mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 17:13:54 +08:00
Merge gateway MEB support and qualified Toyota replay metadata
This commit is contained in:
firestar5683
@@ -146,7 +146,8 @@ class CarController(CarControllerBase):
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if self.CP.flags & VolkswagenFlags.MEB:
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accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
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accel, acc_status, acc_hold_type, braking_to_stop, leaving_standstill = self.meb_long_state.update(CS, CC, accel)
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can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, CC.enabled,
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acc_enabled = self.meb_long_state._long_active(CS, CC)
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can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, self.CCP, CS.acc_type, acc_enabled,
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accel, acc_status, acc_hold_type, braking_to_stop, leaving_standstill,
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CS.out.vEgoRaw * CV.MS_TO_KPH, CS.travel_assist_available))
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@@ -204,7 +205,8 @@ class CarController(CarControllerBase):
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gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
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if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
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can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.CAN.ext, CS.gra_stock_values,
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button_control = mebcan.create_acc_buttons_control if self.CP.flags & VolkswagenFlags.MEB else self.CCS.create_acc_buttons_control
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can_sends.append(button_control(self.packer_pt, self.CAN.ext, CS.gra_stock_values,
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cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
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new_actuators = actuators.as_builder()
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@@ -299,6 +299,11 @@ class CarState(CarStateBase):
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ret.cruiseState.available = pt_cp.vl["Motor_51"]["TSK_Status"] in (2, 3, 4, 5)
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ret.cruiseState.enabled = pt_cp.vl["Motor_51"]["TSK_Status"] in (3, 4, 5)
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ret.cruiseState.nonAdaptive = bool(pt_cp.vl["Motor_51"]["TSK_Limiter_ausgewaehlt"])
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if self.CP.pcmCruise:
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ret.cruiseState.speed = ext_cp.vl["ACC_19"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
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if ret.cruiseState.speed > 90:
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ret.cruiseState.speed = 0
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ret.cruiseState.standstill = ret.standstill
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tsk_faulted = pt_cp.vl["Motor_51"]["TSK_Status"] in (6, 7)
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engine_off = pt_cp.vl["Motor_54"]["Engine_On"] == 0
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@@ -124,6 +124,7 @@ class CarInterface(CarInterfaceBase):
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if ret.flags & VolkswagenFlags.MEB:
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ret.openpilotLongitudinalControl = True
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ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
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ret.longitudinalActuatorDelay = 0.3
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else:
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ret.alphaLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
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@@ -0,0 +1,58 @@
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"""Source-owned MEB stock ACC option; upstream system-long remains the default."""
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from opendbc.car import structs
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from opendbc.car.volkswagen.values import CAR, VolkswagenFlags
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from opendbc.car.volkswagen.stock_aol import safety_config
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STOCK_WORD = 4
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AOL_WORD = 8
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ALT_GEAR_WORD = 16
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MEB_CARS = frozenset(c for c in CAR if c.config.flags & VolkswagenFlags.MEB)
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KNOWN_FLAGS = int(VolkswagenFlags.MEB | VolkswagenFlags.MEB_GEN2 | VolkswagenFlags.ALT_GEAR |
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VolkswagenFlags.STOCK_KLR_PRESENT | VolkswagenFlags.HAS_BSM)
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AOL_WORDS = frozenset((8, 10, 12, 14, 24, 26, 28, 30))
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def base_word(cp):
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return (2 if cp.flags & VolkswagenFlags.MEB_GEN2 else 0) | (0 if cp.openpilotLongitudinalControl else STOCK_WORD)
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def profile_word(cp):
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return base_word(cp) | AOL_WORD | (ALT_GEAR_WORD if cp.flags & VolkswagenFlags.ALT_GEAR else 0)
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def supported(cp):
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try:
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return bool(cp.brand == 'volkswagen' and cp.carFingerprint in MEB_CARS and
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cp.flags & VolkswagenFlags.MEB and not cp.flags & ~KNOWN_FLAGS and not cp.notCar and not cp.dashcamOnly and
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cp.networkLocation == structs.CarParams.NetworkLocation.gateway and
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cp.transmissionType == structs.CarParams.TransmissionType.direct and
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cp.steerControlType == structs.CarParams.SteerControlType.curvature and safety_config(cp) is not None and
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safety_config(cp).safetyModel == structs.CarParams.SafetyModel.volkswagenMeb and
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safety_config(cp).safetyParam in (base_word(cp), profile_word(cp)))
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except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
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return False
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def qualified(cp, *, marked_only=False):
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try:
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if not supported(cp) or cp.passive or cp.openpilotLongitudinalControl == cp.pcmCruise:
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return False
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word = int(safety_config(cp).safetyParam)
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return ((cp.alternativeExperience == 32 and word == profile_word(cp)) or
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(not marked_only and cp.alternativeExperience == 0 and word == base_word(cp)))
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except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
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return False
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def prepare_stock(cp, requested):
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if requested and supported(cp):
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cp.openpilotLongitudinalControl = False
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cp.pcmCruise = True
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safety_config(cp).safetyParam |= STOCK_WORD
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def settings_capable(cp):
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try:
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return supported(cp) and not cp.passive
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except AttributeError:
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return False
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@@ -59,6 +59,24 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_p
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return packer.make_can_msg("LDW_02", bus, values)
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def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, up=False, down=False):
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values = {s: gra_stock_values[s] for s in [
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"GRA_Hauptschalter", # ACC button, on/off
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"GRA_Typ_Hauptschalter", # ACC main button type
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"GRA_Codierung", # ACC button configuration/coding
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"GRA_Tip_Stufe_2", # unknown related to stalk type
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"GRA_ButtonTypeInfo", # unknown related to stalk type
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]}
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values.update({
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"COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
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"GRA_Abbrechen": cancel,
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"GRA_Tip_Wiederaufnahme": resume or up,
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"GRA_Tip_Setzen": down,
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})
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return packer.make_can_msg("GRA_ACC_01", bus, values)
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ACC_HUD_ERROR = 6
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ACC_HUD_OVERRIDE = 4
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ACC_HUD_ACTIVE = 3
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@@ -71,6 +89,7 @@ class MebLongStateMachine:
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def __init__(self, CP, CCP):
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self.CCP = CCP
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self.CP = CP
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self.RAMP_FRAMES = 10 // CCP.ACC_CONTROL_STEP # 100 ms
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self.disengage_ramp_counter = 0 # always ramp when disengaging
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@@ -82,12 +101,20 @@ class MebLongStateMachine:
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self.prev_acc_hold_type = self.acc_hold_type_vals['KEINE_ANFORDERUNG'] # no request
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self.acc_status = self.acc_status_vals['ACC_OFF_HAUPTSCHALTER_AUS'] # last acc status, read by HUD msg
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def _independent_axes(self):
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from opendbc.car.volkswagen.meb_modes import qualified
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return qualified(self.CP, marked_only=True)
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def _long_active(self, CS, CC):
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return (CC.longActive and not CS.out.gasPressed and not CS.out.brakePressed
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if self._independent_axes() else CC.enabled)
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def _get_acc_status(self, CS, CC) -> int:
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# stateless
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# NOTE: stock TSK and camera goes to 5 on disengage independently which we don't model, but hasn't been shown to fault without it
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if CS.out.accFaulted:
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return self.acc_status_vals['REVERSIBLER_FEHLER_IM_ACC_SYSTEM']
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elif CC.enabled:
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elif self._long_active(CS, CC):
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return self.acc_status_vals['ACC_OVERRIDE' if CC.cruiseControl.override else 'ACC_AKTIV_REGELT']
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elif CS.out.cruiseState.available:
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return self.acc_status_vals['ACC_STANDBY']
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@@ -104,7 +131,7 @@ class MebLongStateMachine:
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# HMS_Status leaves holding as soon as we send anfahren, so keep driving off until we leave standstill
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driving_off = self.prev_acc_hold_type == self.acc_hold_type_vals['ANFAHREN'] and CS.esp_standstill
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starting = CC.actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or driving_off)
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long_active = CC.longActive and not CS.out.accFaulted # catches it one frame earlier, not sure if needed
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long_active = (self._long_active(CS, CC) if self._independent_axes() else CC.longActive) and not CS.out.accFaulted
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if not long_active:
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# Stock goes to RAMP for as long as TSK_Status is 5 usually, 100ms seems fine to mimic that behavior.
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@@ -144,7 +171,7 @@ class MebLongStateMachine:
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# transition to inactive accel and jerks as soon as we enter ESP standstill
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requesting_hold = acc_hold_type == self.acc_hold_type_vals['HALTEN']
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held = requesting_hold and CS.esp_hold_confirmation
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if not CC.enabled or held:
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if not self._long_active(CS, CC) or held:
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accel = self.CCP.ACCEL_INACTIVE
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# hold requested but the car hasn't reached standstill yet
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@@ -0,0 +1,66 @@
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"""Public MEB get_car: transport fixtures, genuine FW matcher/factory/Card finalization."""
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import os
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from unittest import mock
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import pytest
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from opendbc.can import CANPacker
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from opendbc.car import car_helpers, structs
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from opendbc.car.can_definitions import CanData
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from opendbc.car.fw_versions import match_fw_to_car
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from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
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from opendbc.car.volkswagen.values import CAR, DBC
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from opendbc.car import Bus
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.selfdrive.car.card import Car
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@pytest.mark.parametrize('identity', (CAR.VOLKSWAGEN_ID4_MK1, CAR.VOLKSWAGEN_ID4_MK2))
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@pytest.mark.parametrize('stock', (False, True))
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@pytest.mark.parametrize('offset,fixed', ((0, False), (4, True)))
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def test_normal_meb_discovery_and_final_card_owner(identity, stock, offset, fixed):
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# Full synthetic ECU reply inventory from the current source DB; not an observed physical capture.
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fw = [structs.CarParams.CarFw(ecu=ecu, address=address, subAddress=sub or 0, fwVersion=versions[0],
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brand='volkswagen', bus=offset)
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for (ecu, address, sub), versions in FW_VERSIONS[identity].items()]
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vin = 'WVWZZZE2ZMP000000' if identity == CAR.VOLKSWAGEN_ID4_MK1 else 'WVWZZZE8ZRP000000'
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exact, matches = match_fw_to_car(fw, vin, log=False)
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assert exact == (identity == CAR.VOLKSWAGEN_ID4_MK2) and matches == {identity}
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packer = CANPacker(DBC[identity][Bus.pt])
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messages = [packer.make_can_msg('Getriebe_11', offset, {'GE_Fahrstufe': 8}),
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packer.make_can_msg('QFK_01', offset + 1, {'LatCon_HCA_Status': 2})]
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frames = [CanData(address=addr, dat=data, src=bus) for addr, data, bus in messages]
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def receive(wait_for_one=False):
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return [frames]
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with OpenpilotPrefix(), mock.patch.dict(os.environ, {'SIMULATION': '0', 'AOL_REPLAY_RUNTIME': '1'}):
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store = Params()
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store.put_bool('AlwaysOnLateral', True, block=True)
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store.put_bool('OpenpilotEnabledToggle', True, block=True)
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store.put_bool('SafeMode', False, block=True)
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store.put_bool('DisableOpenpilotLongitudinal', stock, block=True)
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store.remove('AlphaLongitudinalEnabled')
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store.remove('VehicleSelection')
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environment = {k: v for k, v in os.environ.items() if k not in ('FINGERPRINT', 'SKIP_FW_QUERY', 'DISABLE_FW_CACHE')}
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with (mock.patch.dict(os.environ, environment, clear=True),
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mock.patch.object(car_helpers, 'get_vin', return_value=(0, offset, vin)),
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mock.patch.object(car_helpers, 'get_present_ecus', return_value=set()),
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mock.patch.object(car_helpers, 'get_fw_versions_ordered', return_value=fw)):
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# Actual startup owner is the same pre-create hook used by Card's public acquisition path.
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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snapshot = VehicleStartupPreferences.read(store, enabled=True)
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ci = car_helpers.get_car(receive, lambda *args: None, lambda _: None, False, False,
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forced_candidate=identity if fixed else None,
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pre_create_hook=lambda cp, candidate, fingerprints, car_fw: snapshot.prepare(cp, fingerprints=fingerprints))
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cp = ci.CP
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assert cp.carFingerprint == identity
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assert cp.fingerprintSource == (structs.CarParams.FingerprintSource.fixed if fixed else structs.CarParams.FingerprintSource.fw)
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assert cp.openpilotLongitudinalControl != stock and cp.pcmCruise == stock
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card = Car(CI=ci, RI=ci.RadarInterface(cp))
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try:
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assert card.aol_qualified and card.CP.alternativeExperience == 32
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assert card.CP.safetyConfigs[-1].safetyModel == structs.CarParams.SafetyModel.volkswagenMeb
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assert len(card.CP.safetyConfigs) == (2 if offset else 1)
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with structs.CarParams.from_bytes(store.get('CarParams')) as published:
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assert published.to_dict() == card.CP.to_dict()
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finally:
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card.vehicle_startup.close()
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@@ -0,0 +1,201 @@
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"""Saved MEB choices, exact CP/native profiles and independent longitudinal output."""
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from types import SimpleNamespace
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from pathlib import Path
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import pytest
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from opendbc.car import structs
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from opendbc.car.volkswagen.interface import CarInterface
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from opendbc.car.volkswagen.meb_modes import MEB_CARS, base_word, profile_word, qualified, prepare_stock
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from opendbc.car.volkswagen.mebcan import MebLongStateMachine
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from opendbc.car.volkswagen.values import CarControllerParams
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
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from openpilot.starpilot.aol.vehicle import native_matches_cp, policy_for
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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def params(identity, *, gateway=True, offset=0, fixed=False, alt=False):
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fp = {bus: {} for bus in range(8)}
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fp[offset][0x25D] = 8
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if gateway:
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fp[offset + 1][0x13D] = 32
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if alt:
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fp[offset][0x3DC] = 8
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cp = CarInterface.get_params(identity, fp, [], False, False, False)
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cp.fingerprintSource = structs.CarParams.FingerprintSource.fixed if fixed else structs.CarParams.FingerprintSource.fw
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return cp
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@pytest.mark.parametrize('identity', sorted(MEB_CARS))
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@pytest.mark.parametrize('offset,fixed', ((0, False), (0, True), (4, False), (4, True)))
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@pytest.mark.parametrize('stock', (False, True))
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@pytest.mark.parametrize('alt', (False, True))
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def test_exact_gateway_configuration_and_camera_boundary(identity, offset, fixed, stock, alt):
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cp = params(identity, offset=offset, fixed=fixed, alt=alt)
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assert cp.openpilotLongitudinalControl and not cp.pcmCruise
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prepare_stock(cp, stock)
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assert cp.pcmCruise == stock and cp.openpilotLongitudinalControl != stock
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assert qualified(cp) and cp.safetyConfigs[-1].safetyParam == base_word(cp)
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policy = policy_for(cp)
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assert policy.intent_supported
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cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
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cp.alternativeExperience |= policy.alternative_experience_addition
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assert cp.safetyConfigs[-1].safetyParam == profile_word(cp)
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assert native_matches_cp(cp, 34, profile_word(cp))
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assert not native_matches_cp(cp, 15, profile_word(cp))
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if offset:
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assert cp.safetyConfigs[0].safetyParam == 0
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camera = params(identity, gateway=False, offset=offset, fixed=fixed, alt=alt)
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before = camera.to_dict()
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prepare_stock(camera, True)
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assert camera.to_dict() == before and camera.dashcamOnly
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assert not qualified(camera) and not policy_for(camera).intent_supported
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@pytest.mark.parametrize('saved,expected', ((None, False), (b'1', False), (b'0', True), (b'', True), (b'broken', True)))
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@pytest.mark.parametrize('disable', (False, True))
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def test_actual_saved_alpha_off_absence_and_disable_precedence(saved, expected, disable):
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with OpenpilotPrefix():
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store = Params()
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store.remove('AlphaLongitudinalEnabled')
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if saved is not None:
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Path(store.get_param_path('AlphaLongitudinalEnabled')).write_bytes(saved)
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store.put_bool('DisableOpenpilotLongitudinal', disable, block=True)
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assert stock_long_requested(store) == expected
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snapshot = VehicleStartupPreferences.read(store, enabled=True)
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cp = params(sorted(MEB_CARS)[0])
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snapshot.prepare(cp)
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snapshot.finalize(cp)
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assert cp.pcmCruise == (disable or expected)
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assert cp.openpilotLongitudinalControl != (disable or expected)
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path = Path(store.get_param_path('AlphaLongitudinalEnabled'))
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assert (path.read_bytes() if path.exists() else None) == saved
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||||
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def test_unreadable_alpha_is_stock_and_does_not_rewrite():
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class Unreadable:
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def get(self, *args, **kwargs):
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raise OSError('unreadable fixture')
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||||
def get_param_path(self, *args):
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raise OSError('unreadable fixture')
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assert stock_long_requested(Unreadable())
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||||
|
||||
|
||||
def test_marked_lateral_only_uses_inactive_accel_and_standby_status():
|
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cp = params(sorted(MEB_CARS)[0])
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||||
policy = policy_for(cp)
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||||
cp.alternativeExperience = 32
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||||
cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
|
||||
machine = MebLongStateMachine(cp, CarControllerParams(cp))
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||||
state = SimpleNamespace(out=structs.CarState(canValid=True, vEgo=20.),
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||||
esp_standstill=False, esp_hold_confirmation=False)
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||||
state.out.cruiseState.available = True
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||||
command = structs.CarControl(enabled=True, latActive=True, longActive=False)
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||||
command.actuators.longControlState = structs.CarControl.Actuators.LongControlState.pid
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||||
accel, status, hold, braking, launching = machine.update(state, command, .5)
|
||||
assert accel == machine.CCP.ACCEL_INACTIVE
|
||||
assert status == machine.acc_status_vals['ACC_STANDBY']
|
||||
assert hold == machine.acc_hold_type_vals['KEINE_ANFORDERUNG'] and not braking and not launching
|
||||
|
||||
|
||||
@pytest.mark.parametrize('pedal', ('gasPressed', 'brakePressed'))
|
||||
def test_marked_long_withdraws_immediately_on_current_pedal_before_native_status(pedal):
|
||||
cp = params(sorted(MEB_CARS)[0])
|
||||
policy = policy_for(cp)
|
||||
cp.alternativeExperience = 32
|
||||
cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
|
||||
machine = MebLongStateMachine(cp, CarControllerParams(cp))
|
||||
state = SimpleNamespace(out=structs.CarState(canValid=True, vEgo=20.),
|
||||
esp_standstill=False, esp_hold_confirmation=False)
|
||||
state.out.cruiseState.available = True
|
||||
setattr(state.out, pedal, True)
|
||||
command = structs.CarControl(enabled=True, latActive=True, longActive=True)
|
||||
command.actuators.longControlState = structs.CarControl.Actuators.LongControlState.pid
|
||||
accel, status, hold, braking, launching = machine.update(state, command, .5)
|
||||
assert not machine._long_active(state, command)
|
||||
assert accel == machine.CCP.ACCEL_INACTIVE and status == machine.acc_status_vals['ACC_STANDBY']
|
||||
assert hold == machine.acc_hold_type_vals['KEINE_ANFORDERUNG'] and not braking and not launching
|
||||
|
||||
|
||||
def test_gateway_ui_saved_off_and_parked_cas_guards():
|
||||
from openpilot.starpilot.ui.feature_settings_owner import FeatureSettingsOwner
|
||||
from openpilot.starpilot.ui.feature_settings_state import FeatureSettingsRequest
|
||||
with OpenpilotPrefix():
|
||||
store = Params()
|
||||
store.put_bool('SafeMode', False, block=True)
|
||||
cp = params(sorted(MEB_CARS)[0])
|
||||
allowed = [True]
|
||||
owner = FeatureSettingsOwner(store, lambda group: allowed[0] and group == 'parked_preferences',
|
||||
vehicle_fingerprint=lambda: cp.carFingerprint, vehicle_params=lambda: cp)
|
||||
capability = owner._bolt_disable_capability()
|
||||
assert capability is not None
|
||||
request = FeatureSettingsRequest('DisableOpenpilotLongitudinal', None, 'On', confirmation=True,
|
||||
vehicle_fingerprint=cp.carFingerprint, capability=capability)
|
||||
assert owner.apply(request)
|
||||
assert not owner.apply(request) # Original source bytes are stale after the successful commit.
