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https://github.com/firestar5683/StarPilot.git
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firestar5683
113 lines
6.0 KiB
Python
113 lines
6.0 KiB
Python
"""Shared stock EV authority stays bound to the factory topology and word."""
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import unittest
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.values import CAR, HyundaiFlags
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from opendbc.car.hyundai.canfd_stock_aol import STOCK_EV_CARS, qualified
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from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE
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from openpilot.starpilot.car.hyundai.aol import create_intent, native_accepts_cp, policy_for
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def params(identity, alternate=False, release=False):
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fp = gen_empty_fingerprint()
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fp[2][0x110 if alternate else 0x50] = 32 if alternate else 16
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fp[1].update({0x1cf: 8, 0x130: 32, 0x35: 32, 0x175: 24, 0xa0: 24, 0xea: 24, 0x1a0: 32})
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return CarInterface.get_params(identity, fp, [], False, release, False)
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class TestCanfdStockProfiles(unittest.TestCase):
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def test_actual_factory_words_and_exact_native_binding(self):
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for identity in STOCK_EV_CARS:
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for alternate in (False, True):
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for release in (False, True):
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cp = params(identity, alternate, release)
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self.assertTrue(qualified(cp))
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self.assertTrue(cp.pcmCruise)
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self.assertFalse(cp.openpilotLongitudinalControl)
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expected = 0x91 if alternate else 0x11
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self.assertEqual(cp.safetyConfigs[0].safetyParam, expected)
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policy = policy_for(cp)
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self.assertTrue(policy.explicit_latch)
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self.assertEqual(policy.safety_param_addition, 0x800)
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cp.safetyConfigs[0].safetyParam |= policy.safety_param_addition
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self.assertTrue(qualified(cp, marked_only=True))
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model = int(cp.safetyConfigs[0].safetyModel.raw)
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self.assertTrue(native_accepts_cp(cp, model, expected | 0x800))
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self.assertFalse(native_accepts_cp(cp, model, (expected | 0x800) ^ 0x80))
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def test_unsupported_flags_words_experience_and_identity_fail_closed(self):
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cp = params(CAR.KIA_EV6)
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for flag in (HyundaiFlags.HYBRID, HyundaiFlags.CANFD_ANGLE_STEERING,
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HyundaiFlags.CANFD_ALT_BUTTONS, HyundaiFlags.CANFD_CAMERA_SCC):
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bad = cp.as_reader().as_builder()
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bad.flags = int(bad.flags) | int(flag)
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self.assertFalse(qualified(bad))
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for field, value in (('alternativeExperience', 32), ('openpilotLongitudinalControl', True),
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('passive', True), ('dashcamOnly', True), ('notCar', True), ('pcmCruise', False)):
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bad = cp.as_reader().as_builder()
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setattr(bad, field, value)
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self.assertFalse(qualified(bad))
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for word in (0x15, 0x895, 0x1811, 0x811 | 0x4000):
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs[0].safetyParam = word
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self.assertFalse(qualified(bad))
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bad = cp.as_reader().as_builder()
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bad.carFingerprint = CAR.HYUNDAI_IONIQ_6
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self.assertFalse(qualified(bad))
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owner = cp.safetyConfigs[0]
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auxiliary = structs.CarParams.SafetyConfig(safetyModel='noOutput')
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for configs in ([owner, owner], [owner, auxiliary], [auxiliary, owner, owner],
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[structs.CarParams.SafetyConfig(safetyModel='silent'), owner],
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[structs.CarParams.SafetyConfig(safetyModel='noOutput', safetyParam=1), owner],
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[auxiliary, structs.CarParams.SafetyConfig(safetyModel='hyundai', safetyParam=0x11)]):
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs = configs
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self.assertFalse(qualified(bad))
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def test_supported_two_panda_layout_binds_only_exact_native_owner(self):
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for identity in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN):
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for release in (False, True):
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with self.subTest(identity=identity, release=release):
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cp = params(identity, release=release)
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self.assertEqual(len(cp.safetyConfigs), 1)
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self.assertEqual(str(cp.safetyConfigs[0].safetyModel), 'hyundaiCanfd')
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self.assertEqual(cp.safetyConfigs[0].safetyParam, 0x11)
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owner = structs.CarParams.SafetyConfig(safetyModel=str(cp.safetyConfigs[0].safetyModel),
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safetyParam=int(cp.safetyConfigs[0].safetyParam))
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cp.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel='noOutput'), owner]
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self.assertTrue(qualified(cp))
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policy = policy_for(cp)
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self.assertTrue(policy.explicit_latch)
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self.assertEqual(policy.safety_param_addition, 0x800)
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cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
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self.assertTrue(qualified(cp, marked_only=True))
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model = int(cp.safetyConfigs[-1].safetyModel.raw)
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self.assertTrue(native_accepts_cp(cp, model, 0x811))
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self.assertFalse(native_accepts_cp(cp, int(cp.safetyConfigs[0].safetyModel.raw), 0))
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self.assertFalse(native_accepts_cp(cp, model, 0x891))
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for word in (0x15, 0x815, 0x811 | 0x4000):
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs[-1].safetyParam = word
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self.assertFalse(qualified(bad))
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self.assertFalse(native_accepts_cp(bad, model, word))
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def test_physical_intent_neutral_press_cancel_and_health(self):
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for identity in STOCK_EV_CARS:
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cp = params(identity)
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intent = create_intent(cp, AolSettings(True, 0., AOL_TOGGLE, AOL_TOGGLE, (0, 0, 0), (0, 0, 0)))
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cs = structs.CarState(canValid=True, gearShifter='drive')
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cs.cruiseState.available = True
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intent.update(cs, now_ns=1, fault_active=False)
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self.assertFalse(intent.allowed_latch)
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cs.buttonEvents = [structs.CarState.ButtonEvent(type='mainCruise', pressed=True)]
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intent.update(cs, now_ns=2, fault_active=False)
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self.assertTrue(intent.allowed_latch)
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cs.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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intent.update(cs, now_ns=3, fault_active=False)
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# Unassigned cruise CANCEL withdraws ACC, not separately mapped lateral.
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self.assertTrue(intent.allowed_latch)
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cs.canValid = False
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intent.update(cs, now_ns=4, fault_active=False)
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self.assertFalse(intent.output(cs)[0])
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