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https://github.com/firestar5683/StarPilot.git
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firestar5683
66 lines
3.8 KiB
Python
66 lines
3.8 KiB
Python
"""Ford dual-Panda and transmission admission remains exact and fail-closed."""
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from dataclasses import replace
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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.ford.interface import CarInterface
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from opendbc.car.ford.aol import qualified
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from openpilot.starpilot.aol.vehicle import native_matches_cp, policy_for
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from openpilot.starpilot.aol.runtime import native_inventory_matches_cp
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from openpilot.starpilot.aol.wire import PandaSlot, SafetyState
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from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES
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@pytest.mark.parametrize('identity,base', FORD_FACTORIES)
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('manual', [False, True])
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def test_exact_dual_owner_and_manual_identity(identity, base, alpha, manual):
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fp = gen_empty_fingerprint()
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if not manual:
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fp[4][0x5A] = 8
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fp[6].update({0x3D6: 8, 0x186: 8})
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cp = CarInterface.get_params(identity, fp, [], alpha, True, False)
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policy = policy_for(cp)
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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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word = base | int(alpha) | (256 if manual else 0)
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assert cp.safetyConfigs[-1].safetyParam == word
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assert qualified(cp, marked_only=True) and native_matches_cp(cp, 6, word)
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for field, value in [('safetyParam', word ^ 256), ('safetyParam', word | 512), ('safetyModel', structs.CarParams.SafetyModel.noOutput)]:
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bad = cp.as_reader().as_builder()
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setattr(bad.safetyConfigs[-1], field, value)
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assert not qualified(bad) and not native_matches_cp(bad, 6, word)
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for field, value in [('safetyParam', 1), ('safetyModel', structs.CarParams.SafetyModel.ford)]:
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bad = cp.as_reader().as_builder()
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setattr(bad.safetyConfigs[0], field, value)
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assert not qualified(bad) and not native_matches_cp(bad, 6, word)
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bad = cp.as_reader().as_builder()
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bad.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0], cp.safetyConfigs[-1]]
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assert not qualified(bad)
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slots = (PandaSlot(0, 'passive', int(cp.safetyConfigs[0].safetyModel.raw), 0, 32, False, False), PandaSlot(1, 'ford', 6, word, 32, True, False))
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state = SafetyState(1, True, 100, 200, 6, word, True, bool(alpha), True, bool(alpha), 'ford', 'session',
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sourcePandaStatesMonoTime=100, pandaInventory=slots)
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assert native_inventory_matches_cp(state, cp)
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assert not native_inventory_matches_cp(replace(state, sourcePandaStatesMonoTime=0, pandaInventory=()), cp)
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for index, changes in [(0, {'controlsAllowed': True}), (0, {'safetyParam': 1}), (0, {'hardwareSerial': 'ford'}),
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(0, {'heartbeatLost': True}), (1, {'safetyRxChecksInvalid': True}),
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(1, {'slotIndex': 0}), (1, {'safetyParam': word ^ 1}), (1, {'alternativeExperience': 0})]:
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invalid = list(slots)
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invalid[index] = replace(invalid[index], **changes)
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assert not native_inventory_matches_cp(replace(state, pandaInventory=tuple(invalid)), cp)
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def test_marked_manual_policy_survives_cards_alternative_experience_reset():
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fp = gen_empty_fingerprint()
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cp = CarInterface.get_params(FORD_FACTORIES[0][0], fp, [], False, False, False)
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initial = policy_for(cp)
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assert cp.safetyConfigs[-1].safetyParam == 32 and initial.safety_param_addition == 256
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cp.safetyConfigs[-1].safetyParam |= initial.safety_param_addition
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cp.alternativeExperience |= initial.alternative_experience_addition
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assert native_matches_cp(cp, 6, 288)
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cp.alternativeExperience = 0 # Car resets this before reapplying saved settings.
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recovered = policy_for(cp)
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assert recovered.intent_supported and recovered.safety_param_addition == 256
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cp.safetyConfigs[-1].safetyParam |= recovered.safety_param_addition
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cp.alternativeExperience |= recovered.alternative_experience_addition
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assert native_matches_cp(cp, 6, 288)
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