|
||||
request = FeatureSettingsRequest('DisableOpenpilotLongitudinal', b'1', 'Off', confirmation=True,
|
||||
vehicle_fingerprint=cp.carFingerprint, capability=capability)
|
||||
allowed[0] = False
|
||||
assert not owner.apply(request)
|
||||
allowed[0] = True
|
||||
store.put_bool('AlphaLongitudinalEnabled', False, block=True)
|
||||
assert not owner.apply(request) # Cannot override explicit speed-control OFF from the other driving setting.
|
||||
store.put_bool('AlphaLongitudinalEnabled', True, block=True)
|
||||
assert owner.apply(request)
|
||||
|
||||
|
||||
@pytest.mark.parametrize('identity', ('VOLKSWAGEN_ID4_MK1', 'VOLKSWAGEN_ID4_MK2'))
|
||||
def test_temporary_eps_admission_keeps_exact_profile_and_physical_disarms(identity):
|
||||
from openpilot.starpilot.car.volkswagen.aol import temporary_eps_restriction
|
||||
cp = params(identity)
|
||||
policy = policy_for(cp)
|
||||
cp.alternativeExperience = 32
|
||||
cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
|
||||
state = structs.CarState(canValid=True, steerFaultTemporary=True, gearShifter=structs.CarState.GearShifter.drive)
|
||||
state.cruiseState.available = True
|
||||
assert temporary_eps_restriction(cp, state)
|
||||
for field in ('steerFaultPermanent', 'brakePressed', 'gasPressed', 'regenBraking', 'doorOpen', 'seatbeltUnlatched',
|
||||
'accFaulted', 'vehicleSensorsInvalid', 'steeringDisengage', 'canTimeout'):
|
||||
setattr(state, field, True)
|
||||
assert not temporary_eps_restriction(cp, state), field
|
||||
setattr(state, field, False)
|
||||
for brand in ('honda', 'hyundai', 'gm', 'toyota', 'ford', 'subaru', 'chrysler', 'nissan', 'mazda', 'rivian', 'tesla'):
|
||||
cp.brand = brand
|
||||
assert not temporary_eps_restriction(cp, state), brand
|
||||
cp.brand = 'volkswagen'
|
||||
cp.alternativeExperience = 0
|
||||
assert not temporary_eps_restriction(cp, state)
|
||||
|
||||
|
||||
@pytest.mark.parametrize('identity', ('VOLKSWAGEN_ID4_MK1', 'VOLKSWAGEN_ID4_MK2'))
|
||||
@pytest.mark.parametrize('disarm', ('current_native', 'permanent', 'host_fault', 'main_off', 'can_invalid'))
|
||||
def test_recovered_eps_ignores_only_prior_denial_and_never_a_current_disarm(identity, disarm):
|
||||
from openpilot.starpilot.aol.intent import AolSettings
|
||||
from openpilot.starpilot.car.volkswagen.aol import VolkswagenStockCardIntent
|
||||
cp = params(identity)
|
||||
policy = policy_for(cp)
|
||||
cp.alternativeExperience = 32
|
||||
cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
|
||||
owner = VolkswagenStockCardIntent(cp, AolSettings(True, 5., 0, 0, (0, 0, 0), (0, 0, 0)))
|
||||
state = structs.CarState(canValid=True, vEgo=20., gearShifter=structs.CarState.GearShifter.drive)
|
||||
state.cruiseState.available = True
|
||||
owner.update(state, now_ns=1_000_000_000, fault_active=False)
|
||||
assert owner.allowed_latch
|
||||
state.steerFaultTemporary = True
|
||||
owner.update(state, now_ns=1_200_000_000, fault_active=False)
|
||||
assert owner.allowed_latch
|
||||
state.steerFaultTemporary = False
|
||||
owner.update(state, now_ns=1_250_000_000, native_rejection_ns=1_200_000_000, fault_active=False)
|
||||
assert owner.allowed_latch and owner._native_rejection_ns == 0
|
||||
rejection = 1_200_000_000
|
||||
if disarm == 'current_native':
|
||||
rejection = 1_260_000_000
|
||||
elif disarm == 'permanent':
|
||||
state.steerFaultPermanent = True
|
||||
elif disarm == 'main_off':
|
||||
state.cruiseState.available = False
|
||||
elif disarm == 'can_invalid':
|
||||
state.canValid = False
|
||||
owner.update(state, now_ns=1_260_000_000, native_rejection_ns=rejection, fault_active=disarm == 'host_fault')
|
||||
assert not owner.allowed_latch
|
||||
@@ -0,0 +1,64 @@
|
||||
"""Actual preference/factory/parser/controller and saved OFF matrix for all nine MEBs."""
|
||||
import pytest
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
from opendbc.car.volkswagen.interface import CarInterface
|
||||
from opendbc.car.volkswagen.meb_modes import MEB_CARS, base_word, qualified
|
||||
from opendbc.car.volkswagen.values import DBC, CanBus
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
|
||||
|
||||
|
||||
@pytest.mark.parametrize('identity', sorted(MEB_CARS))
|
||||
@pytest.mark.parametrize('disabled', (False, True))
|
||||
@pytest.mark.parametrize('alt_gear', (False, True))
|
||||
def test_actual_saved_off_keeps_stock_acc_and_the_selected_curvature_controller(identity, disabled, alt_gear):
|
||||
fp = {bus: {} for bus in range(8)}
|
||||
fp[1][0x13D] = 32
|
||||
if alt_gear:
|
||||
fp[0][0x3DC] = 8
|
||||
cp = CarInterface.get_params(identity, fp, [], False, False, False)
|
||||
with OpenpilotPrefix():
|
||||
params = Params()
|
||||
params.put_bool('OpenpilotEnabledToggle', True, block=True)
|
||||
params.put_bool('SafeMode', False, block=True)
|
||||
params.put_bool('DisableOpenpilotLongitudinal', disabled, block=True)
|
||||
preferences = VehicleStartupPreferences.read(params, enabled=True)
|
||||
preferences.prepare(cp, fingerprints=fp)
|
||||
ci = CarInterface(cp)
|
||||
preferences.finalize(cp)
|
||||
assert cp.openpilotLongitudinalControl == (not disabled)
|
||||
assert cp.pcmCruise == disabled
|
||||
assert cp.safetyConfigs[-1].safetyParam == base_word(cp)
|
||||
assert qualified(cp)
|
||||
ci.update([])
|
||||
packer = CANPacker(DBC[identity][Bus.pt])
|
||||
can = CanBus(cp)
|
||||
messages = [packer.make_can_msg('Getriebe_11', can.pt, {'GE_Fahrstufe': 8}),
|
||||
packer.make_can_msg('Gateway_73', can.pt, {'GE_Fahrstufe': 8}),
|
||||
packer.make_can_msg('Motor_51', can.pt, {'TSK_Status': 3}),
|
||||
packer.make_can_msg('Motor_54', can.pt, {'Engine_On': 1}),
|
||||
packer.make_can_msg('QFK_01', can.pt, {'LatCon_HCA_Status': 2}),
|
||||
packer.make_can_msg('ACC_19', can.ext, {'ACC_Wunschgeschw_02': 72, 'ACC_Limiter_Mode': 0})]
|
||||
ci.can_parsers[Bus.pt].update([(1_000_000_000, messages)])
|
||||
ci.can_parsers[Bus.cam].update([(1_000_000_000, messages)])
|
||||
state = ci.CS.update(ci.can_parsers)
|
||||
assert state.gearShifter == structs.CarState.GearShifter.drive
|
||||
assert state.cruiseState.available and state.cruiseState.enabled
|
||||
if disabled:
|
||||
assert state.cruiseState.speed == pytest.approx(20., abs=.1)
|
||||
ci.CS.out = state
|
||||
command = structs.CarControl()
|
||||
command.cruiseControl.cancel = True
|
||||
_, sent = ci.apply(command.as_reader(), 1_010_000_000)
|
||||
ids = {addr for addr, _, _ in sent}
|
||||
assert (0x14D in ids) == (not disabled)
|
||||
if disabled:
|
||||
assert not ids & {0x14D, 0x300, 0x26B}
|
||||
assert 0x12B in ids # Actual restored stock Cancel command factory.
|
||||
observe = CANParser(DBC[identity][Bus.pt], [('GRA_ACC_01', 0)], can.ext)
|
||||
observe.update([(1_010_000_000, sent)])
|
||||
assert observe.vl['GRA_ACC_01']['GRA_Abbrechen'] == 1
|
||||
assert observe.vl['GRA_ACC_01']['COUNTER'] == (ci.CS.gra_stock_values['COUNTER'] + 1) % 16
|
||||
assert all(bus == can.ext for addr, _, bus in sent if addr == 0x12B)
|
||||
@@ -45,8 +45,8 @@ def test_normal_golf_discovery_and_card_stock_aol_owner(manual, gateway, alpha,
|
||||
'subAddress': None,
|
||||
'fwVersion': 'f1873551303930373536374720f18930333930f182013031'}],
|
||||
'origin': 'Synthetic ECU bytes from configuration-matrix.json; actual matcher must verify uniqueness.'}
|
||||
fw = [structs.CarParams.CarFw(ecu=getattr(structs.CarParams.Ecu, r['ecu']),
|
||||
address=r['address'], subAddress=r['subAddress'] or 0, fwVersion=bytes.fromhex(r['fwVersion']),
|
||||
fw = [structs.CarParams.CarFw(ecu=getattr(structs.CarParams.Ecu, str(r['ecu'])),
|
||||
address=r['address'], subAddress=r['subAddress'] or 0, fwVersion=bytes.fromhex(str(r['fwVersion'])),
|
||||
brand='volkswagen', bus=offset) for r in fixture['firmware']]
|
||||
exact, candidates = match_fw_to_car(fw, fixture['vin'], log=False)
|
||||
assert exact and candidates == {CAR.VOLKSWAGEN_GOLF_MK7}, (exact, candidates)
|
||||
|
||||
@@ -23,6 +23,8 @@
|
||||
#define VOLKSWAGEN_MEB_ACC_AKTIV_REGELT 3U
|
||||
#define VOLKSWAGEN_MEB_ACC_OVERRIDE 4U
|
||||
|
||||
#include "opendbc/safety/modes/volkswagen_meb_aol.h"
|
||||
|
||||
static bool volkswagen_meb_alt_crc = false;
|
||||
|
||||
#define VOLKSWAGEN_MEB_COMMON_RX_CHECKS \
|
||||
@@ -96,6 +98,14 @@ static uint32_t volkswagen_meb_alt_crc_compute(const CANPacket_t *msg) {
|
||||
}
|
||||
|
||||
static safety_config volkswagen_meb_init(uint16_t param) {
|
||||
static const CanMsg VOLKSWAGEN_MEB_STOCK_TX_MSGS[] = {
|
||||
{MSG_HCA_03, 0, 24, .check_relay = true},
|
||||
{MSG_GRA_ACC_01, 0, 8, .check_relay = false},
|
||||
{MSG_GRA_ACC_01, 2, 8, .check_relay = false},
|
||||
{MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
{MSG_KLR_01, 0, 8, .check_relay = false},
|
||||
{MSG_KLR_01, 2, 8, .check_relay = true},
|
||||
};
|
||||
static const CanMsg VOLKSWAGEN_MEB_TX_MSGS[] = {
|
||||
{MSG_HCA_03, 0, 24, .check_relay = true},
|
||||
{MSG_LDW_02, 0, 8, .check_relay = true},
|
||||
@@ -109,6 +119,22 @@ static safety_config volkswagen_meb_init(uint16_t param) {
|
||||
volkswagen_common_init();
|
||||
const uint16_t FLAG_VOLKSWAGEN_MEB_ALT_CRC = 2;
|
||||
volkswagen_meb_alt_crc = GET_FLAG(param, FLAG_VOLKSWAGEN_MEB_ALT_CRC);
|
||||
volkswagen_meb_stock_acc = GET_FLAG(param, 4U);
|
||||
vw_meb_aol_reset();
|
||||
const bool aol_word = (param == 8U) || (param == 10U) || (param == 12U) || (param == 14U) ||
|
||||
(param == 24U) || (param == 26U) || (param == 28U) || (param == 30U);
|
||||
vw_meb_aol_enabled = ((unsigned int)alternative_experience == 32U) && aol_word;
|
||||
vw_meb_aol_alt_gear = GET_FLAG(param, 16U);
|
||||
if (vw_meb_aol_enabled) {
|
||||
static const AolSafetyPolicy policy = {
|
||||
.reset = vw_meb_aol_reset,
|
||||
.host_request = vw_meb_aol_request,
|
||||
.request_mask = vw_meb_aol_request_mask,
|
||||
.permission_mask = vw_meb_aol_permission,
|
||||
.rx_invalid = vw_meb_aol_clear,
|
||||
};
|
||||
aol_policy = &policy;
|
||||
}
|
||||
|
||||
safety_config ret;
|
||||
if (volkswagen_meb_alt_crc) {
|
||||
@@ -128,6 +154,15 @@ static safety_config volkswagen_meb_init(uint16_t param) {
|
||||
|
||||
ret = BUILD_SAFETY_CFG(volkswagen_meb_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
|
||||
}
|
||||
if (volkswagen_meb_stock_acc) {
|
||||
ret.tx_msgs = VOLKSWAGEN_MEB_STOCK_TX_MSGS;
|
||||
ret.tx_msgs_len = sizeof(VOLKSWAGEN_MEB_STOCK_TX_MSGS) / sizeof(CanMsg);
|
||||
}
|
||||
if ((((param & ~6U) != 0U) && !vw_meb_aol_enabled) ||
|
||||
(((unsigned int)alternative_experience == 32U) && !vw_meb_aol_enabled)) {
|
||||
ret.tx_msgs = NULL;
|
||||
ret.tx_msgs_len = 0;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -164,6 +199,9 @@ static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
|
||||
bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5);
|
||||
acc_main_on = cruise_engaged || (acc_status == 2);
|
||||
|
||||
if (volkswagen_meb_stock_acc) {
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
}
|
||||
@@ -178,7 +216,8 @@ static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
|
||||
// Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme
|
||||
bool set_button = GET_BIT(msg, 16U);
|
||||
bool resume_button = GET_BIT(msg, 19U);
|
||||
if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
|
||||
if (!volkswagen_meb_stock_acc &&
|
||||
((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button))) {
|
||||
controls_allowed = acc_main_on;
|
||||
}
|
||||
volkswagen_set_button_prev = set_button;
|
||||
@@ -193,6 +232,7 @@ static void volkswagen_meb_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg_matches(msg, MSG_MOTOR_14, 0U)) {
|
||||
brake_pressed = GET_BIT(msg, 28U);
|
||||
}
|
||||
vw_meb_aol_rx(msg);
|
||||
}
|
||||
|
||||
static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
@@ -210,7 +250,8 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
// Signal: ACC_18.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22)
|
||||
int desired_accel = ((((msg->data[4] & 0x7U) << 8) | msg->data[3]) * 5U) - 7220U;
|
||||
// MEB inactive accel is 3.01, but we also need to send 0.0 for gas override
|
||||
bool accel_override = controls_allowed && (desired_accel == 0);
|
||||
const bool current_long_allowed = vw_meb_aol_enabled ? longitudinal_controls_allowed() : controls_allowed;
|
||||
bool accel_override = current_long_allowed && (desired_accel == 0);
|
||||
if (!accel_override && longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MEB_LONG_LIMITS)) {
|
||||
tx = false;
|
||||
}
|
||||
@@ -222,7 +263,7 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
uint8_t hold_type = (msg->data[9] >> 5) & 0x07U;
|
||||
bool hold_type_allowed = (hold_type == VOLKSWAGEN_MEB_HMS_KEINE_ANFORDERUNG) ||
|
||||
