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IQ.Lvbs CI [bot]
76 lines
2.4 KiB
Python
76 lines
2.4 KiB
Python
from types import SimpleNamespace
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from openpilot.system.hardware.hardwared import (
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ALLOWED_TICI_BRANCHES,
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CAN_STARTUP_RECOVERY_COOLDOWN,
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CAN_STARTUP_RECOVERY_DELAY,
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CAN_STARTUP_RECOVERY_MAX_ATTEMPTS,
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CanStartupRecovery,
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is_supported_tici_branch,
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)
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def test_beta_pq_allowed_for_tici():
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metadata = SimpleNamespace(channel="beta-pq", channel_type="dev")
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assert "beta-pq" in ALLOWED_TICI_BRANCHES
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assert is_supported_tici_branch(metadata)
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def test_tici_channel_type_allowed():
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metadata = SimpleNamespace(channel="random-branch", channel_type="tici")
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assert is_supported_tici_branch(metadata)
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def test_unsupported_branch_rejected_for_tici():
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metadata = SimpleNamespace(channel="random-branch", channel_type="dev")
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assert not is_supported_tici_branch(metadata)
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def recovery_update(recovery: CanStartupRecovery, now: float, **kwargs) -> bool:
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defaults = {
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"ignition": True,
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"started": True,
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"engaged": False,
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"car_state_alive": True,
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"can_timeout": True,
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"v_ego": 0.,
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}
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return recovery.update(now, **(defaults | kwargs))
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def test_can_startup_recovery_requires_persistent_timeout():
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recovery = CanStartupRecovery()
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assert not recovery_update(recovery, 10.)
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assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY - 0.1)
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assert recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY)
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def test_can_startup_recovery_only_when_safe():
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for unsafe_state in (
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{"started": False},
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{"engaged": True},
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{"car_state_alive": False},
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{"can_timeout": False},
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{"v_ego": 0.2},
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):
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recovery = CanStartupRecovery()
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assert not recovery_update(recovery, 10., **unsafe_state)
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assert not recovery_update(recovery, 10. + CAN_STARTUP_RECOVERY_DELAY, **unsafe_state)
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def test_can_startup_recovery_is_bounded_and_resets_next_ignition():
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recovery = CanStartupRecovery()
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now = 10.
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for _ in range(CAN_STARTUP_RECOVERY_MAX_ATTEMPTS):
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assert not recovery_update(recovery, now)
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now += CAN_STARTUP_RECOVERY_DELAY
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assert recovery_update(recovery, now)
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now += CAN_STARTUP_RECOVERY_COOLDOWN
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assert not recovery_update(recovery, now)
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assert not recovery_update(recovery, now + CAN_STARTUP_RECOVERY_DELAY)
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assert not recovery_update(recovery, now + 10., ignition=False)
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assert not recovery_update(recovery, now + 11.)
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assert recovery_update(recovery, now + 11. + CAN_STARTUP_RECOVERY_DELAY)
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