Tesla: Autopark init variable breaks safety replay #2768
Description
Many thanks to @sunnyhaibin for discovering this issue, they asked me to raise it here.
To allow autopark to work correctly, we assume that it is always active when openpilot first boots up, until we hear a message from the canbus saying otherwise, to prevent it blocking stock steering commands:
opendbc/opendbc/safety/modes/tesla.h
Lines 340 to 343 in 84d1d15
But it seems that doing this breaks the ./opendbc/safety/tests/safety_replay/replay_drive.py script as it always faults with the following error message on any Tesla route, including this one from the test routes:
opendbc/opendbc/car/tests/routes.py
Line 323 in 84d1d15
(openpilot) amy@Amy-PC:~/git/openpilot$ ./opendbc/safety/tests/safety_replay/replay_drive.py 7dc058789994da80/00000112--adb970f6a8
replaying 7dc058789994da80/00000112--adb970f6a8 with safety mode 10, param 0, alternative experience 0
Traceback (most recent call last):
File "/home/amy/git/openpilot/./opendbc/safety/tests/safety_replay/replay_drive.py", line 99, in <module>
replay_drive(list(lr), args.mode, args.param, args.alternative_experience)
File "/home/amy/git/openpilot/./opendbc/safety/tests/safety_replay/replay_drive.py", line 20, in replay_drive
init_segment(safety, msgs, safety_mode, param)
File "/home/amy/git/openpilot/opendbc/safety/tests/safety_replay/helpers.py", line 109, in init_segment
assert safety.safety_tx_hook(msg), "failed to initialize panda safety for segment"
^^^^^^^^^^^^^^^^^^^^^^^^^^
AssertionError: failed to initialize panda safety for segment
If we instead set it to tesla_autopark = false; in the code above, it works as expected.
(openpilot) amy@Amy-PC:~/git/openpilot$ ./opendbc/safety/tests/safety_replay/replay_drive.py 7dc058789994da80/00000112--adb970f6a8
replaying 7dc058789994da80/00000112--adb970f6a8 with safety mode 10, param 0, alternative experience 0
100%|█████████████████████████████████████████████████████████████| 135146/135146 [00:13<00:00, 9808.01it/s]
RX
total rx msgs: 4335547
invalid rx msgs: 0
safety tick rx invalid: False
invalid addrs: set()
TX
total openpilot msgs: 40471
total msgs with controls allowed: 28233
blocked msgs: 1
blocked with controls allowed: 0
blocked addrs: Counter({1160: 1})
In the safety test helpers, we actually do disable it here already:
opendbc/opendbc/safety/tests/libsafety/safety_helpers.h
Lines 190 to 191 in 84d1d15
So I am thinking we might need something similar to this in the safety replay code, or maybe for Tesla specifically assume that the TX hook will fail and don't assert on it here, which is where the error is coming from: