mirror of
https://github.com/firestar5683/StarPilot.git
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Dom
56 lines
2.8 KiB
Python
56 lines
2.8 KiB
Python
"""Release must deny debug-only classic longitudinal startup configurations."""
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.values import HyundaiFlags
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from opendbc.car.hyundai.classic_long_aol import qualified as qualified_classic, aol_word
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from opendbc.car.hyundai.hyundaican import create_acc_commands
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from opendbc.car.hyundai.tests.test_classic_family_startup_caller import family_cases
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from opendbc.can import CANPacker
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from opendbc.safety.tests.libsafety import libsafety_py
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from openpilot.starpilot.aol.tests.test_classic_long_profiles import params as classic_params
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class TestClassicStartupReleaseDenied:
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@pytest.mark.parametrize('identity', family_cases())
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@pytest.mark.parametrize('aol', [False, True])
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def test_release_keeps_experimental_startup_and_longitudinal_tx_closed(self, identity, aol):
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release_cp = classic_params(identity, release=True, lda=True)
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assert not release_cp.openpilotLongitudinalControl
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assert release_cp.pcmCruise
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assert not qualified_classic(release_cp)
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assert CarInterface.startup_owner(release_cp, (list, lambda frames: None), requested=True) is None
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# A debug host profile must not gain longitudinal authority on release
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# firmware, even with a host request and controls_allowed asserted.
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cp = classic_params(identity, lda=True)
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if aol:
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cp.safetyConfigs[0].safetyParam = aol_word(cp)
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cp.alternativeExperience = 32
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native = libsafety_py.libsafety
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packer = CANPacker('hyundai_can_generated')
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try:
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native.set_alternative_experience(cp.alternativeExperience)
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assert native.set_safety_hooks(cp.safetyConfigs[0].safetyModel.raw, cp.safetyConfigs[0].safetyParam) == 0
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native.init_tests()
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if aol:
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assert not native.safety_config_valid()
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for controls_allowed in (False, True):
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native.set_controls_allowed(controls_allowed)
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native.set_aol_test_heartbeat(True)
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native.aol_set_host_request(3)
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assert native.aol_get_permission_mask() == 0
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# Test neutral startup output as well as actual acceleration requests.
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for enabled, accel in ((False, 0.0), (True, 1.0), (True, -1.0)):
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frames = create_acc_commands(packer, enabled, accel, 1.0, 0, structs.CarControl.HUDControl(),
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0, False, False, bool(cp.flags & HyundaiFlags.USE_FCA), cp)
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frames.append((0x7D0, b'\x02\x3e\x80' + bytes(5), 0))
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assert {0x420, 0x421, 0x389, 0x7D0} <= {address for address, _, _ in frames}
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for address, data, bus in frames:
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assert not native.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)), hex(address)
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finally:
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native.init_tests()
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native.set_alternative_experience(0)
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native.set_safety_hooks(structs.CarParams.SafetyModel.noOutput, 0)
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