(hold_type == VOLKSWAGEN_MEB_HMS_LOESEN_UEBER_RAMPE) ||
|
||||
(controls_allowed && ((hold_type == VOLKSWAGEN_MEB_HMS_HALTEN) ||
|
||||
(current_long_allowed && ((hold_type == VOLKSWAGEN_MEB_HMS_HALTEN) ||
|
||||
(hold_type == VOLKSWAGEN_MEB_HMS_ANFAHREN)));
|
||||
if (!hold_type_allowed) {
|
||||
tx = false;
|
||||
@@ -233,7 +274,7 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
// These carry the same drive off and hold requests as the hold type, so they are gated the same way
|
||||
bool acc_anfahren = GET_BIT(msg, 56U);
|
||||
bool acc_anhalten = GET_BIT(msg, 57U);
|
||||
if ((acc_anfahren || acc_anhalten) && !controls_allowed) {
|
||||
if ((acc_anfahren || acc_anhalten) && !current_long_allowed) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
@@ -243,7 +284,7 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
uint8_t acc_status = (msg->data[7] >> 4) & 0x07U;
|
||||
bool acc_status_active = (acc_status == VOLKSWAGEN_MEB_ACC_AKTIV_REGELT) ||
|
||||
(acc_status == VOLKSWAGEN_MEB_ACC_OVERRIDE);
|
||||
if (acc_status_active && !controls_allowed) {
|
||||
if (acc_status_active && !current_long_allowed) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
@@ -273,6 +314,9 @@ static bool volkswagen_meb_tx_hook(const CANPacket_t *msg) {
|
||||
}
|
||||
}
|
||||
|
||||
if ((msg->addr == MSG_GRA_ACC_01) && !controls_allowed && ((msg->data[2] & 0x9U) != 0U)) {
|
||||
tx = false;
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
@@ -280,6 +324,7 @@ const safety_hooks volkswagen_meb_hooks = {
|
||||
.init = volkswagen_meb_init,
|
||||
.rx = volkswagen_meb_rx_hook,
|
||||
.tx = volkswagen_meb_tx_hook,
|
||||
.optional_rx = vw_meb_aol_optional_rx,
|
||||
.get_counter = volkswagen_mxb_get_counter,
|
||||
.get_checksum = volkswagen_mxb_get_checksum,
|
||||
.compute_checksum = volkswagen_meb_alt_crc_compute,
|
||||
|
||||
@@ -0,0 +1,196 @@
|
||||
#pragma once
|
||||
|
||||
static bool volkswagen_meb_stock_acc = false;
|
||||
|
||||
static bool vw_meb_aol_enabled = false;
|
||||
static bool vw_meb_aol_alt_gear = false;
|
||||
static bool vw_meb_aol_initial_main = true;
|
||||
static bool vw_meb_aol_token = false;
|
||||
static bool vw_meb_aol_long_armed = false;
|
||||
static bool vw_meb_aol_cruise_engaged = false;
|
||||
static bool vw_meb_aol_main_neutral = false;
|
||||
static bool vw_meb_aol_requested = false;
|
||||
static bool vw_meb_aol_gear_drive = false;
|
||||
static bool vw_meb_aol_eps_ready = false;
|
||||
static bool vw_meb_aol_eps_initialized = false;
|
||||
static uint8_t vw_meb_aol_seen = 0U;
|
||||
static uint8_t vw_meb_aol_buttons = 0U;
|
||||
static bool vw_meb_aol_counter_seen = false;
|
||||
static uint8_t vw_meb_aol_gear_counter = 0U;
|
||||
static uint32_t vw_meb_aol_main_ts = 0U;
|
||||
static uint32_t vw_meb_aol_gear_ts = 0U;
|
||||
static uint32_t vw_meb_aol_eps_ts = 0U;
|
||||
static uint32_t vw_meb_aol_eps_init_ts = 0U;
|
||||
|
||||
static void vw_meb_aol_clear(void) {
|
||||
vw_meb_aol_token = false;
|
||||
vw_meb_aol_long_armed = false;
|
||||
vw_meb_aol_main_neutral = false;
|
||||
vw_meb_aol_buttons = 0U;
|
||||
}
|
||||
|
||||
static void vw_meb_aol_reset(void) {
|
||||
vw_meb_aol_clear();
|
||||
vw_meb_aol_enabled = false;
|
||||
vw_meb_aol_alt_gear = false;
|
||||
vw_meb_aol_initial_main = true;
|
||||
vw_meb_aol_cruise_engaged = false;
|
||||
vw_meb_aol_requested = false;
|
||||
vw_meb_aol_gear_drive = false;
|
||||
vw_meb_aol_eps_ready = false;
|
||||
vw_meb_aol_eps_initialized = false;
|
||||
vw_meb_aol_seen = 0U;
|
||||
vw_meb_aol_counter_seen = false;
|
||||
vw_meb_aol_gear_counter = 0U;
|
||||
vw_meb_aol_main_ts = 0U;
|
||||
vw_meb_aol_gear_ts = 0U;
|
||||
vw_meb_aol_eps_ts = 0U;
|
||||
vw_meb_aol_eps_init_ts = 0U;
|
||||
}
|
||||
|
||||
static bool vw_meb_aol_current(void) {
|
||||
const uint32_t now = microsecond_timer_get();
|
||||
return (vw_meb_aol_seen == 7U) &&
|
||||
(safety_get_ts_elapsed(now, vw_meb_aol_main_ts) <= 300000U) &&
|
||||
(safety_get_ts_elapsed(now, vw_meb_aol_gear_ts) <= 300000U) &&
|
||||
(safety_get_ts_elapsed(now, vw_meb_aol_eps_ts) <= 100000U);
|
||||
}
|
||||
|
||||
static void vw_meb_aol_request(uint8_t mask) {
|
||||
vw_meb_aol_requested |= mask != 0U;
|
||||
}
|
||||
|
||||
static uint8_t vw_meb_aol_request_mask(void) {
|
||||
const bool expired = vw_meb_aol_requested &&
|
||||
(safety_get_ts_elapsed(microsecond_timer_get(), aol_host_request_ts) > AOL_HOST_REQUEST_TIMEOUT_US);
|
||||
uint8_t request = 0U;
|
||||
if (!vw_meb_aol_enabled || relay_malfunction || safety_rx_checks_invalid || !heartbeat_engaged ||
|
||||
!aol_rx_healthy() || !vw_meb_aol_current() || expired) {
|
||||
vw_meb_aol_clear();
|
||||
} else {
|
||||
request = aol_host_axis_mask;
|
||||
}
|
||||
return request;
|
||||
}
|
||||
|
||||
static uint8_t vw_meb_aol_permission(void) {
|
||||
const uint8_t request = vw_meb_aol_request_mask();
|
||||
uint8_t permission = 0U;
|
||||
if (acc_main_on && vw_meb_aol_gear_drive && vw_meb_aol_eps_ready && vw_meb_aol_token) {
|
||||
permission = request & 1U;
|
||||
}
|
||||
if (!volkswagen_meb_stock_acc && vw_meb_aol_long_armed && controls_allowed && acc_main_on &&
|
||||
vw_meb_aol_gear_drive && !brake_pressed && !gas_pressed) {
|
||||
permission |= request & 2U;
|
||||
}
|
||||
return permission;
|
||||
}
|
||||
|
||||
static void vw_meb_aol_optional_rx(const CANPacket_t *msg) {
|
||||
if (vw_meb_aol_enabled) {
|
||||
unsigned int gear = 0U;
|
||||
bool accepted = false;
|
||||
if (vw_meb_aol_alt_gear && msg_matches(msg, 0x3DCU, 0U, 8U)) {
|
||||
gear = msg->data[5] & 15U;
|
||||
accepted = true; // Gateway_73 has no checksum/counter in the current DBC.
|
||||
} else if (!vw_meb_aol_alt_gear && msg_matches(msg, 0xADU, 0U, 8U)) {
|
||||
const uint8_t counter = volkswagen_mxb_get_counter(msg);
|
||||
const uint8_t salt[16] = {0x3FU, 0x69U, 0x39U, 0xDCU, 0x94U, 0xF9U, 0x14U, 0x64U,
|
||||
0xD8U, 0x6AU, 0x34U, 0xCEU, 0xA2U, 0x55U, 0xB5U, 0x2CU};
|
||||
const bool checksum = volkswagen_compute_crc(msg, 8, salt[counter]) == msg->data[0];
|
||||
const bool pair = vw_meb_aol_counter_seen &&
|
||||
(safety_get_ts_elapsed(microsecond_timer_get(), vw_meb_aol_gear_ts) <= 300000U) &&
|
||||
(counter == ((vw_meb_aol_gear_counter + 1U) & 15U));
|
||||
vw_meb_aol_counter_seen = checksum;
|
||||
vw_meb_aol_gear_counter = counter;
|
||||
if (checksum) {
|
||||
vw_meb_aol_gear_ts = microsecond_timer_get();
|
||||
}
|
||||
if (checksum && pair) {
|
||||
gear = (msg->data[5] >> 2) & 15U;
|
||||
accepted = true;
|
||||
} else {
|
||||
vw_meb_aol_seen &= 5U;
|
||||
vw_meb_aol_gear_drive = false;
|
||||
}
|
||||
} else {
|
||||
}
|
||||
if (accepted) {
|
||||
vw_meb_aol_seen |= 2U;
|
||||
vw_meb_aol_gear_ts = microsecond_timer_get();
|
||||
vw_meb_aol_gear_drive = (gear == 8U) || (gear == 9U) || (gear == 10U) || (gear == 13U) || (gear == 14U);
|
||||
}
|
||||
if (!vw_meb_aol_gear_drive) {
|
||||
vw_meb_aol_long_armed = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void vw_meb_aol_rx(const CANPacket_t *msg) {
|
||||
if (vw_meb_aol_enabled) {
|
||||
if (brake_pressed || !vw_meb_aol_gear_drive) {
|
||||
vw_meb_aol_long_armed = false;
|
||||
}
|
||||
if (msg_matches(msg, MSG_QFK_01, 0U, 32U)) {
|
||||
const unsigned int eps = (msg->data[2] >> 4) & 7U;
|
||||
if ((vw_meb_aol_seen & 4U) == 0U) {
|
||||
vw_meb_aol_eps_init_ts = microsecond_timer_get();
|
||||
}
|
||||
vw_meb_aol_seen |= 4U;
|
||||
vw_meb_aol_eps_ts = microsecond_timer_get();
|
||||
vw_meb_aol_eps_ready = (eps == 2U) || (eps == 4U);
|
||||
// Match CarState's existing 600-frame initialization window; no permission is granted while EPS is unavailable.
|
||||
vw_meb_aol_eps_initialized |= (eps == 0U) || (eps == 2U) || (eps == 4U) ||
|
||||
(safety_get_ts_elapsed(microsecond_timer_get(), vw_meb_aol_eps_init_ts) > 6000000U);
|
||||
if (((eps == 0U) && vw_meb_aol_gear_drive) ||
|
||||
(vw_meb_aol_eps_initialized && ((eps == 3U) || (eps == 6U)))) {
|
||||
vw_meb_aol_initial_main = false;
|
||||
vw_meb_aol_clear();
|
||||
}
|
||||
} else if (msg_matches(msg, MSG_Motor_51, 0U)) {
|
||||
const unsigned int status = msg->data[11] & 7U;
|
||||
const bool engaged = (status == 3U) || (status == 4U) || (status == 5U);
|
||||
const bool edge = engaged && !vw_meb_aol_cruise_engaged;
|
||||
vw_meb_aol_cruise_engaged = engaged;
|
||||
vw_meb_aol_seen |= 1U;
|
||||
vw_meb_aol_main_ts = microsecond_timer_get();
|
||||
if (!heartbeat_engaged || !aol_rx_healthy() || !vw_meb_aol_current() || safety_rx_checks_invalid) {
|
||||
vw_meb_aol_clear();
|
||||
} else if (!acc_main_on) {
|
||||
vw_meb_aol_initial_main = false;
|
||||
vw_meb_aol_clear();
|
||||
vw_meb_aol_main_neutral = status < 2U;
|
||||
} else if (vw_meb_aol_gear_drive && vw_meb_aol_eps_ready && !brake_pressed &&
|
||||
(vw_meb_aol_initial_main || vw_meb_aol_main_neutral ||
|
||||
(volkswagen_meb_stock_acc && edge && controls_allowed))) {
|
||||
vw_meb_aol_initial_main = false;
|
||||
vw_meb_aol_main_neutral = false;
|
||||
vw_meb_aol_token = true;
|
||||
} else {
|
||||
}
|
||||
} else if (msg_matches(msg, MSG_GRA_ACC_01, 0U, 8U)) {
|
||||
if (GET_BIT(msg, 13U)) {
|
||||
vw_meb_aol_initial_main = false;
|
||||
vw_meb_aol_clear();
|
||||
} else if (!volkswagen_meb_stock_acc) {
|
||||
const bool healthy = heartbeat_engaged && aol_rx_healthy() && vw_meb_aol_current() && !safety_rx_checks_invalid;
|
||||
const uint8_t buttons = (GET_BIT(msg, 16U) ? 1U : 0U) | (GET_BIT(msg, 19U) ? 2U : 0U);
|
||||
if (!healthy) {
|
||||
vw_meb_aol_clear();
|
||||
} else if (buttons == 0U) {
|
||||
if (((vw_meb_aol_buttons & 3U) != 0U) && controls_allowed && acc_main_on &&
|
||||
vw_meb_aol_gear_drive && vw_meb_aol_eps_ready && !brake_pressed) {
|
||||
vw_meb_aol_token = true;
|
||||
vw_meb_aol_long_armed = true;
|
||||
}
|
||||
vw_meb_aol_buttons = 4U;
|
||||
} else if ((vw_meb_aol_buttons & 4U) != 0U) {
|
||||
vw_meb_aol_buttons = 4U | buttons;
|
||||
} else {
|
||||
}
|
||||
} else {
|
||||
}
|
||||
} else {
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,333 @@
|
||||
"""Actual MEB native, CAN-FD CRC generations, stock/off and independent axes."""
|
||||
import unittest
|
||||
import pytest
|
||||
from opendbc.car import structs
|
||||
from opendbc.can.dbc import DBC
|
||||
from opendbc.safety.tests.common import CANPackerSafety
|
||||
from opendbc.safety.tests.libsafety import libsafety_py
|
||||
|
||||
|
||||
class _MebOwner:
|
||||
def __init__(self, gen2, stock, alt_gear):
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.init_tests()
|
||||
self.safety.set_alternative_experience(32)
|
||||
self.word = 8 | (2 if gen2 else 0) | (4 if stock else 0) | (16 if alt_gear else 0)
|
||||
self.safety.set_safety_hooks(34, self.word)
|
||||
self.safety.set_aol_test_heartbeat(True)
|
||||
self.packer = CANPackerSafety('vw_meb_2024_generated' if gen2 else 'vw_meb_generated')
|
||||
self.dbc = DBC(self.packer.dbc_name) if hasattr(self.packer, 'dbc_name') else DBC('vw_meb_2024_generated' if gen2 else 'vw_meb_generated')
|
||||
self.time = 1_000_000
|
||||
self.stock, self.alt_gear = stock, alt_gear
|
||||
|
||||
def packet(self, name, fields, bus=0):
|
||||
return self.packer.make_can_msg_safety(name, bus, fields)
|
||||
|
||||
def feed(self, engaged=False, brake=False, gear=8, eps=2, main=True, set_button=False, cancel=False, omit=None, moving=True):
|
||||
self.time += 10_000
|
||||
self.safety.set_timer(self.time)
|
||||
data = [('Gateway_73' if self.alt_gear else 'Getriebe_11', {'GE_Fahrstufe': gear}),
|
||||
('LH_EPS_03', {'EPS_Lenkmoment': 0}), ('Motor_14', {'MO_Fahrer_bremst': int(brake)}),
|
||||
('GRA_ACC_01', {'GRA_Tip_Setzen': int(set_button), 'GRA_Abbrechen': int(cancel)}),
|
||||
('QFK_01', {'LatCon_HCA_Status': eps, 'Curvature': 0}),
|
||||
('ESP_21', {'ESP_v_Signal': 72 if moving else 0}),
|
||||
('ESC_51', {name + '_Radgeschw': 72 if moving else 0 for name in ('VL', 'VR', 'HL', 'HR')}),
|
||||
('Motor_51', {'TSK_Status': 3 if engaged else 2 if main else 0, 'Accel_Pedal_Pressure': 0})]
|
||||
for name, fields in data:
|
||||
if name != omit:
|
||||
self.safety.safety_rx_hook(self.packet(name, fields))
|
||||
self.safety.safety_tick()
|
||||
self.safety.aol_set_host_request(3)
|
||||
|
||||
def close(self):
|
||||
self.safety.init_tests()
|
||||
self.safety.set_alternative_experience(0)
|
||||
self.safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
@pytest.mark.parametrize('stock', (False, True))
|
||||
@pytest.mark.parametrize('alt_gear', (False, True))
|
||||
def test_actual_meb_native_full_engagement_brake_reverse_and_long_off(gen2, stock, alt_gear):
|
||||
owner = _MebOwner(gen2, stock, alt_gear)
|
||||
try:
|
||||
for _ in range(15):
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1 # Current cold MAIN arms LAT only.
