Reuse exact GM configuration checks in driving hot paths

opendbc_repo/opendbc/car/gm/carstate.py

@@ -136,6 +136,8 @@ class CarState(CarStateBase):
     return self.car_gps_tracker.get()
 
   def update(self, can_parsers) -> structs.CarState:
+    bolt_pedal_profile = is_bolt_pedal_profile(self.CP)
+    volt_camera_removed = is_volt_camera_removed(self.CP)
     pt_cp = can_parsers[Bus.pt]
     cam_cp = can_parsers[Bus.cam]
     loopback_cp = can_parsers[Bus.loopback]
@@ -157,7 +159,7 @@ class CarState(CarStateBase):
       self.bolt_pedal_removed_stock_active = bool(pt_cp.vl["ECMCruiseControl"]["CruiseActive"])
     present_no_acc_pedal = (is_bolt_present_no_acc_pedal_profile(self.CP) or
                             is_bolt_present_no_acc_pedal_profile(self.CP, stock_only=True))
-    if is_bolt_pedal_profile(self.CP) or present_no_acc_pedal:
+    if bolt_pedal_profile or present_no_acc_pedal:
       self.bolt_pedal_gear_ts_nanos = (self.conventional_cancel_credit.gear_ns if present_no_acc_pedal else
                                      pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"])
       self.bolt_pedal_main_ts_nanos = pt_cp.ts_nanos["ECMEngineStatus"]["CruiseMainOn"]
@@ -233,7 +235,7 @@ class CarState(CarStateBase):
                ("ASCMSteeringButton", "RollingCounter"), ("ECMPRDNL2", "PRNDL2"))
       self.ordinary_removed_sources = tuple(pt_cp.ts_nanos[name][field] for name, field in names)
 
-    if (is_volt_camera_removed(self.CP) or self.camera_pedal_profile is not None and
+    if (volt_camera_removed or self.camera_pedal_profile is not None and
         self.camera_pedal_profile.topology in ("gateway", "ascm", "sdgm") and not self.camera_pedal_profile.longitudinal):
       names = (("PSCMStatus", "LKATorqueDelivered"), ("EBCMWheelSpdRear", "RLWheelSpd"),
                ("AcceleratorPedal2", "CruiseState"), ("ECMEngineStatus", "CruiseMainOn"),
@@ -308,7 +310,7 @@ class CarState(CarStateBase):
     if is_volt_longitudinal(self.CP):
       # Observe only actual resume/driver sources, using the finalized brake owner.
       alternate = is_volt_gateway_alternate_brake(self.CP) or (
-        is_volt_camera_removed(self.CP) and bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG))
+        volt_camera_removed and bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG))
       c9 = self.CP.networkLocation == NetworkLocation.fwdCamera and not (
         gm_control_word(self.CP) & (GMSafetyFlags.ASCM_INTERCEPT | GMSafetyFlags.SDGM) and
         not gm_control_word(self.CP) & GMSafetyFlags.BRAKE_C9)
@@ -328,7 +330,7 @@ class CarState(CarStateBase):
     gm_auto_hold = is_gm_auto_hold(self.CP)
     if gm_auto_hold:
       alternate = is_volt_gateway_alternate_brake(self.CP)
-      alternate_force = alternate or (is_volt_camera_removed(self.CP) and bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG)) or (
+      alternate_force = alternate or (volt_camera_removed and bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG)) or (
         self.camera_pedal_profile is not None and self.camera_pedal_profile.volt and
         self.camera_pedal_profile.brake_source == BrakeSource.F1)
       c9 = self.CP.networkLocation == NetworkLocation.fwdCamera and (
@@ -387,7 +389,7 @@ class CarState(CarStateBase):
         not (self.hybrid_profile is not None and self.hybrid_profile.removed) and not removed_pedal):
       if not is_conventional_cc_pedal_profile(self.CP):
         self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
-      if not self.bolt_cc_removed and not is_volt_camera_removed(self.CP) and not is_ordinary_camera_removed(self.CP):
+      if not self.bolt_cc_removed and not volt_camera_removed and not is_ordinary_camera_removed(self.CP):
         self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
@@ -428,7 +430,7 @@ class CarState(CarStateBase):
       ret.brakePressed = (pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xD0 >= .10
                           if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG else
                           pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8)
-    elif is_volt_camera_removed(self.CP):
+    elif volt_camera_removed:
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     elif is_volt_gateway_alternate_brake(self.CP):
       pedal_position = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"]
@@ -489,7 +491,7 @@ class CarState(CarStateBase):
         self.pedal_sensor_ts_nanos = 0
         self.pedal_sensor_counter = None
       if self.pedal_sensor_healthy:
-        if is_bolt_pedal_profile(self.CP):
+        if bolt_pedal_profile:
           ret.gasPressed = first + second > 1190
         elif self.camera_pedal_profile is not None and self.camera_pedal_profile.longitudinal:
           ret.gasPressed = ret.gasPressed or first + second > 1190
@@ -517,7 +519,7 @@ class CarState(CarStateBase):
 
