mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 22:53:44 +08:00
firestar5683
f2e6fddee9
Keep Rivian angle commands below 4 m/s², exercise the common angle-safety coverage, and prevent generic firmware management from overwriting unverified external Black Pandas. Original safety work based on PR #90 by TonyJOM (Anthony Orta). Co-authored-by: TonyJOM <anthonyorta20@icloud.com>
98 lines
4.4 KiB
Python
98 lines
4.4 KiB
Python
import importlib.util
|
|
from pathlib import Path
|
|
from unittest.mock import MagicMock, patch # noqa: TID251 - mocks are required to guarantee no hardware access
|
|
|
|
|
|
MODULE_PATH = Path(__file__).parents[1] / "rivian_long_flasher.py"
|
|
MODULE_SPEC = importlib.util.spec_from_file_location("rivian_long_flasher", MODULE_PATH)
|
|
assert MODULE_SPEC is not None and MODULE_SPEC.loader is not None
|
|
flasher = importlib.util.module_from_spec(MODULE_SPEC)
|
|
MODULE_SPEC.loader.exec_module(flasher)
|
|
|
|
|
|
def _external_black_panda(signature: bytes = b"current", bootstub: bool = False):
|
|
panda = MagicMock()
|
|
panda.is_internal.return_value = False
|
|
panda.get_type.return_value = b"\x03"
|
|
panda.get_signature.return_value = signature
|
|
panda.bootstub = bootstub
|
|
return panda
|
|
|
|
|
|
def test_current_rivian_bridge_uses_bridge_flash_path():
|
|
panda = _external_black_panda(signature=b"expected")
|
|
with patch.object(flasher, "_is_rivian", return_value=True), \
|
|
patch.object(flasher.os.path, "isfile", return_value=True), \
|
|
patch.object(flasher, "Panda", wraps=flasher.Panda) as panda_class, \
|
|
patch.object(flasher, "_flash_panda") as flash_panda:
|
|
panda_class.return_value = panda
|
|
panda_class.HW_TYPE_BLACK = b"\x03"
|
|
panda_class.usb_list.return_value = ["bridge"]
|
|
panda_class.get_signature_from_firmware.return_value = b"expected"
|
|
|
|
assert flasher.prepare_rivian_bridge(["internal", "bridge"]) == {"bridge"}
|
|
flash_panda.assert_called_once_with(panda)
|
|
panda.close.assert_called_once()
|
|
|
|
|
|
def test_outdated_rivian_bridge_uses_bridge_flash_path():
|
|
panda = _external_black_panda(signature=b"unexpected")
|
|
with patch.object(flasher, "_is_rivian", return_value=True), \
|
|
patch.object(flasher.os.path, "isfile", return_value=True), \
|
|
patch.object(flasher, "Panda", wraps=flasher.Panda) as panda_class, \
|
|
patch.object(flasher, "_flash_panda") as flash_panda:
|
|
panda_class.return_value = panda
|
|
panda_class.HW_TYPE_BLACK = b"\x03"
|
|
panda_class.usb_list.return_value = ["bridge"]
|
|
panda_class.get_signature_from_firmware.return_value = b"expected"
|
|
|
|
# An unknown firmware image cannot be safely identified as the bridge and
|
|
# must be left to explicit provisioning instead of being overwritten.
|
|
assert flasher.prepare_rivian_bridge(["internal", "bridge"]) == {"bridge"}
|
|
flash_panda.assert_not_called()
|
|
|
|
|
|
def test_non_rivian_matching_bridge_is_reserved_without_flashing():
|
|
panda = _external_black_panda(signature=b"expected")
|
|
with patch.object(flasher, "_is_rivian", return_value=False), \
|
|
patch.object(flasher.os.path, "isfile", return_value=True), \
|
|
patch.object(flasher, "Panda", wraps=flasher.Panda) as panda_class, \
|
|
patch.object(flasher, "_flash_panda") as flash_panda:
|
|
panda_class.return_value = panda
|
|
panda_class.HW_TYPE_BLACK = b"\x03"
|
|
panda_class.usb_list.return_value = ["bridge"]
|
|
panda_class.get_signature_from_firmware.return_value = b"expected"
|
|
|
|
assert flasher.prepare_rivian_bridge(["internal", "bridge"]) == {"bridge"}
|
|
flash_panda.assert_not_called()
|
|
|
|
|
|
def test_non_rivian_external_black_panda_is_not_misidentified():
|
|
panda = _external_black_panda(signature=b"unexpected")
|
|
with patch.object(flasher, "_is_rivian", return_value=False), \
|
|
patch.object(flasher.os.path, "isfile", return_value=True), \
|
|
patch.object(flasher, "Panda", wraps=flasher.Panda) as panda_class, \
|
|
patch.object(flasher, "_flash_panda") as flash_panda:
|
|
panda_class.return_value = panda
|
|
panda_class.HW_TYPE_BLACK = b"\x03"
|
|
panda_class.usb_list.return_value = ["external"]
|
|
panda_class.get_signature_from_firmware.return_value = b"expected"
|
|
|
|
assert flasher.prepare_rivian_bridge(["internal", "external"]) == set()
|
|
flash_panda.assert_not_called()
|
|
|
|
|
|
def test_bootstub_external_black_panda_is_not_misidentified():
|
|
panda = _external_black_panda(signature=b"expected", bootstub=True)
|
|
with patch.object(flasher, "_is_rivian", return_value=True), \
|
|
patch.object(flasher.os.path, "isfile", return_value=True), \
|
|
patch.object(flasher, "Panda", wraps=flasher.Panda) as panda_class, \
|
|
patch.object(flasher, "_flash_panda") as flash_panda:
|
|
panda_class.return_value = panda
|
|
panda_class.HW_TYPE_BLACK = b"\x03"
|
|
panda_class.usb_list.return_value = ["bridge"]
|
|
panda_class.get_signature_from_firmware.return_value = b"expected"
|
|
|
|
assert flasher.prepare_rivian_bridge(["bridge"]) == {"bridge"}
|
|
flash_panda.assert_not_called()
|