Capture F1 Volt withdrawal receipts in Card

openpilot/selfdrive/car/card.py

@@ -488,10 +488,12 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
+    from openpilot.starpilot.car.gm.aol import f1_conventional_lateral_owner
     cancel_boot_ns = (time.clock_gettime_ns(time.CLOCK_BOOTTIME)
                       if (getattr(self.CI.CS, 'ev6_aol_source_healthy', False) or
                           qualified_honda_stock_aol(self.CP, marked_only=True) or
-                          qualified_gm(self.CP) and is_bolt_present_no_acc_pedal_profile(self.CP) and
+                          qualified_gm(self.CP) and (is_bolt_present_no_acc_pedal_profile(self.CP) or
+                                                     f1_conventional_lateral_owner(self.CP)) and
                           int(self.CP.alternativeExperience) in (32, 96)) else 0)
     self.observe_ioniq6_long_authority(can_list, CS)
     media_owner = getattr(self, 'ioniq6_media', None)

openpilot/starpilot/aol/tests/test_gm_volt_f1_admission.py

@@ -292,3 +292,40 @@ def test_f1_physical_withdrawal_keeps_only_current_granted_lateral(gesture, case
       assert not current['aolAxisState'].longitudinalActive and not native.longitudinalAllowed
     finally:
       card.vehicle_startup.close()
+
+
+@pytest.mark.parametrize('gesture', ['foot', 'analog', 'paddle'])
+def test_f1_actual_state_update_binds_physical_receipt(gesture):
+  from openpilot.cereal import messaging
+  from openpilot.starpilot.aol.tests.test_gm import TestGmAol as GmCardFixture
+  now = 10_020_000_000
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    settings = Params()
+    settings.put_bool('AlwaysOnLateral', True, block=True)
+    card = GmCardFixture.card(params(), settings)
+    cleanup.callback(card.vehicle_startup.close)
+    packer = CANPacker(DBC[card.CP.carFingerprint][Bus.pt])
+    for i in range(100):
+      cs, _ = tick(card.CI, packer, now - 1_000_000_000 + i * 10_000_000, counter=i % 4, active=False)
+
+    class Capture:
+      def update(self, rows):
+        self.rows = rows
+
+    capture = Capture()
+    _, frames = tick(capture, packer, now, counter=0, active=False, brake=gesture == 'foot', analog=6 if gesture == 'analog' else 0, regen=gesture == 'paddle')
+    event = messaging.new_message('can', len(frames), valid=True, logMonoTime=now)
+    for dst, (address, data, bus) in zip(event.can, frames, strict=True):
+      dst.address, dst.dat, dst.src = address, data, bus
+    # Only CAN transport and clocks are fixtures; state_update parses the real bytes.
+    with (
+      patch('openpilot.selfdrive.car.card.messaging.drain_sock_raw', return_value=[event.to_bytes()]),
+      patch('openpilot.selfdrive.car.card.time.monotonic_ns', return_value=now),
+      patch('openpilot.selfdrive.car.card.time.clock_gettime_ns', return_value=now),
+    ):
+      cs, _ = card.state_update(defer_radar=True)
+    assert cs.canValid and not cs.canTimeout
+    assert cs.brakePressed == (gesture in ('foot', 'analog')) and cs.regenBraking == (gesture == 'paddle')
+    observed = card._aol_can_observation
+    assert observed[0] is cs and observed[1:] == (now, now, now)
+    assert card.aol_gm_withdrawal_source(cs, now) == now

openpilot/starpilot/aol/tests/test_gm_volt_f1_lifecycle.py

@@ -281,15 +281,19 @@ def exercise_f1(main_action=0, gesture='none'):
       for a, data, bus in packets:
         safety.safety_fwd_hook(bus, a)
         assert safety.safety_rx_hook(native.make_CANPacket(a, bus, data))
-      cs = card.CI.update([(now, packets)])
+      raw = messaging.new_message('can', len(packets), valid=True, logMonoTime=now)
+      for dst, (address, data, bus) in zip(raw.can, packets, strict=True):
+        dst.address, dst.dat, dst.src = address, data, bus
+      with (
+        patch('openpilot.selfdrive.car.card.messaging.drain_sock_raw', return_value=[raw.to_bytes()]),
+        patch.object(card.sm, 'update', side_effect=lambda timeout, _now=now: receive_card(_now)),
+        patch('openpilot.selfdrive.car.card.time.monotonic_ns', return_value=now),
+        patch('openpilot.selfdrive.car.card.time.clock_gettime_ns', return_value=now),
+      ):
+        cs, _ = card.state_update(defer_radar=True)
       safety.safety_tick()
       assert cs.canValid and not cs.canTimeout
-      receive_card(now)
-      card.update_cruise_speed(cs)
-      card._aol_can_observation = (cs, now, now, now)
-      fault = card.aol_disarming_fault(cs, int(card.sm.logMonoTime['onroadEvents']), now)
-      card.aol_card_intent.update(cs, fault_active=fault, now_ns=now)
-      card.observe_aol_calibration(cs, now, False)
+      assert card._aol_can_observation[0] is cs and card._aol_can_observation[1:] == (now, now, now)
       allowed = card.aol_card_intent.output(cs)[0]
       request = int(allowed) | (2 if sd.aol_axis_decision.desired_longitudinal else 0)
       safety.aol_set_host_request(request)

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "f3bc5b02144b32847406e289e06bdeec27313ed197780dac269c5d0d4444f823", "schema_version": 1}
+{"protected_inventory_sha256": "723440ff36d2f3e497f2dcf510392adbb9e5c08b7b75f47a2763d86d560acc4e", "schema_version": 1}