mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-14 00:13:42 +08:00
Danny
117 lines
5.0 KiB
Python
117 lines
5.0 KiB
Python
"""Only reported CAN2 load diagnostics on current qualified Bosch AOL profiles."""
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from dataclasses import replace
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from types import SimpleNamespace
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import pytest
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from opendbc.car import gen_empty_fingerprint, structs
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from opendbc.car.honda.interface import CarInterface
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from opendbc.car.honda.stock_aol import qualified
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from opendbc.car.honda.values import CAR
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from openpilot.cereal import log
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from openpilot.starpilot.aol.panda_faults import blocking_fault_mask, blocking_fault_list
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from openpilot.starpilot.aol.runtime import current_native, decide_axes
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from openpilot.starpilot.aol.tests.test_panda_inventory import bound_state, sm_for, NOW
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from openpilot.starpilot.aol.tests.test_runtime import car_state
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PROFILES = ((CAR.HONDA_CIVIC_BOSCH, False), (CAR.HONDA_ACCORD, False),
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(CAR.HONDA_CIVIC_2022, False), (CAR.HONDA_CIVIC_2022, True))
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def honda(identity=CAR.HONDA_CIVIC_BOSCH, alpha=False):
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fingerprint = gen_empty_fingerprint()
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fingerprint[0][0x1A3] = 8
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fingerprint[1][0x1A3] = 8
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cp = CarInterface.get_params(identity, fingerprint, [], alpha, False, False)
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cp.fingerprintSource = structs.CarParams.FingerprintSource.fw
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cp.alternativeExperience = 32
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assert qualified(cp, marked_only=True)
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return cp
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@pytest.mark.parametrize('identity,alpha', PROFILES)
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def test_reported_can2_fault_on_qualified_bosch_is_diagnostic(identity, alpha):
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cp = honda(identity, alpha)
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assert not blocking_fault_mask(1 << 3, cp)
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assert not blocking_fault_list([log.PandaState.FaultType.interruptRateCan2], cp)
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@pytest.mark.parametrize('identity,alpha', PROFILES)
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@pytest.mark.parametrize('fault,value', tuple(log.PandaState.FaultType.schema.enumerants.items()))
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def test_all_other_known_and_mixed_faults_still_block(identity, alpha, fault, value):
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cp = honda(identity, alpha)
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blocks = fault != 'interruptRateCan2'
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assert blocking_fault_mask(1 << value, cp) == blocks
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assert blocking_fault_mask((1 << value) | (1 << 3), cp) == blocks
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assert blocking_fault_list([value], cp) == blocks
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assert blocking_fault_list([log.PandaState.FaultType.interruptRateCan2, value], cp) == blocks
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@pytest.mark.parametrize('mutation', ('unmarked', 'fixed', 'passive', 'dashcam', 'notcar', 'extra_panda',
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'wrong_model', 'wrong_word', 'unknown_flags', 'manual', 'nidec', 'unknown_identity'))
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def test_other_honda_configurations_cannot_borrow_exception(mutation):
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cp = honda()
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if mutation == 'unmarked':
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cp.alternativeExperience = 0
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elif mutation == 'fixed':
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cp.fingerprintSource = 'fixed'
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elif mutation == 'passive':
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cp.passive = True
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elif mutation == 'dashcam':
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cp.dashcamOnly = True
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elif mutation == 'notcar':
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cp.notCar = True
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elif mutation == 'extra_panda':
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cp.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0]]
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elif mutation == 'wrong_model':
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cp.safetyConfigs[0].safetyModel = 'hondaNidec'
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elif mutation == 'wrong_word':
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cp.safetyConfigs[0].safetyParam = 16
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elif mutation == 'unknown_flags':
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cp.flags |= 1 << 31
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elif mutation == 'manual':
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cp.transmissionType = 'manual'
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elif mutation == 'nidec':
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cp = honda(CAR.HONDA_CIVIC)
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else:
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cp.carFingerprint = 'UNKNOWN HONDA'
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assert blocking_fault_mask(1 << 3, cp)
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assert blocking_fault_list([log.PandaState.FaultType.interruptRateCan2], cp)
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@pytest.mark.parametrize('mask', (-1, 1 << 27, 1 << 31, 1 << 32))
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def test_unknown_or_malformed_faults_are_not_diagnostic(mask):
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cp = honda()
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assert blocking_fault_mask(mask, cp)
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assert blocking_fault_list([31], cp)
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@pytest.mark.parametrize('mutation', ('none', 'rx', 'heartbeat', 'relay', 'expired', 'wrong_session', 'denied'))
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def test_real_inventory_exception_does_not_create_authority_or_bypass_vetoes(mutation):
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cp = honda()
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state = bound_state(cp)
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slot = replace(state.pandaInventory[0], faults=1 << 3)
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if mutation == 'rx':
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slot = replace(slot, safetyRxChecksInvalid=True)
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elif mutation == 'heartbeat':
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slot = replace(slot, heartbeatLost=True)
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elif mutation == 'relay':
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slot = replace(slot, faults=(1 << 3) | 1)
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state = replace(state, pandaInventory=(slot,))
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if mutation == 'denied':
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state = replace(state, lateralAllowed=False, longitudinalAllowed=False)
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native = current_native(sm_for(cp, state), cp,
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now_ns=NOW + (200_000_001 if mutation == 'expired' else 0),
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axis_session_id='wrong' if mutation == 'wrong_session' else state.axisSessionId)
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if mutation in ('rx', 'heartbeat', 'relay', 'expired', 'wrong_session'):
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assert native is None
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return
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assert native == state
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decision = decide_axes(standard_lateral=True, standard_longitudinal=False,
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intent=SimpleNamespace(allowedLatch=True, pauseLateral=False, pauseLongitudinal=False),
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native=native, car_state=car_state(), initialized=True, model_ready=True, no_entry=False,
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immediate_disable=False, dm_lockout=False, pause_brake_mps=0.)
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assert decision.lateral_active == (mutation == 'none')
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assert not decision.longitudinal_active
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