|
||||
for address in (0x14D, 0x300, 0x26B):
|
||||
assert owner.safety.safety_fwd_hook(2, address) == (0 if stock else -1)
|
||||
if stock:
|
||||
owner.feed(engaged=True)
|
||||
else:
|
||||
owner.feed(set_button=True)
|
||||
owner.feed(set_button=False)
|
||||
assert owner.safety.aol_get_permission_mask() == (1 if stock else 3)
|
||||
assert owner.safety.safety_tx_hook(owner.packet('HCA_03', {'Curvature': 0, 'Power': 4, 'RequestStatus': 4, 'HighSendRate': 1}))
|
||||
active = {'ACC_Sollbeschleunigung_02': .5, 'ACC_Status_ACC': 3, 'ACC_Anforderung_HMS': 0}
|
||||
assert bool(owner.safety.safety_tx_hook(owner.packet('ACC_18', active))) == (not stock)
|
||||
owner.feed(brake=True)
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
assert not owner.safety.get_controls_allowed()
|
||||
assert not owner.safety.safety_tx_hook(owner.packet('ACC_18', active))
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
for gear in (6, 7):
|
||||
owner.feed(gear=gear)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
owner.feed(eps=7)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
owner.feed(eps=3)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
def test_meb_gear_crc_counter_and_wrong_bus_withdraw(gen2):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(15):
|
||||
owner.feed()
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
frame = owner.packet('Getriebe_11', {'GE_Fahrstufe': 8})
|
||||
frame[0].data[0] ^= 255
|
||||
owner.safety.safety_rx_hook(frame)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
for _ in range(40):
|
||||
owner.feed(omit='Getriebe_11')
|
||||
owner.safety.safety_rx_hook(owner.packet('Getriebe_11', {'GE_Fahrstufe': 8}, 1))
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.safety.set_aol_test_heartbeat(False)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
@pytest.mark.parametrize('stock', (False, True))
|
||||
def test_meb_current_main_never_grants_long_or_recovers_long_automatically(gen2, stock):
|
||||
owner = _MebOwner(gen2, stock, False)
|
||||
try:
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
for active in (
|
||||
{'ACC_Sollbeschleunigung_02': .5, 'ACC_Status_ACC': 3},
|
||||
{'ACC_Sollbeschleunigung_02': 0, 'ACC_Status_ACC': 4},
|
||||
{'ACC_Sollbeschleunigung_02': 3.01, 'ACC_Anforderung_HMS': 1},
|
||||
{'ACC_Sollbeschleunigung_02': 3.01, 'ACC_Anforderung_HMS': 4},
|
||||
{'ACC_Sollbeschleunigung_02': 3.01, 'ACC_Anfahren': 1},
|
||||
{'ACC_Sollbeschleunigung_02': 3.01, 'ACC_Anhalten': 1},
|
||||
):
|
||||
assert not owner.safety.safety_tx_hook(owner.packet('ACC_18', active))
|
||||
owner.feed(set_button=True, engaged=stock)
|
||||
owner.feed(engaged=stock)
|
||||
assert owner.safety.aol_get_permission_mask() == (1 if stock else 3)
|
||||
owner.feed(gear=6)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
owner.feed(eps=3)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed(set_button=True, engaged=stock)
|
||||
owner.feed(engaged=stock)
|
||||
assert owner.safety.aol_get_permission_mask() == (1 if stock else 3)
|
||||
owner.feed(cancel=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
@pytest.mark.parametrize('alt_gear', (False, True))
|
||||
@pytest.mark.parametrize('source', ('LH_EPS_03', 'Motor_14', 'GRA_ACC_01', 'QFK_01', 'ESP_21', 'ESC_51', 'Motor_51', 'gear'))
|
||||
def test_meb_each_required_source_lease_withdraws_without_rearming(gen2, alt_gear, source):
|
||||
owner = _MebOwner(gen2, False, alt_gear)
|
||||
try:
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
omitted = ('Gateway_73' if alt_gear else 'Getriebe_11') if source == 'gear' else source
|
||||
for _ in range(120):
|
||||
owner.feed(omit=omitted)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
def test_meb_permanent_fault_held_button_requires_fresh_press(gen2):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
owner.feed(eps=3, set_button=True)
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
owner.safety.set_aol_test_heartbeat(False)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.safety.set_aol_test_heartbeat(True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
def test_meb_main_off_and_counter_replay_cannot_restore_long(gen2):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
owner.feed(main=False)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
frame = owner.packet('Getriebe_11', {'GE_Fahrstufe': 8})
|
||||
owner.safety.safety_rx_hook(frame)
|
||||
owner.safety.safety_rx_hook(frame)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
@pytest.mark.parametrize('initial_eps', (1, 3, 6))
|
||||
def test_meb_initial_eps_unavailability_and_reverse_disabled_follow_real_parser_semantics(gen2, initial_eps):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(15):
|
||||
owner.feed(eps=initial_eps)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
owner.feed(gear=6, eps=0)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
owner.feed(eps=0)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0 # DISABLED in Drive is permanent.
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
def test_meb_fault_after_original_initialization_window_cannot_rearm_from_held_main(gen2):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(650):
|
||||
owner.feed(eps=3)
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 0
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
@pytest.mark.parametrize('gen2', (False, True))
|
||||
def test_meb_stop_hold_resume_requires_current_ordinary_long_grant(gen2):
|
||||
owner = _MebOwner(gen2, False, False)
|
||||
try:
|
||||
for _ in range(12):
|
||||
owner.feed()
|
||||
owner.feed(set_button=True)
|
||||
owner.feed()
|
||||
owner.feed(moving=False)
|
||||
assert owner.safety.aol_get_permission_mask() == 3
|
||||
for hold in (1, 4):
|
||||
frame = owner.packet('ACC_18', {'ACC_Sollbeschleunigung_02': 3.01, 'ACC_Status_ACC': 3,
|
||||
'ACC_Anforderung_HMS': hold})
|
||||
assert owner.safety.safety_tx_hook(frame)
|
||||
assert not owner.safety.safety_tx_hook(owner.packet('ACC_18', {'ACC_Sollbeschleunigung_02': 3.01,
|
||||
'ACC_Anforderung_HMS': 7}))
|
||||
owner.feed(brake=True, moving=False)
|
||||
owner.feed(moving=False)
|
||||
assert owner.safety.aol_get_permission_mask() == 1
|
||||
for hold in (1, 4):
|
||||
assert not owner.safety.safety_tx_hook(owner.packet('ACC_18', {'ACC_Sollbeschleunigung_02': 3.01,
|
||||
'ACC_Status_ACC': 3, 'ACC_Anforderung_HMS': hold}))
|
||||
assert owner.safety.safety_tx_hook(owner.packet('ACC_18', {'ACC_Sollbeschleunigung_02': 3.01,
|
||||
'ACC_Status_ACC': 2, 'ACC_Anforderung_HMS': 5}))
|
||||
finally:
|
||||
owner.close()
|
||||
|
||||
|
||||
class TestMebNativeUnittest(unittest.TestCase):
|
||||
"""Execute the same physical-source assertions in the native unittest coverage gate."""
|
||||
def test_all_native_profiles(self):
|
||||
for gen2 in (False, True):
|
||||
for stock in (False, True):
|
||||
for alt in (False, True):
|
||||
test_actual_meb_native_full_engagement_brake_reverse_and_long_off(gen2, stock, alt)
|
||||
test_meb_current_main_never_grants_long_or_recovers_long_automatically(gen2, stock)
|
||||
test_meb_gear_crc_counter_and_wrong_bus_withdraw(gen2)
|
||||
test_meb_permanent_fault_held_button_requires_fresh_press(gen2)
|
||||
test_meb_main_off_and_counter_replay_cannot_restore_long(gen2)
|
||||
test_meb_stop_hold_resume_requires_current_ordinary_long_grant(gen2)
|
||||
test_meb_fault_after_original_initialization_window_cannot_rearm_from_held_main(gen2)
|
||||
for initial_eps in (1, 3, 6):
|
||||
test_meb_initial_eps_unavailability_and_reverse_disabled_follow_real_parser_semantics(gen2, initial_eps)
|
||||
|
||||
def test_all_native_source_leases(self):
|
||||
for gen2 in (False, True):
|
||||
for alt in (False, True):
|
||||
for source in ('LH_EPS_03', 'Motor_14', 'GRA_ACC_01', 'QFK_01', 'ESP_21', 'ESC_51', 'Motor_51', 'gear'):
|
||||
test_meb_each_required_source_lease_withdraws_without_rearming(gen2, alt, source)
|
||||
|
||||
def test_invalid_profile_and_unarmed_set_resume_are_denied(self):
|
||||
safety = libsafety_py.libsafety
|
||||
try:
|
||||
for experience, word in ((0, 8), (32, 4), (0, 0x8000)):
|
||||
safety.init_tests()
|
||||
safety.set_alternative_experience(experience)
|
||||
safety.set_safety_hooks(structs.CarParams.SafetyModel.volkswagenMeb, word)
|
||||
self.assertFalse(safety.safety_tx_hook(libsafety_py.make_CANPacket(0x12B, 0, bytes(8))))
|
||||
for gen2 in (False, True):
|
||||
owner = _MebOwner(gen2, True, False)
|
||||
for _ in range(15):
|
||||
owner.feed()
|
||||
self.assertFalse(safety.get_controls_allowed())
|
||||
self.assertFalse(safety.safety_tx_hook(owner.packet('GRA_ACC_01', {'GRA_Tip_Setzen': 1})))
|
||||
self.assertTrue(safety.safety_tx_hook(owner.packet('GRA_ACC_01', {'GRA_Abbrechen': 1})))
|
||||
owner.close()
|
||||
finally:
|
||||
safety.init_tests()
|
||||
safety.set_alternative_experience(0)
|
||||
safety.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)
|
||||
@@ -10,15 +10,13 @@ from opendbc.safety.tests.libsafety import libsafety_py
|
||||
|
||||
@contextmanager
|
||||
def direct_owner():
|
||||
owner = stock.TestVolkswagenStockAol()
|
||||
class DirectOwner(stock.TestVolkswagenStockAol):
|
||||
def packet(self, name, fields, bus=0):
|
||||
if name == 'Gateway_73':
|
||||
return super().packet('Motor_EV_01', {'MO_Waehlpos': 5 if fields['GE_Fahrstufe'] == 8 else 3}, bus)
|
||||
return super().packet(name, fields, bus)
|
||||
owner = DirectOwner()
|
||||
owner.configure(40)
|
||||
original = owner.packet
|
||||
|
||||
def packet(name, fields, bus=0):
|
||||
if name == 'Gateway_73':
|
||||
return original('Motor_EV_01', {'MO_Waehlpos': 5 if fields['GE_Fahrstufe'] == 8 else 3}, bus)
|
||||
return original(name, fields, bus)
|
||||
owner.packet = packet
|
||||
try:
|
||||
yield owner
|
||||
finally:
|
||||
|
||||
Binary file not shown.
@@ -480,7 +480,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
|
||||
Panda *previous_aol_owner = nullptr;
|
||||
bool engaged = false;
|
||||
bool is_onroad = false;
|
||||
constexpr AolSafetyProfile aol_profiles[] = {HONDA_AOL_PROFILE, HONDA_STOCK_AOL_PROFILE, HONDA_NIDEC_AOL_PROFILE, HYUNDAI_AOL_PROFILE, HYUNDAI_CLASSIC_AOL_PROFILE, HYUNDAI_LEGACY_AOL_PROFILE, GM_AOL_PROFILE, FORD_AOL_PROFILE, MAZDA_AOL_PROFILE, RIVIAN_AOL_PROFILE, CHRYSLER_AOL_PROFILE, TESLA_PREAP_AOL_PROFILE, TESLA_SCREEN_AOL_PROFILE, TOYOTA_AOL_PROFILE, NISSAN_AOL_PROFILE, VOLKSWAGEN_STOCK_AOL_PROFILE, VOLKSWAGEN_LONG_AOL_PROFILE, SUBARU_AOL_PROFILE};
|
||||
constexpr AolSafetyProfile aol_profiles[] = {HONDA_AOL_PROFILE, HONDA_STOCK_AOL_PROFILE, HONDA_NIDEC_AOL_PROFILE, HYUNDAI_AOL_PROFILE, HYUNDAI_CLASSIC_AOL_PROFILE, HYUNDAI_LEGACY_AOL_PROFILE, GM_AOL_PROFILE, FORD_AOL_PROFILE, MAZDA_AOL_PROFILE, RIVIAN_AOL_PROFILE, CHRYSLER_AOL_PROFILE, TESLA_PREAP_AOL_PROFILE, TESLA_SCREEN_AOL_PROFILE, TOYOTA_AOL_PROFILE, NISSAN_AOL_PROFILE, VOLKSWAGEN_STOCK_AOL_PROFILE, VOLKSWAGEN_LONG_AOL_PROFILE, VOLKSWAGEN_MEB_AOL_PROFILE, SUBARU_AOL_PROFILE};
|
||||
const AolProfileRegistry aol_registry{aol_profiles, std::size(aol_profiles)};
|
||||
AolAxisNegotiator aol_negotiator(aol_registry);
|
||||
// Main loop: receive CAN first, then process lower priority panda and peripheral state.