     # 1 - latched
     ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-    if int(self.CP.safetyConfigs[0].safetyParam) == 0x1CD and is_bolt_pedal_profile(self.CP):
+    if int(self.CP.safetyConfigs[0].safetyParam) == 0x1CD and bolt_pedal_profile:
       self.bolt_acc_brake_clock_ns = cam_cp.ts_nanos["EBCMFrictionBrakeCmd"]["RollingCounter"]
       self.bolt_acc_brake_clock_counter = int(cam_cp.vl["EBCMFrictionBrakeCmd"]["RollingCounter"])
 
@@ -536,7 +538,7 @@ class CarState(CarStateBase):
     ret.accFaulted = acc_state == AccState.FAULTED or (friction_unavailable and not secondary_only)
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
-    if is_volt_camera_removed(self.CP):
+    if volt_camera_removed:
       # A missing camera can leave the ECU faulted; that is not engaged cruise.
       ret.cruiseState.enabled &= pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.FAULTED
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -571,7 +573,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in NO_ACC_BOLT_CAR and not self.bolt_cc_profile:
       ret.accFaulted = False
       ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0 if pedal_stock_no_acc else False
-      if is_bolt_pedal_profile(self.CP):
+      if bolt_pedal_profile:
         self.bolt_pedal_standstill_ts_nanos = pt_cp.ts_nanos["AcceleratorPedal2"]["CruiseState"]
         stamp = self.bolt_pedal_standstill_ts_nanos
         ret.cruiseState.standstill = (0 < stamp <= pt_cp._last_update_nanos and
@@ -580,7 +582,7 @@ class CarState(CarStateBase):
       else:
         ret.cruiseState.standstill = False
     if (self.hybrid_profile is None and not removed_pedal and self.volt_cc_pedal_profile is None and self.CP.networkLocation == NetworkLocation.fwdCamera
-        and not is_volt_camera_removed(self.CP)
+        and not volt_camera_removed
         and not is_conventional_cc_pedal_profile(self.CP) and not is_ordinary_camera_removed(self.CP)
         and not (self.camera_pedal_profile is not None and self.camera_pedal_profile.removed)):
       if (self.CP.carFingerprint not in ALT_ACCS or self.camera_pedal_profile is not None or is_ordinary_camera_profile(self.CP) or
@@ -611,13 +613,13 @@ class CarState(CarStateBase):
 
     if (self.CP.carFingerprint in (ORDINARY_ASCM_CAR | ORDINARY_SDGM_CAR) or
         is_ordinary_camera_profile(self.CP) or is_ordinary_camera_profile(self.CP, longitudinal=True) or
-        self.CP.carFingerprint in (CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_2019)) and not is_volt_camera_removed(self.CP) and \
+        self.CP.carFingerprint in (CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_2019)) and not volt_camera_removed and \
         not is_ordinary_camera_removed(self.CP):
       self.stock_fcw_alert = int(cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"]) & 0x3
       ret.stockFcw = self.stock_fcw_alert != 0
 
     if (self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and
-        is_bolt_pedal_profile(self.CP) and not removed_pedal):
+        bolt_pedal_profile and not removed_pedal):
       self.stock_fcw_alert = int(cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"]) & 0x3
       ret.stockFcw = self.stock_fcw_alert != 0
 

opendbc_repo/opendbc/car/gm/feature_capabilities.py

@@ -1,5 +1,6 @@
 """Optional planner owners follow the finalized GM driving ownership."""
 
+from opendbc.car.config_cache import cached_config
 from opendbc.car.gm.lateral import lane_centering_supported
 from opendbc.car.gm.suburban import stopping_decel_rate
 from opendbc.car.gm.values import (malibu_hybrid_profile, camera_acc_pedal_profile, control_flags, CAR, GMFlags, GMSafetyFlags,
@@ -20,15 +21,20 @@ def longitudinal_supported(cp) -> bool:
   try:
     if not _healthy(cp) or not cp.openpilotLongitudinalControl or cp.pcmCruise:
       return False
-    return (volt_cc_pedal_profile(cp) is not None or camera_acc_pedal_profile(cp) is not None or is_ordinary_camera_profile(cp, longitudinal=True) or
+    return _longitudinal_owner(cp)
+  except (AttributeError, IndexError, TypeError, ValueError):
+    return False
+
+
+@cached_config
+def _longitudinal_owner(cp) -> bool:
+  return (volt_cc_pedal_profile(cp) is not None or camera_acc_pedal_profile(cp) is not None or is_ordinary_camera_profile(cp, longitudinal=True) or
             is_ordinary_cc_profile(cp) or is_conventional_cc_pedal_profile(cp) or malibu_hybrid_profile(cp) is not None or
             is_ordinary_ascm_profile(cp, longitudinal=True) or is_ordinary_sdgm_profile(cp, longitudinal=True)
         or is_volt_longitudinal(cp) or is_volt_cc_longitudinal(cp) or is_bolt_euv_longitudinal(cp) or
             is_bolt_pedal_profile(cp) or
             (control_flags(cp) == int(GMFlags.CC_LONG) and is_bolt_cc_profile(cp)) or
             (control_flags(cp) == 0 and stopping_decel_rate(cp) is not None))
-  except (AttributeError, IndexError, TypeError, ValueError):
-    return False
 
 
 def display_supported(cp) -> bool:

