mirror of
https://github.com/firestar5683/StarPilot.git
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Dom
76 lines
3.9 KiB
Python
76 lines
3.9 KiB
Python
"""Factory owner selection stays exact when first-generation GV70 LONG uses slot1."""
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.canfd_owner import config_index
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from opendbc.car.hyundai.canfd_stock_aol import qualified_long
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from opendbc.car.hyundai.values import CAR, HyundaiFlags
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from openpilot.starpilot.car.hyundai.aol import native_accepts_cp, policy_for
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from openpilot.starpilot.tests.test_captured_adrv_diagnostic_startup import factory
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@pytest.mark.parametrize('pandas', [1, 2])
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def test_selected_gv70_long_owner_preserves_factory_configuration(pandas):
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cp, _, _ = factory(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, offset=4 * (pandas - 1))
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original = cp.to_dict()
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assert qualified_long(cp) and config_index(cp) == pandas - 1
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policy = policy_for(cp)
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assert policy.explicit_latch and policy.safety_param_addition == 0x800
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cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
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cp.alternativeExperience |= policy.alternative_experience_addition
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assert qualified_long(cp, marked_only=True) and config_index(cp) == pandas - 1
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assert native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)
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assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.noOutput), 0)
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assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x895)
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marked = cp.to_dict()
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assert {k:v for k,v in marked.items() if k not in ('safetyConfigs', 'alternativeExperience')} == {
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k:v for k,v in original.items() if k not in ('safetyConfigs', 'alternativeExperience')}
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assert marked['safetyConfigs'][:-1] == original['safetyConfigs'][:-1]
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assert marked['alternativeExperience'] == 32
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@pytest.mark.parametrize('fault', ['missing_damping', 'aux_word', 'aux_model', 'order', 'extra_slot', 'owner_model', 'owner_word',
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'experience', 'foreign_identity', 'angle', 'alt_lka', 'alt_buttons', 'camera',
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'ccnc', 'hybrid', 'passive', 'dashcam', 'not_car', 'pcm', 'missing_long', 'steer_type'])
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def test_two_panda_gv70_long_refuses_unqualified_configuration(fault):
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cp, _, _ = factory(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
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cp.safetyConfigs[-1].safetyParam = 0x2815
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cp.alternativeExperience = 32
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assert qualified_long(cp, marked_only=True)
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assert native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)
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if fault == 'missing_damping':
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cp.safetyConfigs[-1].safetyParam = 0x815
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elif fault == 'aux_word':
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cp.safetyConfigs[0].safetyParam = 1
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elif fault == 'aux_model':
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cp.safetyConfigs[0].safetyModel = 'silent'
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elif fault == 'order':
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cp.safetyConfigs = list(reversed(cp.safetyConfigs))
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elif fault == 'extra_slot':
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cp.safetyConfigs = [*cp.safetyConfigs, structs.CarParams.SafetyConfig(safetyModel='noOutput')]
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elif fault == 'owner_model':
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cp.safetyConfigs[-1].safetyModel = 'hyundai'
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elif fault == 'owner_word':
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cp.safetyConfigs[-1].safetyParam = 0x2895
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elif fault == 'experience':
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cp.alternativeExperience = 0
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elif fault == 'foreign_identity':
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cp.carFingerprint = CAR.HYUNDAI_IONIQ_5
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elif fault in ('angle', 'alt_lka', 'alt_buttons', 'camera', 'ccnc', 'hybrid'):
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cp.flags = int(cp.flags) | int({'angle': HyundaiFlags.CANFD_ANGLE_STEERING, 'alt_lka': HyundaiFlags.CANFD_LKA_STEER_MSG_ALT,
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'alt_buttons': HyundaiFlags.CANFD_ALT_BUTTONS, 'camera': HyundaiFlags.CANFD_CAMERA_SCC,
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'ccnc': HyundaiFlags.CCNC, 'hybrid': HyundaiFlags.HYBRID}[fault])
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elif fault == 'passive':
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cp.passive = True
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elif fault == 'dashcam':
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cp.dashcamOnly = True
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elif fault == 'not_car':
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cp.notCar = True
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elif fault == 'pcm':
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cp.pcmCruise = True
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elif fault == 'missing_long':
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cp.openpilotLongitudinalControl = False
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elif fault == 'steer_type':
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cp.steerControlType = 'angle'
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assert not qualified_long(cp, marked_only=True)
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assert not native_accepts_cp(cp, int(structs.CarParams.SafetyModel.hyundaiCanfd), 0x2815)
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