|
||||
|
||||
@@ -28,7 +28,7 @@ constexpr AolSafetyProfile TEST_PROFILES[] = {
|
||||
{TEST_MODE, test_param, false}, {TEST_ALT_MODE, test_alt_param, false},
|
||||
};
|
||||
const AolProfileRegistry TEST_REGISTRY{TEST_PROFILES, std::size(TEST_PROFILES)};
|
||||
constexpr AolSafetyProfile VEHICLE_PROFILES[] = {HONDA_AOL_PROFILE, HONDA_STOCK_AOL_PROFILE, HONDA_NIDEC_AOL_PROFILE, HYUNDAI_AOL_PROFILE, HYUNDAI_CLASSIC_AOL_PROFILE, HYUNDAI_LEGACY_AOL_PROFILE, GM_AOL_PROFILE, FORD_AOL_PROFILE, MAZDA_AOL_PROFILE, CHRYSLER_AOL_PROFILE, TESLA_PREAP_AOL_PROFILE, TESLA_SCREEN_AOL_PROFILE, TOYOTA_AOL_PROFILE, NISSAN_AOL_PROFILE, VOLKSWAGEN_STOCK_AOL_PROFILE, VOLKSWAGEN_LONG_AOL_PROFILE, SUBARU_AOL_PROFILE};
|
||||
constexpr AolSafetyProfile VEHICLE_PROFILES[] = {HONDA_AOL_PROFILE, HONDA_STOCK_AOL_PROFILE, HONDA_NIDEC_AOL_PROFILE, HYUNDAI_AOL_PROFILE, HYUNDAI_CLASSIC_AOL_PROFILE, HYUNDAI_LEGACY_AOL_PROFILE, GM_AOL_PROFILE, FORD_AOL_PROFILE, MAZDA_AOL_PROFILE, CHRYSLER_AOL_PROFILE, TESLA_PREAP_AOL_PROFILE, TESLA_SCREEN_AOL_PROFILE, TOYOTA_AOL_PROFILE, NISSAN_AOL_PROFILE, VOLKSWAGEN_STOCK_AOL_PROFILE, VOLKSWAGEN_LONG_AOL_PROFILE, VOLKSWAGEN_MEB_AOL_PROFILE, SUBARU_AOL_PROFILE};
|
||||
const AolProfileRegistry VEHICLE_REGISTRY{VEHICLE_PROFILES, std::size(VEHICLE_PROFILES)};
|
||||
|
||||
aol_safety_health_t status(uint8_t request = 0U, uint8_t permission = 0U) {
|
||||
@@ -101,6 +101,18 @@ int main() {
|
||||
assert(!aol_capable(subaru, 11U, VEHICLE_REGISTRY));
|
||||
}
|
||||
|
||||
for (uint32_t word = 0U; word <= 65535U; ++word) {
|
||||
const bool expected = word == 8U || word == 10U || word == 12U || word == 14U ||
|
||||
word == 24U || word == 26U || word == 28U || word == 30U;
|
||||
auto meb = status();
|
||||
meb.safety_mode = 34U;
|
||||
meb.safety_param = static_cast<uint16_t>(word);
|
||||
assert(volkswagen_meb_aol_param(static_cast<uint16_t>(word)) == expected);
|
||||
assert(aol_capable(meb, 34U, VEHICLE_REGISTRY) == expected);
|
||||
meb.capability_flags = 0U;
|
||||
assert(!aol_capable(meb, 34U, VEHICLE_REGISTRY));
|
||||
}
|
||||
|
||||
for (uint32_t word = 0U; word <= 65535U; ++word) {
|
||||
const bool stock = (word == 8U) || (word == 24U) || (word == 40U);
|
||||
const bool longitudinal = (word == 9U) || (word == 25U) || (word == 41U);
|
||||
|
||||
@@ -380,42 +380,27 @@
|
||||
"official_baseline_bytes": 368030,
|
||||
"official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033",
|
||||
"car_fingerprint": "TOYOTA_COROLLA_TSS2",
|
||||
"bytes": 368039,
|
||||
"sha256": "7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd",
|
||||
"bytes": 341545,
|
||||
"sha256": "0ba8b7d4a23fa2f22e7354dc5dda6e07bbfdd2ae21c0a4f205e34e5b4fe567ae",
|
||||
"input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429",
|
||||
"input_bytes": 9272538,
|
||||
"config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078",
|
||||
"contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.",
|
||||
"producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay",
|
||||
"contract": "Toyota EPS lateral availability extends to zero speed: steerAtStandstill equals minSteerSpeed<=0. Exactly two CarParams publications change false totrue; all other fields/messages and prior HUD/safety/tune contracts are retained.",
|
||||
"producing_source_snapshot": "CI-1fdc8b89e8016be62df8e289d1f5f67561fdd6d7-CP-only-two-event-substitution",
|
||||
"review_evidence": {
|
||||
"ci_run": 38207706213,
|
||||
"ci_job": 114674772155,
|
||||
"head": "4ca263696691268a5ed229a6e65f743e435b9d5d",
|
||||
"comparison_reference_sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e",
|
||||
"difference_count": 20,
|
||||
"difference_fields": {
|
||||
"sendcan.1.dat": 7,
|
||||
"sendcan.2.dat": 9,
|
||||
"sendcan.3.dat": 4
|
||||
},
|
||||
"actual_paired_proof": {
|
||||
"path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen1455E3B4BDF_2025-04-09--03-26-06--0/actual-paired-proof.json",
|
||||
"sha256": "6de5981bf3103f857a5f35a1a76fb18115daffaf6e08eea453912b0a33e17966",
|
||||
"mode": 420,
|
||||
"kind": "file"
|
||||
},
|
||||
"source_sha256": {
|
||||
"opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7",
|
||||
"opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc",
|
||||
"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a",
|
||||
"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48",
|
||||
"tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821",
|
||||
"tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15",
|
||||
"tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832",
|
||||
"openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1",
|
||||
"openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202",
|
||||
"openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09"
|
||||
}
|
||||
"ci_run": 39895639195,
|
||||
"ci_artifact": 12476424903,
|
||||
"head": "1fdc8b89e8016be62df8e289d1f5f67561fdd6d7",
|
||||
"causal_commit": "4e27abda7d",
|
||||
"causal_assignment": "ret.steerAtStandstill = ret.minSteerSpeed <= 0.",
|
||||
"full_CP_other_fields_exact": true,
|
||||
"non_CP_message_payloads_byte_exact": true,
|
||||
"only_changed_field": "carParams.steerAtStandstill",
|
||||
"difference_count": 2,
|
||||
"actual_CI_sha256": "79baa812dc2681c021965eaceedf721e7fcb85e315c1b855697ec62b9800656f",
|
||||
"previous_reference_sha256": "7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd",
|
||||
"proof_sha256": "2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf",
|
||||
"no_new_ignores_or_tolerances": true
|
||||
},
|
||||
"previous_reviewed_expectation": {
|
||||
"segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0",
|
||||
@@ -427,28 +412,76 @@
|
||||
"official_baseline_bytes": 368030,
|
||||
"official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033",
|
||||
"car_fingerprint": "TOYOTA_COROLLA_TSS2",
|
||||
"bytes": 368011,
|
||||
"sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e",
|
||||
"bytes": 368039,
|
||||
"sha256": "7025bbc80ccfc8be3b48d73cce929a19a68415cb90f208511a3ec188e5cfdbcd",
|
||||
"input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429",
|
||||
"input_bytes": 9272538,
|
||||
"config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078",
|
||||
"contract": "Finalized Corolla native full-axis profile uses word 73 and alternative experience 32; every other compared Card output field remains unchanged.",
|
||||
"producing_source_snapshot": "3dfea-production",
|
||||
"contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.",
|
||||
"producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay",
|
||||
"review_evidence": {
|
||||
"ci_run": 37730163667,
|
||||
"ci_job": 113157245274,
|
||||
"comparison_reference_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033",
|
||||
"difference_count": 2,
|
||||
"ci_run": 38207706213,
|
||||
"ci_job": 114674772155,
|
||||
"head": "4ca263696691268a5ed229a6e65f743e435b9d5d",
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||||
"comparison_reference_sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e",
|
||||
"difference_count": 20,
|
||||
"difference_fields": {
|
||||
"carParams.alternativeExperience": 2
|
||||
"sendcan.1.dat": 7,
|
||||
"sendcan.2.dat": 9,
|
||||
"sendcan.3.dat": 4
|
||||
},
|
||||
"difference_sha256": "46a4645f5d6fda6b02a81909ee5aa24cf427c4753ae7e8db7495985a1592e473",
|
||||
"behavior_proof": {
|
||||
"factory_safety_param": 73,
|
||||
"factory_alternative_experience": 32
|
||||
"actual_paired_proof": {
|
||||
"path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen1455E3B4BDF_2025-04-09--03-26-06--0/actual-paired-proof.json",
|
||||
"sha256": "6de5981bf3103f857a5f35a1a76fb18115daffaf6e08eea453912b0a33e17966",
|
||||
"mode": 420,
|
||||
"kind": "file"
|
||||
},
|
||||
"regression_tests": {
|
||||
"openpilot/starpilot/aol/tests/test_toyota.py": "6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe"
|
||||
"source_sha256": {
|
||||
"opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7",
|
||||
"opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc",
|
||||
"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a",
|
||||
"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48",
|
||||
"tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821",
|
||||
"tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15",
|
||||
"tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832",
|
||||
"openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1",
|
||||
"openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202",
|
||||
"openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09"
|
||||
}
|
||||
},
|
||||
"previous_reviewed_expectation": {
|
||||
"segment": "regen1455E3B4BDF|2025-04-09--03-26-06--0",
|
||||
"process": "card",
|
||||
"file": "regen1455E3B4BDF_2025-04-09--03-26-06--0_card.zst",
|
||||
"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_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst",
|
||||
"official_baseline_bytes": 368030,
|
||||
"official_baseline_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033",
|
||||
"car_fingerprint": "TOYOTA_COROLLA_TSS2",
|
||||
"bytes": 368011,
|
||||
"sha256": "c6bbd05f9b77701618101cc689c3eee6c0c9e8642eb0fd4ef0f7ed8a442df32e",
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||||
"input_sha256": "876100021b13ddd1a39efad5fdb4e7376ad5b298f64bf390b5f58742ffc6e429",
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||||
"input_bytes": 9272538,
|
||||
"config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078",
|
||||
"contract": "Finalized Corolla native full-axis profile uses word 73 and alternative experience 32; every other compared Card output field remains unchanged.",
|
||||
"producing_source_snapshot": "3dfea-production",
|
||||
"review_evidence": {
|
||||
"ci_run": 37730163667,
|
||||
"ci_job": 113157245274,
|
||||
"comparison_reference_sha256": "a987635c68085a9c9c25dbb92e23dc859d6a1644cd84f4b968a047b95a1c9033",
|
||||
"difference_count": 2,
|
||||
"difference_fields": {
|
||||
"carParams.alternativeExperience": 2
|
||||
},
|
||||
"difference_sha256": "46a4645f5d6fda6b02a81909ee5aa24cf427c4753ae7e8db7495985a1592e473",
|
||||
"behavior_proof": {
|
||||
"factory_safety_param": 73,
|
||||
"factory_alternative_experience": 32
|
||||
},
|
||||
"regression_tests": {
|
||||
"openpilot/starpilot/aol/tests/test_toyota.py": "6cb1fddc0a6f5f603f909481dca2c97260bcb60fbbee388e461cc58f4cf053fe"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -466,36 +499,69 @@
|
||||
"input_bytes": 10846201,
|
||||
"input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64",
|
||||
"config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078",
|
||||
"bytes": 305683,
|
||||
"sha256": "ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf",
|
||||
"contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.",
|
||||
"producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay",
|
||||
"bytes": 285508,
|
||||
"sha256": "f36d45ae9966c8705b529137a0cc183e35de68269f65ab2fab4a2c1b3e3ed95b",
|
||||
"contract": "Toyota EPS lateral availability extends to zero speed: steerAtStandstill equals minSteerSpeed<=0. Exactly two CarParams publications change false totrue; all other fields/messages and prior HUD/safety/tune contracts are retained.",
|
||||
"producing_source_snapshot": "CI-1fdc8b89e8016be62df8e289d1f5f67561fdd6d7-CP-only-two-event-substitution",
|
||||
"review_evidence": {
|
||||
"ci_run": 38207706213,
|
||||
"ci_job": 114674772155,
|
||||
"head": "4ca263696691268a5ed229a6e65f743e435b9d5d",
|
||||
"comparison_reference_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2",
|
||||
"difference_count": 222,
|
||||
"difference_fields": {
|
||||
"sendcan.1.dat": 222
|
||||
},
|
||||
"actual_paired_proof": {
|
||||
"path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen218A4DCFAA1_2025-04-08--22-57-51--0/actual-paired-proof.json",
|
||||
"sha256": "2530635df4b9014ce3fd4e70fe59b8d6655196f4fc2eddc5736fb87721d8c381",
|
||||
"mode": 420,
|
||||
"kind": "file"
|
||||
},
|
||||
"source_sha256": {
|
||||
"opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7",
|
||||
"opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc",
|
||||
"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a",
|
||||
"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48",
|
||||
"tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821",
|
||||
"tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15",
|
||||
"tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832",
|
||||
"openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1",
|
||||
"openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202",
|
||||
"openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09"
|
||||
"ci_run": 39895639195,
|
||||
"ci_artifact": 12476424903,
|
||||
"head": "1fdc8b89e8016be62df8e289d1f5f67561fdd6d7",
|
||||
"causal_commit": "4e27abda7d",
|
||||
"causal_assignment": "ret.steerAtStandstill = ret.minSteerSpeed <= 0.",
|
||||
"full_CP_other_fields_exact": true,
|
||||
"non_CP_message_payloads_byte_exact": true,
|
||||
"only_changed_field": "carParams.steerAtStandstill",
|
||||
"difference_count": 2,
|
||||
"actual_CI_sha256": "77c1ae09380fd6ae657b96dc89b1391fa1552b98de1adc4a284bdea2dee38bc4",
|
||||
"previous_reference_sha256": "ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf",
|
||||
"proof_sha256": "2ba6c13414ba96e6b64d96398022d232650e9e58c6a739cab39dc8952c067acf",
|
||||
"no_new_ignores_or_tolerances": true
|
||||
},
|
||||
"previous_reviewed_expectation": {
|
||||
"segment": "regen218A4DCFAA1|2025-04-08--22-57-51--0",
|
||||
"process": "card",
|
||||
"file": "regen218A4DCFAA1_2025-04-08--22-57-51--0_card.zst",
|
||||
"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_card_ec95db3f1fa19f76940497fedfdb62e09ea19912.zst",
|
||||
"official_baseline_bytes": 305708,
|
||||
"official_baseline_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2",
|
||||
"car_fingerprint": "TOYOTA_PRIUS",
|
||||
"input_bytes": 10846201,
|
||||
"input_sha256": "6c028c0d40328fc00fa12acf91dba30d9f152e89d99a7089aadac62f6c7d5d64",
|
||||
"config_sha256": "560c1060f4d2e43810e7bbd55d5f361a828bdb027d60f308b2e1d614222a2078",
|
||||
"bytes": 305683,
|
||||
"sha256": "ca61046afe52ed7707ccb39752471d6ae0e377151e4075c9a39c01e07b18c6bf",
|
||||
"contract": "Toyota lanes follow applied lateral activity; only LKAS_HUD 0x412 bus0 length8 byte0 mask0x14 lanes1 to0 differs from the prior reviewed comparison. Prior platform and safety contract remains.",
|
||||
"producing_source_snapshot": "root-actual-4ca263696691268a5ed229a6e65f743e435b9d5d-ec59971db14d-toyota-hud-replay",
|
||||
"review_evidence": {
|
||||
"ci_run": 38207706213,
|
||||
"ci_job": 114674772155,
|
||||
"head": "4ca263696691268a5ed229a6e65f743e435b9d5d",
|
||||
"comparison_reference_sha256": "9688b1b72e3c992cb6c72e41e1607d2a38625e141caed9b356fadea5ee53aea2",
|
||||
"difference_count": 222,
|
||||
"difference_fields": {
|
||||
"sendcan.1.dat": 222
|
||||
},
|
||||
"actual_paired_proof": {
|
||||
"path": "/audit/oct12-toyota-replay-root-output-v1/focused/profile/regen218A4DCFAA1_2025-04-08--22-57-51--0/actual-paired-proof.json",
|
||||
"sha256": "2530635df4b9014ce3fd4e70fe59b8d6655196f4fc2eddc5736fb87721d8c381",
|
||||
"mode": 420,
|
||||
"kind": "file"
|
||||
},
|
||||
"source_sha256": {
|
||||
"opendbc_repo/opendbc/car/toyota/carcontroller.py": "a9c15c2fb31cf713216525ac6bc30648e489cfb2b853ef41dd678db8e8d7d6f7",
|
||||
"opendbc_repo/opendbc/car/toyota/toyotacan.py": "64ba30a26411341b0b5ca8c62c6ae413e9a6713a1b24cc1ae711d3cbd31bb2fc",
|
||||
"opendbc_repo/opendbc/car/toyota/tests/test_toyota.py": "e6a3ef017a3a6582e8ab771ab1db33f4f0edcc091ebad5f081c1ce8e0f4a024a",
|
||||
"opendbc_repo/opendbc/dbc/generator/toyota/_toyota_2017.dbc": "818872b1c1034983f61a51460a9b175b4bfe01f3d34f537c3d21f420991a8a48",
|
||||
"tools/ci/replay_fixture_cache.py": "f165d1d228f5e4600760ea41996b923c095964550b3ced6c3135a59ec7625821",
|
||||
"tools/ci/replay-fixture-cache.json": "99fd6ddc839ae2f779c4e3ef0f529359cd6e19fc20f953da1c591b3af8456e15",
|
||||
"tools/ci/replay_references.py": "75267bb70fc6391bb3a1bc2c9f36af2807cf838b2ffcd72c522ae861fd431832",
|
||||
"openpilot/selfdrive/test/process_replay/test_processes.py": "559f228029d430f1c6d30ea0ccc9c60ebb98cf48df0fe1a7f80ef5a7c23394d1",
|
||||
"openpilot/selfdrive/test/process_replay/compare_logs.py": "fb923cff883974dcdf2d701a0b8484c9d3c4d2192b018ef2d17aeac39dd24202",
|
||||
"openpilot/selfdrive/test/process_replay/process_replay.py": "a6f18da56ba8521328d5a2ac57de5426ef2a3bf62f9e7887ff76ba1c52491c09"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
BIN
Binary file not shown.
BIN
Binary file not shown.
@@ -2,6 +2,8 @@ from collections.abc import Callable
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.starpilot.car.hyundai.aol import ioniq6_settings_capable
|
||||
from opendbc.car.volkswagen.meb_modes import MEB_CARS, settings_capable as meb_settings_capable
|
||||
from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
|
||||
from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -140,8 +142,9 @@ class DeveloperLayout(Widget):
|
||||
|
||||
# CP gating
|
||||
if ui_state.CP is not None:
|
||||
alpha_avail = ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP)
|
||||
if not alpha_avail or self._is_release:
|
||||
alpha_avail = (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
|
||||
else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))
|
||||
if not alpha_avail or (self._is_release and not meb_settings_capable(ui_state.CP)):
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
else:
|
||||
self._alpha_long_toggle.set_visible(True)
|
||||
@@ -166,7 +169,9 @@ class DeveloperLayout(Widget):
|
||||
("ShowDebugInfo", self._ui_debug_toggle),
|
||||
("CellularDisabled", self._cellular_disabled_toggle),
|
||||
):
|
||||
item.action_item.set_state(self._params.get_bool(key))
|
||||
value = (not stock_long_requested(self._params) if key == "AlphaLongitudinalEnabled" and meb_settings_capable(ui_state.CP)
|
||||
else self._params.get_bool(key))
|
||||
item.action_item.set_state(value)
|
||||
|
||||
def _on_enable_ui_debug(self, state: bool):
|
||||
self._params.put_bool("ShowDebugInfo", state, block=True)
|
||||
@@ -209,7 +214,8 @@ class DeveloperLayout(Widget):
|
||||
def confirm_callback(result: DialogResult):
|
||||
if result == DialogResult.CONFIRM:
|
||||
if (not ui_state.is_offroad() or ui_state.CP is None or
|
||||
not (ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))):
|
||||
not (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
|
||||
else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))):
|
||||
self._alpha_long_toggle.action_item.set_state(False)
|
||||
return
|
||||
self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
|
||||
|
||||
@@ -8,11 +8,13 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.starpilot.car.hyundai.aol import ioniq6_settings_capable
|
||||
from opendbc.car.volkswagen.meb_modes import MEB_CARS, settings_capable as meb_settings_capable
|
||||
from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
|
||||
from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
|
||||
|
||||
|
||||
class AlphaLongConfirmPage(NavScroller):
|
||||
def __init__(self, on_confirm: Callable[[], None]):
|
||||
def __init__(self, on_confirm: Callable[[], None], *, system_long_default: bool = False):
|
||||
super().__init__()
|
||||
|
||||
accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
|
||||
@@ -23,7 +25,8 @@ class AlphaLongConfirmPage(NavScroller):
|
||||
GreyBigButton("enabling alpha longitudinal", "scroll to continue",
|
||||
gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
|
||||
GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
|
||||
GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
|
||||
GreyBigButton("", "Use StarPilot speed control instead of stock adaptive cruise control." if system_long_default else
|
||||
"On this car, openpilot defaults to the stock system's built-in ACC."),
|
||||
GreyBigButton("", "This requests openpilot longitudinal control after a verified vehicle takeover at startup."),
|
||||
accept,
|
||||
])
|
||||
@@ -166,8 +169,9 @@ class DeveloperLayoutMici(NavScroller):
|
||||
|
||||
# CP gating
|
||||
if ui_state.CP is not None:
|
||||
alpha_avail = ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP)
|
||||
if not alpha_avail or ui_state.is_release:
|
||||
alpha_avail = (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
|
||||
else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))
|
||||
if not alpha_avail or (ui_state.is_release and not meb_settings_capable(ui_state.CP)):
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
else:
|
||||
self._alpha_long_toggle.set_visible(True)
|
||||
@@ -177,7 +181,9 @@ class DeveloperLayoutMici(NavScroller):
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
for key, item in self._refresh_toggles:
|
||||
item.set_checked(ui_state.params.get_bool(key))
|
||||
value = (not stock_long_requested(ui_state.params) if key == "AlphaLongitudinalEnabled" and meb_settings_capable(ui_state.CP)
|
||||
else ui_state.params.get_bool(key))
|
||||
item.set_checked(value)
|
||||
|
||||
def _on_joystick_debug_mode(self, state: bool):
|
||||
ui_state.params.put_bool("JoystickDebugMode", state, block=True)
|
||||
@@ -187,7 +193,8 @@ class DeveloperLayoutMici(NavScroller):
|
||||
def _on_alpha_long_enabled(self, state: bool):
|
||||
def do_toggle(_state: bool):
|
||||
if (not ui_state.is_offroad() or (_state and (ui_state.CP is None or
|
||||
not (ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))))):
|
||||
not (meb_settings_capable(ui_state.CP) if ui_state.CP.brand == 'volkswagen' and ui_state.CP.carFingerprint in MEB_CARS
|
||||
else ui_state.CP.alphaLongitudinalAvailable or ioniq6_settings_capable(ui_state.CP))))):
|
||||
self._update_toggles()
|
||||
return
|
||||
ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
|
||||
@@ -197,6 +204,8 @@ class DeveloperLayoutMici(NavScroller):
|
||||
if state:
|
||||
# Don't show enabled state until confirm
|
||||
self._alpha_long_toggle.set_checked(False)
|
||||
gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
|
||||
page = (AlphaLongConfirmPage(lambda: do_toggle(True), system_long_default=True) if meb_settings_capable(ui_state.CP)
|
||||
else AlphaLongConfirmPage(lambda: do_toggle(True)))
|
||||
gui_app.push_widget(page)
|
||||
else:
|
||||
do_toggle(False)
|
||||
|
||||
@@ -0,0 +1,288 @@
|
||||
"""Actual SD.step/Controls.publish/Card.controls_update + native TX. Root runtime only.