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

@@ -0,0 +1,65 @@
+"""Static admission remains exact; live authority is never cached."""
+from types import SimpleNamespace
+from unittest.mock import patch
+import pytest
+from opendbc.car.gm import feature_capabilities as capabilities
+from opendbc.car.gm.tests.test_bolt_pedal import params
+from opendbc.car.gm.values import CAR, is_bolt_pedal_profile
+from opendbc.car.gm.interface import CarInterface
+from openpilot.starpilot.aol.tests.test_gm import _configurations
+from openpilot.starpilot.aol.tests.test_gm_held_native import parse, NOW
+
+
+def uncached(cp):
+  return bool(capabilities._healthy(cp) and cp.openpilotLongitudinalControl and not cp.pcmCruise and
+              capabilities._longitudinal_owner.__wrapped__(cp))
+
+
+def test_all_finalized_gm_profiles_keep_their_original_capability():
+  for cp in _configurations():
+    assert capabilities.longitudinal_supported(cp) == uncached(cp)
+    assert capabilities.longitudinal_supported(cp.as_reader()) == uncached(cp)
+  assert capabilities._longitudinal_owner.cache_info().currsize <= 8
+
+
+@pytest.mark.parametrize('field,value', [('brand', 'hyundai'), ('carFingerprint', 'unknown'), ('flags', 0),
+  ('passive', True), ('dashcamOnly', True), ('notCar', True), ('pcmCruise', True),
+  ('openpilotLongitudinalControl', False), ('alphaLongitudinalAvailable', True), ('networkLocation', 'gateway'),
+  ('safetyParam', 0), ('safetyModel', 'noOutput'), ('safetyConfigs', []), ('alternativeExperience', 1)])
+def test_configuration_mutations_never_reuse_an_old_capability(field, value):
+  cp = params(CAR.CHEVROLET_BOLT_CC_2018_2021, pedal=True, camera=True)
+  alias = cp.as_reader()
+  assert capabilities.longitudinal_supported(cp)
+  if field in ('safetyParam', 'safetyModel'):
+    setattr(cp.safetyConfigs[0], field, value)
+  else:
+    setattr(cp, field, value)
+  assert capabilities.longitudinal_supported(cp) == uncached(cp)
+  assert capabilities.longitudinal_supported(alias) == uncached(cp)
+
+
+def test_other_brands_and_stock_longitudinal_skip_snapshot_work():
+  cp = params(CAR.CHEVROLET_BOLT_CC_2018_2021, pedal=True, camera=True)
+  for brand, stock in [('hyundai', False), ('honda', False), ('gm', True)]:
+    cp.brand = brand
+    cp.openpilotLongitudinalControl = not stock
+    with patch.object(capabilities, '_longitudinal_owner', side_effect=AssertionError('unnecessary ownership snapshot')):
+      assert not capabilities.longitudinal_supported(cp)
+
+
+def test_carstate_qualifies_once_per_sample_and_rechecks_next_sample():
+  cp = params(CAR.CHEVROLET_BOLT_CC_2018_2021, pedal=True, camera=True)
+  ci = CarInterface(cp)
+  shell = SimpleNamespace(CP=cp)
+  for tick in range(40):
+    stamp = NOW + tick * 10_000_000
+    ci.update([(stamp, parse(shell, stamp, counter=tick % 4, packets_only=True))])
+  with patch('opendbc.car.gm.carstate.is_bolt_pedal_profile', wraps=is_bolt_pedal_profile) as qualify:
+    for tick, blocked in enumerate((False, True, False), 40):
+      ci.CS.CP.notCar = blocked
+      stamp = NOW + tick * 10_000_000
+      before = len(qualify.call_args_list)
+      ci.update([(stamp, parse(shell, stamp, counter=tick % 4, packets_only=True))])
+      current = [call for call in qualify.call_args_list[before:] if not call.kwargs.get('stock_only', False)]
+      assert len(current) == 1
+      assert is_bolt_pedal_profile(ci.CS.CP) is not blocked

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "dabfff0be2893804d33116e4de36581871df656eba9f080a56dacc251284802d", "schema_version": 1}
+{"protected_inventory_sha256": "59cca55bbc8f9f8d42bee954161022f1014f9087f480d4b0b77ff6b27116542a", "schema_version": 1}