brand', 'carFingerprint', 'passive', 'dashcamOnly', 'notCar',
+                                 'steerControlType', 'alternativeExperience', 'safetyConfigs', 'safetyModel',
+                                 'safetyParam', 'pcmCruise', 'openpilotLongitudinalControl', 'mass', 'carVin', 'carFw'))
+def test_changes_on_same_builder_are_requalified(cp, field):
+  uncached = getattr(mixed, '_mixed_startup_qualified_uncached', mixed.mixed_startup_qualified)
+  assert mixed.mixed_startup_qualified(cp)
+  if field in ('passive', 'dashcamOnly', 'notCar', 'pcmCruise', 'openpilotLongitudinalControl'):
+    setattr(cp, field, not getattr(cp, field))
+  elif field in ('flags', 'alternativeExperience'):
+    setattr(cp, field, int(getattr(cp, field)) ^ 1)
+  elif field == 'safetyConfigs':
+    cp.safetyConfigs = []
+  elif field == 'safetyParam':
+    cp.safetyConfigs[0].safetyParam ^= 1
+  elif field == 'safetyModel':
+    cp.safetyConfigs[0].safetyModel = 'noOutput'
+  elif field == 'steerControlType':
+    cp.steerControlType = 'angle'
+  elif field == 'mass':
+    cp.mass += 1
+  elif field == 'carFw':
+    cp.carFw = [{'ecu': 'eps', 'fwVersion': b'changed'}]
+  else:
+    setattr(cp, field, 'changed')
+  with patch.object(mixed, 'alpha_eligible', wraps=mixed.alpha_eligible) as evaluate:
+    for release in (False, True):
+      for marked in (False, True):
+        assert mixed.mixed_startup_qualified(cp, is_release=release, allow_marked=marked) == uncached(cp, is_release=release, allow_marked=marked)
+    assert evaluate.call_count > 0
+
+
+@pytest.mark.parametrize('longitudinal', (False, True))
+@pytest.mark.parametrize('marked', (False, True))
+def test_stock_long_and_aol_profiles_retain_release_restriction(cp, longitudinal, marked):
+  cp.openpilotLongitudinalControl = longitudinal
+  cp.pcmCruise = not longitudinal
+  if longitudinal:
+    cp.safetyConfigs[0].safetyParam |= 4
+  cp.alternativeExperience = 32 if marked else 0
+  assert mixed.mixed_startup_qualified(cp, allow_marked=marked)
+  assert not mixed.mixed_startup_qualified(cp, is_release=True, allow_marked=marked)
+  if marked:
+    assert not mixed.mixed_startup_qualified(cp)
+
+
+def test_proxy_and_snapshot_failure_retain_original_validation(cp):
+  class Proxy:
+    def __getattr__(self, name):
+      return getattr(cp, name)
+  assert mixed.mixed_startup_qualified(Proxy())
+  cached = getattr(mixed, '_mixed_startup_for_bytes', None)
+  if cached is not None:
+    with patch.object(mixed, '_mixed_startup_for_bytes', side_effect=RuntimeError('cache unavailable')):
+      assert mixed.mixed_startup_qualified(cp)
+      cp.passive = True
+      assert not mixed.mixed_startup_qualified(cp)

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "cd934dc89ad38cfecee7994f992b3f426038c914fa9184b8c7e835b349485acd", "schema_version": 1}
+{"protected_inventory_sha256": "745786774cd0e323f79d7003c30cbacd2a576521102175b8188f790902d142ba", "schema_version": 1}