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https://github.com/firestar5683/StarPilot.git
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firestar5683
60 lines
2.4 KiB
Python
60 lines
2.4 KiB
Python
"""Explicit release hook-registry contract; run through run_vehicle_tests.py."""
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import unittest
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from opendbc.car.structs import CarParams
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from opendbc.safety.tests.libsafety import libsafety_py
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RELEASE_MODES = frozenset({
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"silent", "hondaNidec", "toyota", "elm327", "gm", "hondaBosch", "hyundai", "chrysler", "subaru", "volkswagen",
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"volkswagenMeb", "volvo", "nissan", "noOutput", "hyundaiLegacy", "mazda", "body", "ford", "rivian", "tesla", "hyundaiCanfd", "teslaPreap",
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})
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def registry_test(name, value):
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def test(self):
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self.assertEqual(libsafety_py.libsafety.set_safety_hooks(value, 0) == 0, name in RELEASE_MODES, name)
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return test
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class TestReleaseRegistry(unittest.TestCase):
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pass
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class TestReleaseAxisCapabilities(unittest.TestCase):
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def test_experimental_hyundai_longitudinal_payloads_remain_closed_in_release(self):
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safety = libsafety_py.libsafety
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# Exact whole-controller SCC11, ADRV and FCA samples; generic steering
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# and tester-present overlap are deliberately outside this assertion.
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packets = (
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(0x420, 0, "49005dedaa470600"),
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(0x420, 1, "620009ecaa470600"),
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(0x51, 0, "00" * 32),
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(0x38D, 1, "8d000000c03f7f00"),
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(0x7D0, 0, "0328030100000000"),
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(0x730, 1, "0328030100000000"),
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)
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for param in (0x2004, 0x2014):
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self.assertEqual(safety.set_safety_hooks(CarParams.SafetyModel.hyundai, param), 0)
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safety.init_tests()
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safety.set_controls_allowed(True)
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for address, bus, payload in packets:
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with self.subTest(safety_param=param, address=hex(address), bus=bus):
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packet = libsafety_py.make_CANPacket(address, bus, bytes.fromhex(payload))
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self.assertFalse(safety.safety_tx_hook(packet))
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def test_honda_debug_only_longitudinal_cannot_grant_aol_in_release(self):
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safety = libsafety_py.libsafety
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for param in (0, 2, 32, 34, 42, 50):
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with self.subTest(safety_param=param):
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self.assertEqual(safety.set_safety_hooks(CarParams.SafetyModel.hondaBosch, param), 0)
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safety.init_tests()
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safety.set_controls_allowed(True)
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safety.set_aol_test_heartbeat(True)
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safety.aol_set_host_request(3)
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self.assertEqual(safety.aol_get_request_mask(), 0)
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self.assertEqual(safety.aol_get_permission_mask(), 0)
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for mode_name, mode_value in CarParams.SafetyModel.schema.enumerants.items():
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setattr(TestReleaseRegistry, f"test_release_registry_{mode_name}", registry_test(mode_name, mode_value))
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