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IQ.Lvbs CI [bot]
118 lines
3.2 KiB
Python
118 lines
3.2 KiB
Python
from types import SimpleNamespace
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from cereal import log
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from iqdbc.car import structs
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from openpilot.selfdrive.car.car_specific import CarSpecificEvents
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EventName = log.OnroadEvent.EventName
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GearShifter = structs.CarState.GearShifter
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def make_car_state(**overrides):
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base = dict(
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doorOpen=False,
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seatbeltUnlatched=False,
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gearShifter=GearShifter.drive,
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cruiseState=SimpleNamespace(available=True, enabled=False, nonAdaptive=False),
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cruiseFaultLateralMode=False,
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espDisabled=False,
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espActive=False,
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stockFcw=False,
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stockAeb=False,
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stockLkas=False,
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vEgo=15.0,
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brakeHoldActive=False,
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parkingBrake=False,
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accFaulted=False,
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steeringPressed=False,
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steeringDisengage=False,
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brakePressed=False,
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standstill=False,
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gasPressed=False,
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vehicleSensorsInvalid=False,
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invalidLkasSetting=False,
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lowSpeedAlert=False,
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buttonEnable=False,
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buttonEvents=[],
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steerFaultTemporary=False,
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steerFaultPermanent=False,
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blockPcmEnable=False,
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)
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base.update(overrides)
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return SimpleNamespace(**base)
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def test_pcm_disable_suppressed_during_cruise_fault_lateral_mode():
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cp = SimpleNamespace(
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brand="volkswagen",
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openpilotLongitudinalControl=False,
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minEnableSpeed=0.0,
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pcmCruise=True,
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carFingerprint="MOCK",
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)
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events = CarSpecificEvents(cp)
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cs = make_car_state(cruiseFaultLateralMode=True)
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cs_prev = make_car_state(cruiseState=SimpleNamespace(available=True, enabled=True, nonAdaptive=False))
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out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
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assert not out.has(EventName.pcmDisable)
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def test_cruise_fault_lateral_mode_replaces_acc_faulted_alert():
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cp = SimpleNamespace(
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brand="volkswagen",
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openpilotLongitudinalControl=False,
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minEnableSpeed=0.0,
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pcmCruise=True,
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carFingerprint="MOCK",
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)
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events = CarSpecificEvents(cp)
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cs = make_car_state(accFaulted=True, cruiseFaultLateralMode=True)
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cs_prev = make_car_state()
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out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
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assert out.has(EventName.cruiseFaultLateralAllowed)
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assert not out.has(EventName.accFaulted)
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def test_acc_faulted_still_emitted_without_cruise_fault_lateral_mode():
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cp = SimpleNamespace(
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brand="volkswagen",
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openpilotLongitudinalControl=False,
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minEnableSpeed=0.0,
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pcmCruise=True,
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carFingerprint="MOCK",
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)
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events = CarSpecificEvents(cp)
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cs = make_car_state(accFaulted=True)
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cs_prev = make_car_state()
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out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
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assert out.has(EventName.accFaulted)
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assert not out.has(EventName.cruiseFaultLateralAllowed)
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def test_pcm_disable_still_emitted_without_cruise_fault_lateral_mode():
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cp = SimpleNamespace(
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brand="volkswagen",
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openpilotLongitudinalControl=False,
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minEnableSpeed=0.0,
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pcmCruise=True,
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carFingerprint="MOCK",
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)
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events = CarSpecificEvents(cp)
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cs = make_car_state()
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cs_prev = make_car_state(cruiseState=SimpleNamespace(available=True, enabled=True, nonAdaptive=False))
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out = events.update(cs, cs_prev, SimpleNamespace(actuators=SimpleNamespace(accel=0.0)))
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assert out.has(EventName.pcmDisable)
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