mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-10 14:33:42 +08:00
Dom
2dfa4b6fe1
Revert the Bolt-specific admission change from 4b754298 while retaining
native authority, receive-state, relay, heartbeat and actuator checks.
Keep raw diagnostic reports and all other profile policies unchanged.
Add actual Card coverage and restore exact diagnostic policy regressions.
99 lines
4.1 KiB
Python
99 lines
4.1 KiB
Python
"""The cheap rejection must preserve the original live qualification policy."""
|
|
from unittest.mock import patch
|
|
from types import SimpleNamespace
|
|
|
|
import pytest
|
|
from opendbc.car.gm.aol import qualified_gm
|
|
from opendbc.car.gm.cancel_remap import aol_enabled
|
|
from opendbc.car.gm.values import CAR, is_volt_sdgm_profile, is_bolt_present_no_acc_pedal_profile
|
|
from openpilot.starpilot.aol.panda_faults import _diagnostic_mask, blocking_fault_list, blocking_fault_mask
|
|
from openpilot.starpilot.aol.tests.test_gm_diagnostic_faults import owner
|
|
|
|
|
|
def original_mask(cp):
|
|
try:
|
|
if cp.brand != 'gm' or not qualified_gm(cp) or not aol_enabled(cp) or len(cp.safetyConfigs) != 1:
|
|
return 0
|
|
word = int(cp.safetyConfigs[0].safetyParam)
|
|
if (cp.carFingerprint == CAR.CHEVROLET_VOLT_2019 and word == 0x1005 and
|
|
is_volt_sdgm_profile(cp, longitudinal=False) and cp.pcmCruise and not cp.openpilotLongitudinalControl):
|
|
return 1 << 18
|
|
if (cp.carFingerprint == CAR.CHEVROLET_BOLT_CC_2018_2021 and word == 0x9D and
|
|
is_bolt_present_no_acc_pedal_profile(cp) and cp.openpilotLongitudinalControl and not cp.pcmCruise):
|
|
return 12
|
|
except (AttributeError, TypeError, ValueError, OverflowError, IndexError):
|
|
pass
|
|
return 0
|
|
|
|
|
|
@pytest.mark.parametrize('label', ['volt', 'bolt'])
|
|
def test_every_safety_word_matches_prechange_policy(label):
|
|
cp, _ = owner(label)
|
|
for word in range(65536):
|
|
cp.safetyConfigs[0].safetyParam = word
|
|
assert _diagnostic_mask(cp) == original_mask(cp), (label, word)
|
|
|
|
|
|
def test_recorded_long_volt_skips_expensive_policy_but_eligible_configs_stay_live():
|
|
from opendbc.car.gm.tests.test_volt_sdgm_control import sdgm_params
|
|
cp = sdgm_params()
|
|
assert cp.safetyConfigs[0].safetyParam == 0x5007
|
|
with patch('opendbc.car.gm.aol.qualified_gm', side_effect=AssertionError('unnecessary qualification')):
|
|
assert _diagnostic_mask(cp) == 0
|
|
for label in ('volt', 'bolt'):
|
|
cp, _ = owner(label)
|
|
with patch('opendbc.car.gm.aol.qualified_gm', wraps=qualified_gm) as checked:
|
|
assert _diagnostic_mask(cp) == (1 << 18 if label == 'volt' else 12)
|
|
checked.assert_called_once_with(cp)
|
|
cp.alternativeExperience = 0
|
|
assert _diagnostic_mask(cp) == 0
|
|
|
|
|
|
@pytest.mark.parametrize('faults', [None, False, 0, object()])
|
|
def test_invalid_fault_lists_fail_closed(faults):
|
|
cp, _ = owner('bolt')
|
|
assert blocking_fault_list(faults, cp)
|
|
|
|
|
|
@pytest.mark.parametrize('label', ['volt', 'bolt'])
|
|
@pytest.mark.parametrize('bit', range(32))
|
|
def test_each_bit_and_mixed_fault_matches_original(label, bit):
|
|
cp, _ = owner(label)
|
|
allowed = original_mask(cp)
|
|
for mask in (1 << bit, (1 << bit) | allowed):
|
|
assert blocking_fault_mask(mask, cp) == bool(mask & ~allowed)
|
|
|
|
|
|
def test_full_startup_matrix_keeps_original_classification():
|
|
from openpilot.starpilot.aol.tests.test_gm import configurations
|
|
for cp in configurations():
|
|
for ae in (0, 32):
|
|
cp.alternativeExperience = ae
|
|
assert _diagnostic_mask(cp) == original_mask(cp)
|
|
|
|
|
|
@pytest.mark.parametrize('label', ['volt', 'bolt'])
|
|
@pytest.mark.parametrize('field', ['passive', 'dashcamOnly', 'notCar', 'pcmCruise',
|
|
'openpilotLongitudinalControl', 'alternativeExperience', 'flags'])
|
|
def test_mutable_configuration_is_always_requalified(label, field):
|
|
cp, _ = owner(label)
|
|
assert _diagnostic_mask(cp)
|
|
setattr(cp, field, not getattr(cp, field) if field not in ('alternativeExperience', 'flags') else 0)
|
|
assert _diagnostic_mask(cp) == original_mask(cp)
|
|
|
|
|
|
@pytest.mark.parametrize('cp', [None, {}, SimpleNamespace(brand='gm'),
|
|
SimpleNamespace(brand='gm', safetyConfigs=None),
|
|
SimpleNamespace(brand='gm', safetyConfigs=[])])
|
|
def test_malformed_configuration_matches_original(cp):
|
|
assert _diagnostic_mask(cp) == original_mask(cp) == 0
|
|
|
|
|
|
@pytest.mark.parametrize('field', ['latAccelFactor', 'latAccelOffset', 'friction'])
|
|
def test_malformed_torque_tuning_does_not_borrow_exemption(field):
|
|
cp, _ = owner('volt')
|
|
cp.lateralTuning.init('torque')
|
|
cp.lateralTuning.torque.latAccelFactor = 1.
|
|
setattr(cp.lateralTuning.torque, field, float('nan'))
|
|
assert _diagnostic_mask(cp) == original_mask(cp) == 0
|