|
||||
|
||||
Synthetic physical CAN/transport; no native/axis/CarParams permission is fabricated.
|
||||
The shared actual-caller harness serializes measured native booleans/inventory and
|
||||
retains the real family events/state machine. This is not physical road proof.
|
||||
"""
|
||||
from contextlib import ExitStack
|
||||
import shutil
|
||||
import tempfile
|
||||
from pathlib import Path
|
||||
from unittest import mock
|
||||
import pytest
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
from opendbc.can.dbc import DBC as ParsedDBC
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.volkswagen.interface import CarInterface
|
||||
from opendbc.car.volkswagen.meb_modes import profile_word
|
||||
from opendbc.car.volkswagen.values import DBC
|
||||
from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
|
||||
from opendbc.safety.tests.common import make_msg
|
||||
from opendbc.safety.tests.libsafety import libsafety_py
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.selfdrive.car import card as card_module
|
||||
from openpilot.starpilot.aol.tests.stock_lateral_test_helpers import authority_case
|
||||
|
||||
|
||||
@pytest.mark.parametrize('identity', ('VOLKSWAGEN_ID4_MK1', 'VOLKSWAGEN_ID4_MK2'))
|
||||
@pytest.mark.parametrize('stock', (False, True))
|
||||
@pytest.mark.parametrize('alt_gear', (False, True))
|
||||
@pytest.mark.parametrize('offset,fixed', ((0, False), (4, True)))
|
||||
def test_meb_full_engagement_brake_reverse_drive_actual_callers(identity, stock, alt_gear, offset, fixed, *, fault_phase=False):
|
||||
with ExitStack() as cleanup:
|
||||
cleanup.enter_context(OpenpilotPrefix())
|
||||
cleanup.enter_context(mock.patch.dict('os.environ', {'SIMULATION': '0', 'AOL_REPLAY_RUNTIME': '1'}))
|
||||
params = Params()
|
||||
params.put_bool('AlwaysOnLateral', True, block=True)
|
||||
params.put('MainCruiseButtonControl', 0, block=True)
|
||||
params.put('AolBrakePauseSpeedMps', 5., block=True)
|
||||
params.put_bool('DisableOpenpilotLongitudinal', stock, block=True)
|
||||
fp = {bus: {} for bus in range(8)}
|
||||
fp[offset + 1][0x13D] = 32
|
||||
fp[offset][0x25D] = 8 # Actual KLR source selects the existing stock Emergency Assist contract.
|
||||
if alt_gear:
|
||||
fp[offset][0x3DC] = 8
|
||||
cp = CarInterface.get_params(identity, fp, [], False, False, False)
|
||||
VehicleStartupPreferences.read(params, enabled=True).prepare(cp, fingerprints=fp)
|
||||
cp.fingerprintSource = structs.CarParams.FingerprintSource.fixed if fixed else structs.CarParams.FingerprintSource.fw
|
||||
# Root preloads the matching compiled library. This runner never invokes a compiler.
|
||||
assert 'libsafety' in libsafety_py.__dict__, 'Root must preload the source-matched native library'
|
||||
native = libsafety_py.libsafety
|
||||
quiet = None
|
||||
if offset:
|
||||
temporary = tempfile.TemporaryDirectory(prefix='vw-native-pair-')
|
||||
cleanup.callback(temporary.cleanup)
|
||||
copy = Path(temporary.name) / 'quiet.so'
|
||||
shutil.copy2(libsafety_py.libpath, copy)
|
||||
quiet = libsafety_py.ffi.dlopen(str(copy))
|
||||
cleanup.callback(libsafety_py.ffi.dlclose, quiet)
|
||||
quiet.init_tests()
|
||||
quiet.set_alternative_experience(32)
|
||||
quiet.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)
|
||||
assert not quiet.get_controls_allowed()
|
||||
# The caller harness receives genuine current noOutput state for the leading slot.
|
||||
from openpilot.starpilot.aol.wire import PandaSlot
|
||||
def measured_slot(index, serial, mode, word, experience, controls_allowed, invalid, lost, faults):
|
||||
if index == 0:
|
||||
assert mode == quiet.get_current_safety_mode() and word == quiet.get_current_safety_param()
|
||||
controls_allowed = bool(quiet.get_controls_allowed())
|
||||
return PandaSlot(index, serial, mode, word, experience, controls_allowed, invalid, lost, faults)
|
||||
cleanup.enter_context(mock.patch('openpilot.starpilot.aol.tests.test_ioniq_availability.PandaSlot', side_effect=measured_slot))
|
||||
case = authority_case()
|
||||
cleanup.callback(case.doCleanups)
|
||||
# The harness marks its SD CP. Card must independently finalize the original normal factory CP.
|
||||
card_cp = structs.CarParams(**cp.to_dict())
|
||||
sd, controls, step = case._authority_callers(False, cp=cp, genuine_events=True)
|
||||
card = card_module.Car(CI=CarInterface(card_cp), RI=CarInterface.RadarInterface(card_cp))
|
||||
assert card.CP.to_dict() == sd.CP.to_dict()
|
||||
if offset:
|
||||
original_update = sd.sm.update_msgs
|
||||
def measured_pandas(timestamp, messages):
|
||||
actual = []
|
||||
for envelope in messages:
|
||||
if envelope.which() == 'pandaStates':
|
||||
envelope = envelope.as_builder()
|
||||
envelope.pandaStates[0].controlsAllowed = bool(quiet.get_controls_allowed())
|
||||
actual.append(envelope)
|
||||
return original_update(timestamp, actual)
|
||||
cleanup.enter_context(mock.patch.object(sd.sm, 'update_msgs', side_effect=measured_pandas))
|
||||
|
||||
# Real DM messages, not a direct edit of CarControl escalation or native permissions.
|
||||
def dm_samples(update):
|
||||
next_due = {}
|
||||
def receive(timestamp, messages):
|
||||
messages = list(messages)
|
||||
if timestamp >= 10. and not any(envelope.which() == 'driverMonitoringState' for envelope in messages):
|
||||
messages.append(messaging.new_message('driverMonitoringState', valid=True, logMonoTime=int(timestamp * 1e9)).as_reader())
|
||||
actual = []
|
||||
for envelope in messages:
|
||||
service = envelope.which()
|
||||
if service in ('driverMonitoringState', 'aolSafetyWire'):
|
||||
stamp = int(timestamp * 1e9)
|
||||
if stamp < next_due.get(service, 0):
|
||||
continue
|
||||
next_due[service] = stamp + (50_000_000 if service == 'driverMonitoringState' else 100_000_000)
|
||||
if envelope.which() == 'driverMonitoringState':
|
||||
envelope = envelope.as_builder()
|
||||
envelope.driverMonitoringState.noResponseForceDecel = int(envelope.logMonoTime) >= (12_200_000_000 if fault_phase else 11_100_000_000)
|
||||
actual.append(envelope)
|
||||
return update(timestamp, actual)
|
||||
return receive
|
||||
cleanup.enter_context(mock.patch.object(sd.sm, 'update_msgs', side_effect=dm_samples(sd.sm.update_msgs)))
|
||||
cleanup.enter_context(mock.patch.object(controls.sm, 'update_msgs', side_effect=dm_samples(controls.sm.update_msgs)))
|
||||
# Explicit ambient producers added since the original shared caller fixture.
|
||||
# Keep production SubMaster health/frequency checks; never ignore a required service.
|
||||
from openpilot.cereal.services import SERVICE_LIST
|
||||
ambient_services = ('alertDebug', 'lateralManeuverPlan', 'laneChangeAssistWire',
|
||||
'starpilotLongitudinalPlan', 'slcState', 'gpsLocation')
|
||||
original_sd_update = sd.sm.update_msgs
|
||||
ambient_due = {}
|
||||
def ambient_update(timestamp, messages):
|
||||
stamp = int(timestamp * 1e9)
|
||||
actual = list(messages)
|
||||
present = {message.which() for message in actual}
|
||||
for service in ambient_services:
|
||||
if service in sd.sm.services and service not in present and stamp >= ambient_due.get(service, 0):
|
||||
frequency = SERVICE_LIST[service].frequency
|
||||
ambient_due[service] = stamp + (round(1e9 / min(frequency, 100)) if frequency > 0 else 0)
|
||||
actual.append(messaging.new_message(service, 0 if service == 'laneChangeAssistWire' else None, valid=True, logMonoTime=stamp).as_reader())
|
||||
return original_sd_update(timestamp, actual)
|
||||
cleanup.enter_context(mock.patch.object(sd.sm, 'update_msgs', side_effect=ambient_update))
|
||||
for prime in range(-110, 0):
|
||||
ambient_update((10_000_000_000 + prime * 10_000_000) / 1e9, [])
|
||||
card.slc_producer_session = 'authority-card'
|
||||
class Publisher(messaging.PubMaster):
|
||||
def __init__(self):
|
||||
self.messages = {}
|
||||
def send(self, s, dat):
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.messages[s] = messaging.log_from_bytes(dat)
|
||||
card.pm = Publisher()
|
||||
native = libsafety_py.libsafety
|
||||
cleanup.callback(native.init_tests)
|
||||
native.init_tests()
|
||||
native.set_alternative_experience(32)
|
||||
native.set_safety_hooks(34, profile_word(cp))
|
||||
native.set_aol_test_heartbeat(True)
|
||||
card.CI.update([])
|
||||
dbc_name = DBC[identity][Bus.pt]
|
||||
dbc = ParsedDBC(dbc_name)
|
||||
packer = CANPacker(dbc_name)
|
||||
emitted, lat_commands, long_commands = [], [], []
|
||||
klr_escalated = []
|
||||
fault_trace = []
|
||||
request = 0
|
||||
dm_tick = 222 if fault_phase else 112
|
||||
for tick in range(240 if fault_phase else 120):
|
||||
now = 10_000_000_000 + tick * 10_000_000
|
||||
native.set_timer(1_000_000 + tick * 10_000)
|
||||
if quiet is not None:
|
||||
quiet.set_timer(1_000_000 + tick * 10_000)
|
||||
quiet.safety_tick()
|
||||
assert quiet.get_current_safety_mode() == int(structs.CarParams.SafetyModel.noOutput)
|
||||
assert not quiet.get_controls_allowed()
|
||||
assert native.get_current_safety_mode() != quiet.get_current_safety_mode()
|
||||
|
||||
brake = 65 <= tick < 75
|
||||
gas = 45 <= tick < 50
|
||||
reverse = 85 <= tick < 95
|
||||
ordinary = 21 <= tick < 65 or (fault_phase and tick >= 200)
|
||||
overrides = {
|
||||
'Motor_51': {'TSK_Status': 3 if ordinary and stock else 2, 'Accel_Pedal_Pressure': 10 if gas else 0},
|
||||
'Motor_54': {'Engine_On': 1},
|
||||
'LH_EPS_03': {'EPS_Lenkmoment': 0},
|
||||
'QFK_01': {'LatCon_HCA_Status': (7 if fault_phase and 120 <= tick < 125 else 3 if fault_phase and 160 <= tick < 162 else 2), 'Curvature': 0},
|
||||
'Motor_14': {'MO_Fahrer_bremst': int(brake)},
|
||||
'Getriebe_11': {'GE_Fahrstufe': 6 if reverse else 8},
|
||||
'Gateway_73': {'GE_Fahrstufe': 6 if reverse else 8},
|
||||
'ESC_51': {name + '_Radgeschw': 72 for name in ('VL', 'VR', 'HL', 'HR')},
|
||||
'ESP_21': {'ESP_v_Signal': 72},
|
||||
'Airbag_02': {'AB_Gurtschloss_FA': 0 if 105 <= tick < 111 else 3},
|
||||
'GRA_ACC_01': {'GRA_Hauptschalter': 1, 'GRA_Tip_Setzen': int(tick == 20 or (fault_phase and tick == 200))},
|
||||
'ACC_19': {'ACC_Gesetzte_Zeitluecke': 1, 'ACC_Wunschgeschw_02': 72},
|
||||
}
|
||||
incoming = []
|
||||
for parser in card.CI.can_parsers.values():
|
||||
for name in tuple(parser.vl):
|
||||
if isinstance(name, str) and name in dbc.name_to_msg:
|
||||
fields: dict[str, float] = dict(overrides.get(name, {}))
|
||||
if 'COUNTER' in dbc.name_to_msg[name].sigs:
|
||||
fields['COUNTER'] = tick % 16
|
||||
incoming.append(packer.make_can_msg(name, parser.bus, fields))
|
||||
for addr, data, bus in incoming:
|
||||
native.safety_rx_hook(make_msg(bus - offset, addr, dat=data))
|
||||
native.safety_tick()
|
||||
native.aol_set_host_request(request)
|
||||
permission = native.aol_get_permission_mask()
|
||||
original_message = messaging.new_message
|
||||
def clocked_card_message(*args, original_message=original_message, now=now, **kwargs):
|
||||
message = original_message(*args, **kwargs)
|
||||
message.logMonoTime = now
|
||||
return message
|
||||
with (mock.patch.object(card_module.messaging, 'new_message', side_effect=clocked_card_message),
|
||||
mock.patch.object(card_module.messaging, 'drain_sock_raw', return_value=[b'fixture']),
|
||||
mock.patch.object(card_module, 'can_capnp_to_list', return_value=[(now, incoming)]),
|
||||
mock.patch.object(card_module.time, 'monotonic_ns', return_value=now),
|
||||
mock.patch.object(card_module.time, 'clock_gettime_ns', return_value=now),
|
||||
mock.patch.object(card_module, 'REPLAY', False), mock.patch.object(card.sm, 'update'),
|
||||
mock.patch.object(card.RI, 'update', return_value=None)):
|
||||
state, radar = card.state_update()
|
||||
card.state_publish(state, radar)
|
||||
if tick >= 15:
|
||||
assert state.canValid and not state.canTimeout
|
||||
intent = card.pm.messages['aolIntentWire'].as_builder()
|
||||
axis, selfdrive, command = step(tick, observed_state=state, intent_message=intent,
|
||||
gas=state.gasPressed, steering=state.steeringPressed, brake=state.brakePressed,
|
||||
allowed=bool(permission & 1), long_allowed=bool(permission & 2),
|
||||
native_request_lat=bool(request & 1), native_request_long=bool(request & 2),
|
||||
panda_controls_allowed=native.get_controls_allowed())
|
||||
if tick == 60 and not stock:
|
||||
assert native.get_controls_allowed() and axis.desiredLongitudinal and command.longActive
|
||||
if tick >= dm_tick:
|
||||
assert command.driverMonitoringEscalation
|
||||
request = int(axis.desiredLateral) | (int(axis.desiredLongitudinal) << 1)
|
||||
# Feed the exact serialized Controls publication into the actual Card caller.
|
||||
frames = [controls.pm.messages['carControl'], sd.pm.messages['aolAxisState'],
|
||||
sd.pm.messages['onroadEvents'], sd.pm.messages['selfdriveState']]
|
||||
for name in ('aolSafetyWire', 'pandaStates', 'deviceState'):
|
||||
envelope = messaging.new_message(name, len(sd.sm[name]) if name in ('pandaStates', 'aolSafetyWire') else None,
|
||||
valid=sd.sm.valid[name], logMonoTime=sd.sm.logMonoTime[name])
|
||||
setattr(envelope, name, sd.sm[name])
|
||||
frames.append(envelope.as_reader())
|
||||
card.sm.update_msgs(now / 1e9, frames)
|
||||
assert card.sm['carControl'].driverMonitoringEscalation == command.driverMonitoringEscalation
|
||||
sent = []
|
||||
with (mock.patch.object(card_module.time, 'monotonic_ns', return_value=now),
|
||||
mock.patch.object(card_module.time, 'clock_gettime_ns', return_value=now),
|
||||
mock.patch.object(card_module, 'REPLAY', False),
|
||||
mock.patch.object(card, 'publish_sendcan', side_effect=lambda values, sent=sent, **kw: sent.extend(values))):
|
||||
card.controls_update(state, card.sm['carControl'])
|
||||
for addr, data, bus in sent:
|
||||
assert offset <= bus < offset + 4
|
||||
assert native.safety_tx_hook(make_msg(bus - offset, addr, dat=data)), (tick, hex(addr), data.hex(), bus)
|
||||
if tick >= dm_tick and any(addr == 0x25D and bus == offset + 2 for addr, _, bus in sent):
|
||||
# Decode the current output payload independently of this synthetic RX stream's counters.
|
||||
klr_observer = CANParser(dbc_name, [('KLR_01', 0)], offset + 2)
|
||||
klr_observer.update([(now, sent)])
|
||||
klr_escalated.append(klr_observer.vl['KLR_01']['KLR_Touchauswertung'])
|
||||
if quiet is not None:
|
||||
for addr, data, bus in sent:
|
||||
assert not quiet.safety_tx_hook(make_msg(bus - offset, addr, dat=data))
|
||||
emitted.extend(sent)
|
||||
if fault_phase and tick in (119, 120, 124, 125, 129, 130, 132, 139, 140, 145, 150, 159, 160, 169, 170, 175, 180):
|
||||
fault_trace.append((tick, permission, card.aol_card_intent.allowed_latch, state.steerFaultTemporary,
|
||||
state.steerFaultPermanent, axis.desiredLateral, axis.lateralActive,
|
||||
axis.nativeAcknowledged, command.latActive, str(axis.faultReason),
|
||||
card.aol_card_intent._fault_inhibit, card.aol_card_intent._native_rejection_ns))
|
||||
lat_commands.append(command.latActive)
|
||||
long_commands.append(command.longActive)
|
||||
assert any(lat_commands[35:60])
|
||||
assert any(lat_commands[76:84]) # braking released long, not qualified lateral intent
|
||||
assert not any(lat_commands[86:95])
|
||||
assert any(lat_commands[100:])
|
||||
assert any(lat_commands[106:110]) # Existing qualified unbelted policy, with current native permission.
