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https://github.com/firestar5683/StarPilot.git
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firestar5683
142 lines
7.5 KiB
Python
142 lines
7.5 KiB
Python
"""GM native driver withdrawal can precede the separately sampled host state."""
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from contextlib import ExitStack
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import pytest
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from opendbc.can import CANPacker
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from opendbc.car import Bus
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from opendbc.car.gm.tests.test_bolt_cc import native
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from opendbc.car.gm.tests.test_bolt_pedal import params
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from opendbc.car.gm.gmcan import create_pedal_command
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from opendbc.car.gm.values import CAR, DBC
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from opendbc.safety.tests.libsafety import libsafety_py
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from openpilot.cereal import log
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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from openpilot.starpilot.aol.tests.test_gm_held_native import NOW, parse
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@pytest.mark.parametrize('candidate', [CAR.CHEVROLET_BOLT_CC_2018_2021, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL])
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@pytest.mark.parametrize('gesture', ['paddle', 'cancel'])
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def test_native_withdrawal_before_host_input_keeps_independent_lateral(candidate, gesture):
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from openpilot.starpilot.aol.tests.test_gm import TestGmAol
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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cp = params(candidate, pedal=True, camera=True)
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sd, _, step = case._authority_callers(True, cp=cp, genuine_events=True)
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card = TestGmAol.card(cp, Params())
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cleanup.callback(card.vehicle_startup.close)
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packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
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def packets_at(now, tick, gesture=None):
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packets = parse(card, now, gesture=gesture, counter=tick % 4, packets_only=True)
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packets.append(packer.make_can_msg('ASCMActiveCruiseControlStatus', 2, {'ACCCruiseState': 0}))
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return packets
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safety = libsafety_py.libsafety
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safety.init_tests()
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safety.set_alternative_experience(32)
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assert safety.set_safety_hooks(4, cp.safetyConfigs[0].safetyParam) == 0
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for tick in range(10):
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now = NOW + tick * 10_000_000
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packets = packets_at(now, tick)
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if tick == 0:
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card.CI.update([(now - 1_000_000, packets)])
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cs = card.CI.update([(now, packets)])
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assert cs.canValid and not cs.canTimeout
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for packet in packets:
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assert native('rx', packet, now // 1000)
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safety.set_aol_test_heartbeat(True)
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safety.aol_set_host_request(3)
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if tick == 0:
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# The recorded starting condition is established full engagement.
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safety.set_controls_allowed(True)
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axis, state, command = step(tick)
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assert safety.aol_get_permission_mask() == 3
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assert state.enabled and axis.lateralActive and axis.longitudinalActive
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assert command.latActive and command.longActive
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health_before_input = safety.get_controls_allowed()
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# Exact recorded physical bytes: route173 segment5 paddle / segment7 Cancel.
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packet = (0xBD, bytes.fromhex('20000000000000'), 0) if gesture == 'paddle' else (
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0x1E1, bytes.fromhex('00000000016490'), 0)
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assert native('rx', packet, (NOW + 95_000_000) // 1000)
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mask = safety.aol_get_permission_mask()
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assert health_before_input and not safety.get_controls_allowed() and mask == 1
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assert not native('tx', create_pedal_command(packer, .1, 0), (NOW + 96_000_000) // 1000)
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assert native('tx', create_pedal_command(packer, 0., 1), (NOW + 96_000_000) // 1000)
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# Pandad samples health BEFORE its final native permission read. Card has
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# not published the physical edge yet, exactly as in the two route failures.
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axis, state, command = step(10, allowed=bool(mask & 1), long_allowed=bool(mask & 2),
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native_request_lat=True, native_request_long=True, panda_controls_allowed=health_before_input)
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assert state.enabled and axis.lateralActive and command.latActive
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assert not axis.longitudinalActive and not command.longActive
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assert not sd.aol_authority_lost
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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# The real host parser then observes the input. LONG remains withdrawn;
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# the existing driver-disable event owns ordinary disengagement.
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observed = card.CI.update([(NOW + 110_000_000, packets_at(NOW + 110_000_000, 11, gesture))])
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assert observed.canValid and not observed.canTimeout
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assert observed.regenBraking == (gesture == 'paddle')
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axis, state, command = step(11, observed_state=observed, native_request_lat=True,
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native_request_long=True, long_allowed=False, panda_controls_allowed=False)
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assert not state.enabled and not command.longActive and not axis.longitudinalActive
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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# The ordinary Cancel NO_ENTRY policy may pause LAT on its input tick.
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# Releasing the input must preserve independent LAT without resuming LONG.
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axis, state, command = step(12, native_request_lat=True, native_request_long=False,
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long_allowed=False, panda_controls_allowed=False)
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assert not state.enabled and not command.longActive
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assert axis.lateralActive and command.latActive
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@pytest.mark.parametrize('candidate', [CAR.CHEVROLET_BOLT_CC_2018_2021, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL])
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@pytest.mark.parametrize('fault', ['lat_denied', 'native_invalid', 'rx_fault', 'relay_fault', 'missing_prior'])
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def test_gm_long_withdrawal_does_not_bypass_faults(candidate, fault):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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sd, _, step = case._authority_callers(True, cp=params(candidate, pedal=True, camera=True), genuine_events=True)
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for tick in range(10):
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axis, state, command = step(tick)
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assert state.enabled and axis.lateralActive and command.longActive
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options = {'native_request_lat': True, 'native_request_long': True, 'long_allowed': False,
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'panda_controls_allowed': True}
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if fault == 'lat_denied':
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options['allowed'] = False
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elif fault == 'native_invalid':
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options['native_valid'] = False
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elif fault == 'rx_fault':
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options['panda_fault'] = True
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elif fault == 'relay_fault':
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options['relay_fault'] = True
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else:
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sd.aol_published_input_proof = None
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axis, state, command = step(10, **options)
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assert log.OnroadEvent.EventName.controlsMismatch in sd.events.names
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assert not state.enabled and not axis.lateralActive and not command.latActive and not command.longActive
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@pytest.mark.parametrize('candidate', [CAR.CHEVROLET_BOLT_CC_2018_2021, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL])
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def test_persistent_gm_native_denial_still_reaches_ordinary_mismatch(candidate):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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cleanup.enter_context(OpenpilotPrefix())
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sd, _, step = case._authority_callers(True, cp=params(candidate, pedal=True, camera=True), genuine_events=True)
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for tick in range(10):
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axis, state, command = step(tick)
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assert state.enabled and axis.lateralActive and command.longActive
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for tick in range(10, 230):
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axis, state, command = step(tick, native_request_lat=True, native_request_long=True,
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long_allowed=False, panda_controls_allowed=tick < 20)
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assert not axis.longitudinalActive and not command.longActive
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if log.OnroadEvent.EventName.controlsMismatch in sd.events.names:
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break
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assert state.enabled and axis.lateralActive and command.latActive
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assert sd.mismatch_counter >= 200
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assert log.OnroadEvent.EventName.controlsMismatch in sd.events.names
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assert not state.enabled and not axis.lateralActive and not command.latActive
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