|
||||
assert not any(long_commands[76:200 if fault_phase else None]) # Brake disables long; it never restores automatically.
|
||||
if fault_phase:
|
||||
assert not any(lat_commands[121:125])
|
||||
if not any(lat_commands[145:155]):
|
||||
print('MEB_FAULT_TRACE', fault_trace)
|
||||
assert any(lat_commands[145:155]), fault_trace # Temporary EPS rejection retains intent.
|
||||
assert not any(lat_commands[161:200]) # A recovered permanent fault cannot restore armed intent.
|
||||
assert any(lat_commands[212:220]) # Fresh ordinary driver engagement rearms it.
|
||||
if not stock:
|
||||
assert any(long_commands[212:220])
|
||||
assert emitted
|
||||
assert klr_escalated and all(value == 0 for value in klr_escalated)
|
||||
if not stock:
|
||||
assert any(long_commands[35:60])
|
||||
else:
|
||||
assert not any(long_commands)
|
||||
|
||||
|
||||
@pytest.mark.parametrize('identity', ('VOLKSWAGEN_ID4_MK1', 'VOLKSWAGEN_ID4_MK2'))
|
||||
@pytest.mark.parametrize('stock', (False, True))
|
||||
def test_meb_actual_eps_rejection_permanent_fault_and_fresh_ordinary_rearm(identity, stock):
|
||||
test_meb_full_engagement_brake_reverse_drive_actual_callers(identity, stock, False, 0, False, fault_phase=True)
|
||||
@@ -450,6 +450,7 @@ class TransportPauseFeedback:
|
||||
from openpilot.starpilot.car.nissan.aol import qualified as nissan_qualified
|
||||
from opendbc.car.ford.aol import qualified as ford_qualified
|
||||
from opendbc.car.rivian.stock_aol import qualified as rivian_qualified
|
||||
from openpilot.starpilot.car.volkswagen.aol import qualified as volkswagen_qualified
|
||||
from opendbc.car.mazda.stock_aol import qualified as mazda_qualified
|
||||
from opendbc.car.subaru.stock_aol import qualified as subaru_qualified
|
||||
from opendbc.car.hyundai.canfd_angle_aol import qualified as angle_qualified
|
||||
@@ -466,7 +467,8 @@ class TransportPauseFeedback:
|
||||
stock_user = stock_lateral_user_event(cp)
|
||||
stock_temporary_user = bool((location_fault or eps_recovery) and (stock_hkg or chrysler_qualified(cp, marked_only=True) or
|
||||
ford_qualified(cp, marked_only=True) or nissan_qualified(cp, marked_only=True)
|
||||
or subaru_qualified(cp, marked_only=True) or mazda_qualified(cp, marked_only=True) or rivian_qualified(cp, marked_only=True)) and users and
|
||||
or subaru_qualified(cp, marked_only=True) or mazda_qualified(cp, marked_only=True) or rivian_qualified(cp, marked_only=True)
|
||||
or volkswagen_qualified(cp, marked_only=True)) and users and
|
||||
not axis.desiredLongitudinal and not axis.longitudinalActive and
|
||||
cs.cruiseState.available and not cs.cruiseState.enabled and
|
||||
cs.gearShifter in (gears.drive, gears.low, gears.sport, gears.brake) and
|
||||
@@ -726,7 +728,12 @@ class TransportPauseFeedback:
|
||||
stock_rivian_eps = bool(rivian_temporary_eps_restriction(cp, cs) and
|
||||
all(not event.userDisable or event.name == log.OnroadEvent.EventName.pcmDisable and
|
||||
not event.softDisable and not event.immediateDisable for event in events))
|
||||
restricted_eps = bool((temporary_eps_restriction(cp, cs) or stock_ford_eps or stock_mazda_eps or stock_rivian_eps) and self.lateral_only_baseline and
|
||||
from openpilot.starpilot.car.volkswagen.aol import temporary_eps_restriction as volkswagen_temporary_eps_restriction
|
||||
stock_volkswagen_eps = bool(volkswagen_temporary_eps_restriction(cp, cs) and
|
||||
all(not event.userDisable or event.name == log.OnroadEvent.EventName.pcmDisable and
|
||||
not event.softDisable and not event.immediateDisable for event in events))
|
||||
restricted_eps = bool((temporary_eps_restriction(cp, cs) or stock_ford_eps or stock_mazda_eps or stock_rivian_eps or
|
||||
stock_volkswagen_eps) and self.lateral_only_baseline and
|
||||
not axis.desiredLongitudinal and not axis.longitudinalActive)
|
||||
native = _configured_transport_native(sm, cp, self.session, now_ns, allow_restricted_lateral=restricted_eps)
|
||||
if (native is None or not native.pandaInventory or
|
||||
@@ -736,6 +743,8 @@ class TransportPauseFeedback:
|
||||
native.observedMonoTime < self.lateral_native_ns or
|
||||
(native.pandaSerial, tuple(p.hardwareSerial for p in native.pandaInventory)) != self.lateral_inventory):
|
||||
return False
|
||||
if stock_volkswagen_eps and matched_withdrawal:
|
||||
self.volkswagen_eps_source_ns = int(axis.sourceCarStateMonoTime)
|
||||
if cs.steerFaultTemporary and matched_withdrawal:
|
||||
self.temporary_eps_event_ns = int(axis.faultEventMonoTime)
|
||||
if pending_withdrawal:
|
||||
@@ -1264,6 +1273,11 @@ class TransportPauseFeedback:
|
||||
axis.desiredLateral and not axis.lateralActive):
|
||||
self.failed = True
|
||||
return True
|
||||
if cp.brand == 'volkswagen' and current and continuity:
|
||||
from openpilot.starpilot.car.volkswagen.aol import retain_eps_recovery
|
||||
if retain_eps_recovery(self, sm, cp, cs, axis, now_ns, latched=latched, producer=intent_producer_session):
|
||||
self.sequence, self.signature = int(axis.sequence), signature
|
||||
return False
|
||||
if current and continuity and self._ordinary_warning_intent_current(sm, cp, cs, axis, stamp, now_ns,
|
||||
latched=latched, producer=intent_producer_session):
|
||||
self.ordinary_warning_qualified = any(event.softDisable for event in sm['onroadEvents'])
|
||||
|
||||
@@ -1,18 +1,19 @@
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.volkswagen.stock_aol import qualified as stock_qualified, safety_config as aol_safety_config, AOL_WORD, MANUAL_WORD, DIRECT_WORD, AOL_WORDS
|
||||
from opendbc.car.volkswagen.long_aol import qualified as long_qualified, WORDS as LONG_WORDS
|
||||
from opendbc.car.volkswagen.meb_modes import qualified as meb_qualified, profile_word as meb_word, base_word as meb_base_word, AOL_WORDS as MEB_WORDS
|
||||
from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE, ButtonType
|
||||
from openpilot.starpilot.aol.policy import AolVehiclePolicy
|
||||
|
||||
|
||||
def qualified(cp, *, marked_only=False):
|
||||
return stock_qualified(cp, marked_only=marked_only) or long_qualified(cp, marked_only=marked_only)
|
||||
return stock_qualified(cp, marked_only=marked_only) or long_qualified(cp, marked_only=marked_only) or meb_qualified(cp, marked_only=marked_only)
|
||||
|
||||
|
||||
def temporary_restriction(cp, state):
|
||||
gears = structs.CarState.GearShifter
|
||||
return bool(state is not None and qualified(cp, marked_only=True) and state.canValid and not state.canTimeout and
|
||||
not state.steerFaultPermanent and (state.steerFaultTemporary or state.standstill or
|
||||
not state.steerFaultPermanent and (state.steerFaultTemporary or (state.standstill and not cp.steerAtStandstill) or
|
||||
state.gearShifter not in (gears.drive, gears.sport, gears.eco, gears.manumatic)))
|
||||
|
||||
|
||||
@@ -21,6 +22,8 @@ def policy_for(cp):
|
||||
return AolVehiclePolicy()
|
||||
word = AOL_WORD | (MANUAL_WORD if cp.transmissionType == structs.CarParams.TransmissionType.manual else 0)
|
||||
word |= DIRECT_WORD if cp.transmissionType == structs.CarParams.TransmissionType.direct else 0
|
||||
if meb_qualified(cp):
|
||||
word = meb_word(cp) & ~meb_base_word(cp)
|
||||
return AolVehiclePolicy(intent_supported=True, settings_supported=True, runtime_supported=True,
|
||||
normal_runtime_supported=True, ordinary_axis_ack_required=qualified(cp, marked_only=True),
|
||||
explicit_latch=True, lkas_button_supported=False, safety_param_addition=word,
|
||||
@@ -28,7 +31,8 @@ def policy_for(cp):
|
||||
|
||||
|
||||
def native_profile_supported(model, param):
|
||||
return model == int(structs.CarParams.SafetyModel.volkswagen) and param in AOL_WORDS | LONG_WORDS
|
||||
return (model == int(structs.CarParams.SafetyModel.volkswagen) and param in AOL_WORDS | LONG_WORDS or
|
||||
model == int(structs.CarParams.SafetyModel.volkswagenMeb) and param in MEB_WORDS)
|
||||
|
||||
|
||||
def native_accepts_cp(cp, model, param):
|
||||
@@ -51,6 +55,9 @@ class VolkswagenStockCardIntent(AolCardIntent):
|
||||
observe_stock_engagement = True
|
||||
|
||||
def __init__(self, cp, settings):
|
||||
self.cp = cp
|
||||
self.physical_eps_pause = False
|
||||
self.eps_recovery_ns = 0
|
||||
self.main_seen = False
|
||||
self.main_startup_pending = True
|
||||
self.main_available = False
|
||||
@@ -59,6 +66,21 @@ class VolkswagenStockCardIntent(AolCardIntent):
|
||||
super().__init__(settings, explicit_latch=True, lkas_button_supported=False)
|
||||
|
||||
def update(self, CS, **kwargs):
|
||||
from openpilot.starpilot.aol.runtime import SAFETY_MAX_AGE_NS
|
||||
now_ns = kwargs.get('now_ns', 0)
|
||||
if temporary_eps_restriction(self.cp, CS):
|
||||
self.physical_eps_pause = True
|
||||
self.eps_recovery_ns = 0
|
||||
elif self.physical_eps_pause and _eps_physical_state(self.cp, CS):
|
||||
self.physical_eps_pause = False
|
||||
self.eps_recovery_ns = now_ns
|
||||
elif not _eps_physical_state(self.cp, CS):
|
||||
self.physical_eps_pause = False
|
||||
self.eps_recovery_ns = 0
|
||||
rejection_ns = kwargs.get('native_rejection_ns', 0)
|
||||
if (kwargs.get('fault_active') is False and 0 < rejection_ns <= self.eps_recovery_ns <= now_ns and
|
||||
now_ns - self.eps_recovery_ns <= SAFETY_MAX_AGE_NS):
|
||||
kwargs['native_rejection_ns'] = 0
|
||||
state = structs.CarState(**CS.to_dict())
|
||||
events = []
|
||||
for event in CS.buttonEvents:
|
||||
@@ -104,3 +126,60 @@ class VolkswagenStockCardIntent(AolCardIntent):
|
||||
|
||||
def create_intent(cp, settings):
|
||||
return VolkswagenStockCardIntent(cp, settings)
|
||||
|
||||
|
||||
def _eps_physical_state(cp, state):
|
||||
try:
|
||||
gears = structs.CarState.GearShifter
|
||||
return bool(qualified(cp, marked_only=True) and state is not None and state.canValid and not state.canTimeout and
|
||||
not state.steerFaultPermanent and state.cruiseState.available and not state.cruiseState.enabled and
|
||||
state.gearShifter in (gears.drive, gears.sport, gears.eco, gears.manumatic) and
|
||||
not state.brakePressed and not state.regenBraking and not state.gasPressed and not state.doorOpen and
|
||||
not state.seatbeltUnlatched and not state.accFaulted and not state.vehicleSensorsInvalid and
|
||||
not state.steeringDisengage and not state.buttonEvents)
|
||||
except (AttributeError, KeyError, IndexError, TypeError, ValueError, OverflowError):
|
||||
return False
|
||||
|
||||
|
||||
def temporary_eps_restriction(cp, state):
|
||||
"""Exact already armed LAT-only EPS withdrawal; never output permission."""
|
||||
return bool(_eps_physical_state(cp, state) and state.steerFaultTemporary)
|
||||
|
||||
|
||||
def retain_eps_recovery(feedback, sm, cp, state, axis, now_ns, *, latched, producer):
|
||||
"""Join only an older EPS denial to its verified physical recovery; grant no axis."""
|
||||
from openpilot.cereal import log
|
||||
from openpilot.starpilot.aol.runtime import AXIS_MAX_AGE_NS, SAFETY_MAX_AGE_NS
|
||||
from openpilot.starpilot.aol.transport_pause import _configured_transport_native
|
||||
try:
|
||||
last = int(getattr(feedback, 'volkswagen_eps_source_ns', 0))
|
||||
stamp = int(sm.logMonoTime['aolAxisState'])
|
||||
if (not latched or not _eps_physical_state(cp, state) or state.steerFaultTemporary or
|
||||
feedback.failed or feedback.paused or feedback.pending_event or feedback.retention_started_ns or
|
||||
not feedback.temporary_eps_event_ns or not feedback.lateral_only_baseline or
|
||||
not feedback.lateral_baseline_ns or not feedback.lateral_inventory or
|
||||
not producer or producer != feedback.availability_producer or
|
||||
axis.intentProducerSessionId != producer or axis.intentIntegrityEpoch != feedback.availability_epoch or
|
||||
not feedback.session or str(axis.sessionId) != feedback.session or axis.faultSessionId != axis.sessionId or
|
||||
str(axis.faultReason) != 'none' or str(axis.mode) not in ('off', 'lateralOnly') or
|
||||
axis.lateralActive or axis.desiredLongitudinal or axis.longitudinalActive or
|
||||
not 0 < last <= axis.sourceCarStateMonoTime <= stamp == axis.observedMonoTime <= now_ns <= axis.validUntilMonoTime or
|
||||
now_ns - last > SAFETY_MAX_AGE_NS or now_ns - axis.sourceCarStateMonoTime > AXIS_MAX_AGE_NS or
|
||||
axis.validUntilMonoTime - axis.observedMonoTime > AXIS_MAX_AGE_NS or
|
||||
not sm.seen['onroadEvents'] or not sm.valid['onroadEvents'] or not sm.alive['onroadEvents']):
|
||||
return False
|
||||
event_ns = int(sm.logMonoTime['onroadEvents'])
|
||||
temporary = (log.OnroadEvent.EventName.steerTempUnavailable, log.OnroadEvent.EventName.steerTempUnavailableSilent)
|
||||
if (not 0 < feedback.temporary_eps_event_ns <= event_ns <= now_ns or now_ns - event_ns > 1_500_000_000 or
|
||||
any(event.immediateDisable or event.softDisable and event.name not in temporary or
|
||||
event.userDisable and not (cp.pcmCruise and event.name == log.OnroadEvent.EventName.pcmDisable)
|
||||
for event in sm['onroadEvents'])):
|
||||
return False
|
||||
native = _configured_transport_native(sm, cp, feedback.session, now_ns,
|
||||
require_longitudinal=False, allow_restricted_lateral=True)
|
||||
return bool(native is not None and native.pandaInventory and
|
||||
feedback.lateral_native_ns <= native.observedMonoTime <= last and
|
||||
not native.lateralAllowed and not native.requestedLongitudinal and not native.longitudinalAllowed and
|
||||
(native.pandaSerial, tuple(p.hardwareSerial for p in native.pandaInventory)) == feedback.lateral_inventory)
|
||||
except (AttributeError, KeyError, IndexError, TypeError, ValueError, OverflowError):
|
||||
return False
|
||||
|
||||
@@ -8,3 +8,9 @@ inline bool volkswagen_long_aol_param(uint16_t param) {
|
||||
}
|
||||
inline constexpr AolSafetyProfile VOLKSWAGEN_LONG_AOL_PROFILE{15U, volkswagen_long_aol_param, true};
|
||||
inline constexpr AolSafetyProfile VOLKSWAGEN_STOCK_AOL_PROFILE{15U, volkswagen_stock_aol_param, true};
|
||||
|
||||
inline bool volkswagen_meb_aol_param(uint16_t param) {
|
||||
return (param == 8U) || (param == 10U) || (param == 12U) || (param == 14U) ||
|
||||
(param == 24U) || (param == 26U) || (param == 28U) || (param == 30U);
|
||||
}
|
||||
inline constexpr AolSafetyProfile VOLKSWAGEN_MEB_AOL_PROFILE{34U, volkswagen_meb_aol_param, true};
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
"""A saved OFF remains OFF; an absent legacy Alpha key keeps upstream MEB defaults."""
|
||||
from openpilot.starpilot.saved_source import read_saved
|
||||
|
||||
|
||||
def stock_long_requested(params):
|
||||
try:
|
||||
raw, readable = read_saved(params, 'AlphaLongitudinalEnabled', 8)
|
||||
return not readable or raw not in (None, b'1')
|
||||
except (OSError, TypeError, ValueError):
|
||||
return True
|
||||
@@ -298,7 +298,8 @@ class FeatureSettingsOwner:
|
||||
from opendbc.car.gm.startup_preferences import disable_long_supported
|
||||
cp = self.vehicle_params()
|
||||
try:
|
||||
if cp is None or not (bolt_disable_supported(cp) or disable_long_supported(cp)):
|
||||
from opendbc.car.volkswagen.meb_modes import supported as meb_stock_supported
|
||||
if cp is None or not (bolt_disable_supported(cp) or disable_long_supported(cp) or meb_stock_supported(cp)):
|
||||
return None
|
||||
return (str(cp.carFingerprint), str(cp.brand), bool(cp.openpilotLongitudinalControl),
|
||||
bool(cp.pcmCruise), int(cp.flags),
|
||||
@@ -306,12 +307,18 @@ class FeatureSettingsOwner:
|
||||
except (AttributeError, TypeError, ValueError, OverflowError):
|
||||
return None
|
||||
|
||||
def _vw_alpha_off(self) -> bool:
|
||||
from opendbc.car.volkswagen.meb_modes import supported as meb_stock_supported
|
||||
from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
|
||||
return meb_stock_supported(self.vehicle_params()) and stock_long_requested(self.params)
|
||||
|
||||
def _apply_bolt_disable(self, request: FeatureSettingsRequest) -> bool:
|
||||
if not request.confirmation or request.value not in ("Off", "On") or request.dependencies:
|
||||
return False
|
||||
def authorized() -> bool:
|
||||
return (bool(request.vehicle_fingerprint) and self.vehicle_fingerprint() == request.vehicle_fingerprint and
|
||||
request.capability is not None and request.capability == self._bolt_disable_capability() and
|
||||
not (request.value == "Off" and self._vw_alpha_off()) and
|
||||
self.authority("parked_preferences") and request.expected in (None, b"0", b"1"))
|
||||
return commit_exact(self.params, key="DisableOpenpilotLongitudinal", max_bytes=8,
|
||||
raw=b"1" if request.value == "On" else b"0", expected=request.expected,
|
||||
@@ -871,6 +878,9 @@ class FeatureSettingsOwner:
|
||||
row = self._bool_row("DisableOpenpilotLongitudinal", "Disable StarPilot Speed Control",
|
||||
parked and self.authority("parked_preferences"),
|
||||
"StarPilot does not control speed in this mode. Steering remains available after the next startup")
|
||||
if self._vw_alpha_off():
|
||||
row = replace(row, value="On", available=False,
|
||||
reason="Speed control is off in driving settings. Enable Alpha Longitudinal there to restore it")
|
||||
if bolt_capability[-1] == (("noOutput", 0),):
|
||||
row = replace(row, reason="Factory camera not detected. Turn this setting off and restart to restore StarPilot speed control.")
|
||||
rows.append(replace(row, available=row.available and self._readable("DisableOpenpilotLongitudinal"),
|
||||
|
||||
@@ -0,0 +1,105 @@
|
||||
"""Both native settings surfaces retain and expose the exact release-supported MEB option."""
|
||||
from tempfile import TemporaryDirectory
|
||||
from pathlib import Path
|
||||
from types import SimpleNamespace
|
||||
from unittest.mock import patch
|
||||
import pytest
|
||||
from opendbc.car.volkswagen.interface import CarInterface
|
||||
from opendbc.car.volkswagen.values import CAR
|
||||
from opendbc.car.volkswagen.meb_modes import prepare_stock
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.layouts.settings import developer as large
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings import developer as compact
|
||||
from openpilot.starpilot.ui.tests.test_ioniq6_alpha_request import Toggle
|
||||
|
||||
|
||||
@pytest.mark.parametrize('module,layout', ((large, large.DeveloperLayout), (compact, compact.DeveloperLayoutMici)))
|
||||
@pytest.mark.parametrize('release', (False, True))
|
||||
@pytest.mark.parametrize('raw,expected', ((None, True), (b'0', False), (b'1', True), (b'bad', False)))
|
||||
def test_saved_meb_off_can_be_restored_on_each_native_surface(module, layout, release, raw, expected):
|
||||
with TemporaryDirectory() as directory:
|
||||
params = Params(directory)
|
||||
path = Path(params.get_param_path('AlphaLongitudinalEnabled'))
|
||||
if raw is not None:
|
||||
path.write_bytes(raw)
|
||||
fp = {bus: {} for bus in range(8)}
|
||||
fp[1][0x13D] = 32
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fp, [], False, release, False)
|
||||
prepare_stock(cp, True)
|
||||
ui = SimpleNamespace(CP=cp, params=params, is_release=release, engaged=False,
|
||||
has_longitudinal_control=False, is_offroad=lambda: True, update_params=lambda: None)
|
||||
panel = layout.__new__(layout)
|
||||
panel._alpha_long_toggle = Toggle()
|
||||
panel._long_maneuver_toggle = Toggle()
|
||||
panel._lat_maneuver_toggle = Toggle()
|
||||
if layout is large.DeveloperLayout:
|
||||
panel._params = params
|
||||
panel._is_release = release
|
||||
panel._joystick_toggle = Toggle()
|
||||
panel._adb_toggle = Toggle()
|
||||
panel._ssh_toggle = Toggle()
|
||||
panel._ui_debug_toggle = Toggle()
|
||||
panel._cellular_disabled_toggle = Toggle()
|
||||
else:
|
||||
panel._refresh_toggles = (('AlphaLongitudinalEnabled', panel._alpha_long_toggle),)
|
||||
with patch.object(module, 'ui_state', ui):
|
||||
panel._update_toggles()
|
||||
assert panel._alpha_long_toggle.visible
|
||||
assert panel._alpha_long_toggle.state == expected
|
||||
assert (path.read_bytes() if path.exists() else None) == raw
|
||||
cp.passive = True
|
||||
cp.dashcamOnly = True
|
||||
panel._update_toggles()
|
||||
assert not panel._alpha_long_toggle.visible
|
||||
assert (path.read_bytes() if path.exists() else None) == raw
|
||||
|
||||
|
||||
@pytest.mark.parametrize('module,layout', ((large, large.DeveloperLayout), (compact, compact.DeveloperLayoutMici)))
|
||||
def test_release_meb_confirmation_rechecks_offroad_and_saves_actual_choice(module, layout):
|
||||
with TemporaryDirectory() as directory:
|
||||
params = Params(directory)
|
||||
params.put_bool('AlphaLongitudinalEnabled', False, block=True)
|
||||
fp = {bus: {} for bus in range(8)}
|
||||
fp[1][0x13D] = 32
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fp, [], False, True, False)
|
||||
prepare_stock(cp, True)
|
||||
parked = [True]
|
||||
ui = SimpleNamespace(CP=cp, params=params, is_release=True, engaged=False,
|
||||
has_longitudinal_control=False, is_offroad=lambda: parked[0], update_params=lambda: None)
|
||||
class AlphaToggle(Toggle):
|
||||
title = 'Speed control'
|
||||
description = 'Use StarPilot speed control.'
|
||||
panel = layout.__new__(layout)
|
||||
panel._alpha_long_toggle = AlphaToggle()
|
||||
panel._long_maneuver_toggle = Toggle()
|
||||
panel._lat_maneuver_toggle = Toggle()
|
||||
if layout is large.DeveloperLayout:
|
||||
panel._params = params
|
||||
panel._is_release = True
|
||||
panel._joystick_toggle = Toggle()
|
||||
panel._adb_toggle = Toggle()
|
||||
panel._ssh_toggle = Toggle()
|
||||
panel._ui_debug_toggle = Toggle()
|
||||
panel._cellular_disabled_toggle = Toggle()
|
||||
else:
|
||||
panel._refresh_toggles = (('AlphaLongitudinalEnabled', panel._alpha_long_toggle),)
|
||||
confirm = []
|
||||
def large_dialog(*args, callback, **kwargs):
|
||||
confirm.append(lambda: callback(large.DialogResult.CONFIRM))
|
||||
return object()
|
||||
def compact_dialog(callback, *, system_long_default=False):
|
||||
assert system_long_default
|
||||
confirm.append(callback)
|
||||
return object()
|
||||
with (patch.object(module, 'ui_state', ui), patch.object(module.gui_app, 'push_widget'),
|
||||
patch.object(large, 'ConfirmDialog', side_effect=large_dialog),
|
||||
patch.object(compact, 'AlphaLongConfirmPage', side_effect=compact_dialog),
|
||||
patch.object(compact, 'restart_needed_callback')):
|
||||
panel._on_alpha_long_enabled(True)
|
||||
assert len(confirm) == 1 and not params.get_bool('AlphaLongitudinalEnabled')
|
||||
parked[0] = False
|
||||
confirm[0]()
|
||||
assert not params.get_bool('AlphaLongitudinalEnabled')
|
||||
parked[0] = True
|
||||
confirm[0]()
|
||||
assert params.get_bool('AlphaLongitudinalEnabled')
|
||||
@@ -46,6 +46,7 @@ class VehicleStartupPreferences:
|
||||
toyota_unlock_doors: bool = False
|
||||
toyota_radar_mode: int = 0
|
||||
gm_cancel_remap: bool = False
|
||||
vw_stock_long: bool = field(default=False, kw_only=True)
|
||||
|
||||
@classmethod
|
||||
def read(cls, params, *, enabled: bool):
|
||||
@@ -59,6 +60,8 @@ class VehicleStartupPreferences:
|
||||
radar = read_radar_settings(params)
|
||||
pedal = read_pedal_settings(params)
|
||||
preap_stock = stock_configuration(params, radar, pedal)
|
||||
from openpilot.starpilot.car.volkswagen.preferences import stock_long_requested
|
||||
vw_stock_long = stock_long_requested(params)
|
||||
try:
|
||||
raw_radar, radar_readable = read_saved(params, "HondaBoschARadar", 8)
|
||||
honda_radar = radar_readable and raw_radar in (None, b"1")
|
||||
@@ -82,7 +85,8 @@ class VehicleStartupPreferences:
|
||||
volt_one_pedal = bool(enabled and not disable_bolt and read_saved(params, "VoltOnePedalMode", 8) == (b"1", True) and
|
||||
readable and safe in (None, b"0"))
|
||||
except (OSError, TypeError, ValueError):
|
||||
return cls(subaru_smoothing=smoothing, disable_bolt_long=disable_bolt, honda_bosch_a_radar=honda_radar, tesla_preap_stock=preap_stock,
|
||||
return cls(vw_stock_long=vw_stock_long,
|
||||
subaru_smoothing=smoothing, disable_bolt_long=disable_bolt, honda_bosch_a_radar=honda_radar, tesla_preap_stock=preap_stock,
|
||||
tesla_preap_radar=radar, tesla_preap_pedal=pedal,
|
||||
gm_camera_pedal=False, toyota_filter=False)
|
||||
try:
|
||||
@@ -99,7 +103,8 @@ class VehicleStartupPreferences:
|
||||
read_saved(params, 'AlwaysOnLateral', 8) == (b'1', True) and
|
||||
read_saved(params, 'TeslaAOLScreenTap', 8) == (b'1', True))
|
||||
screen_brake = read_saved(params, 'TeslaAOLDisengageOnBrake', 8) == (b'1', True)
|
||||
return cls(subaru_smoothing=smoothing, subaru_avh_startup=bool(enabled and readable and safe in (None, b"0") and
|
||||
return cls(vw_stock_long=vw_stock_long,
|
||||
subaru_smoothing=smoothing, subaru_avh_startup=bool(enabled and readable and safe in (None, b"0") and
|
||||
read_saved(params, "IsReleaseBranch", 8) in ((None, True), (b"0", True)) and
|
||||
read_saved(params, "SubaruAvhStartup", 8) == (b"1", True)),
|
||||
subaru_stop_start_off=bool(enabled and readable and safe in (None, b"0") and
|
||||
@@ -170,6 +175,8 @@ class VehicleStartupPreferences:
|
||||
prepare_disable_longitudinal(cp, True)
|
||||
|
||||
def prepare(self, cp, *, fingerprints=None):
|
||||
from opendbc.car.volkswagen.meb_modes import prepare_stock as prepare_meb_stock
|
||||
prepare_meb_stock(cp, self.disable_bolt_long or self.vw_stock_long)
|
||||
from opendbc.car.subaru.software_cruise import prepare
|
||||
cp = prepare(cp, self.subaru_software_cruise)
|
||||
from opendbc.car.subaru.sng import prepare as prepare_sng
|
||||
@@ -215,6 +222,8 @@ class VehicleStartupPreferences:
|
||||
return cp
|
||||
|
||||
def finalize(self, cp) -> None:
|
||||
from opendbc.car.volkswagen.meb_modes import prepare_stock as prepare_meb_stock
|
||||
prepare_meb_stock(cp, self.disable_bolt_long or self.vw_stock_long)
|
||||
from opendbc.car.gm.values import apply_gm_auto_hold, is_gm_auto_hold, apply_volt_one_pedal, is_volt_one_pedal
|
||||
admitted_one_pedal = is_volt_one_pedal(cp)
|
||||
admitted_hold = is_gm_auto_hold(cp)
|
||||
|
||||
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@@ -1,4 +1,4 @@
|
||||
#pragma once
|
||||
|
||||
extern const uint8_t gitversion[29];
|
||||
const uint8_t gitversion[29] = "DEV-4e956b46-Pa5919516-DEBUG";
|
||||
const uint8_t gitversion[29] = "DEV-b98f1bfc-Pa5919516-DEBUG";
|
||||
|
||||
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+1
-1
@@ -1 +1 @@
|
||||
{"protected_inventory_sha256": "8524cc5d7574ac2b6ecfc6d9eb30d0e36becb8fa4e996bba456e6ee1870ec249", "schema_version": 1}
|
||||
{"protected_inventory_sha256": "1ce92f195f4b5461eac417896c24994bfcd601e29f2738fc499b57987af56687", "schema_version": 1}
|
||||
|
||||
@@ -77,6 +77,11 @@ AOL_LIFECYCLE_TARGETS = (
|
||||
"openpilot/starpilot/aol/tests/test_volkswagen.py",
|
||||
"openpilot/starpilot/aol/tests/test_volkswagen_saved_intent.py",
|
||||
"openpilot/starpilot/aol/tests/test_mqb_actual_callers.py",
|
||||
"openpilot/starpilot/aol/tests/test_meb_actual_callers.py",
|
||||
"opendbc_repo/opendbc/car/volkswagen/tests/test_meb_preferences.py",
|
||||
"opendbc_repo/opendbc/car/volkswagen/tests/test_meb_discovery.py",
|
||||
"opendbc_repo/opendbc/car/volkswagen/tests/test_meb_stock_modes.py",
|
||||
"openpilot/starpilot/ui/tests/test_meb_preferences.py",
|
||||
"openpilot/starpilot/aol/tests/test_mqb_direct_callers.py",
|
||||
"openpilot/starpilot/aol/tests/test_mqb_topology_callers.py",
|
||||
"openpilot/starpilot/aol/tests/test_mqb_topology_contract.py",
|
||||
@@ -85,6 +90,7 @@ AOL_LIFECYCLE_TARGETS = (
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_stock_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_engagement_arm.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_long_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_meb_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_direct_aol.py",
|
||||
"openpilot/starpilot/aol/tests/test_volkswagen_main_boot.py",
|
||||
"openpilot/starpilot/car/subaru/tests/test_aol.py",
|
||||
@@ -315,6 +321,7 @@ RELEASE_TARGETS = (
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_stock_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_engagement_arm.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_long_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_meb_aol.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_volkswagen_direct_aol.py",
|
||||
"openpilot/starpilot/aol/tests/test_volkswagen_main_boot.py",
|
||||
"opendbc_repo/opendbc/safety/tests/test_mazda.py::TestMazdaSafety",
|
||||
|
||||
Reference in New Issue
Block a user