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controlsd: add state machine tests (#24107)

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* Handle NO_ENTRY in PRE_ENABLED

* add test

* add preEnabled NO_ENTRY test

* stash

* test soft disable

* tuples

* remove overriding until it's merged in

* use Events class

* fix tests and split out

* don't rely on controlsd's counter
This commit is contained in:
Shane Smiskol
2022-04-04 17:13:29 -07:00
committed by GitHub
parent 7dffd0ac0b
commit d4f330447a
2 changed files with 128 additions and 16 deletions
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selfdrive/controls/controlsd.py
+23 -16
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@@ -38,9 +38,7 @@ NOSENSOR = "NOSENSOR" in os.environ
IGNORE_PROCESSES = {"rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned",
"logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad",
"statsd", "shutdownd"} | \
{k for k, v in managed_processes.items() if not v.enabled}
ACTUATOR_FIELDS = set(car.CarControl.Actuators.schema.fields.keys())
{k for k, v in managed_processes.items() if not v.enabled}
ThermalStatus = log.DeviceState.ThermalStatus
State = log.ControlsState.OpenpilotState
@@ -52,11 +50,15 @@ EventName = car.CarEvent.EventName
ButtonEvent = car.CarState.ButtonEvent
SafetyModel = car.CarParams.SafetyModel
IGNORED_SAFETY_MODES = [SafetyModel.silent, SafetyModel.noOutput]
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
CSID_MAP = {"0": EventName.roadCameraError, "1": EventName.wideRoadCameraError, "2": EventName.driverCameraError}
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
ACTIVE_STATES = (State.enabled, State.softDisabling)
ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
class Controls:
def __init__(self, sm=None, pm=None, can_sock=None):
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# Setup sockets
@@ -89,11 +91,15 @@ class Controls:
if TICI:
self.log_sock = messaging.sub_sock('androidLog')
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
else:
self.CI, self.CP = CI, CI.CP
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
self.CP.alternativeExperience = 0 # see panda/board/safety_declarations.h for allowed values
# read params
@@ -415,7 +421,7 @@ class Controls:
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
# ENABLED, SOFT DISABLING, PRE ENABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
@@ -448,7 +454,10 @@ class Controls:
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
if self.events.any(ET.NO_ENTRY):
self.state = State.disabled
self.current_alert_types.append(ET.NO_ENTRY)
elif not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
@@ -468,14 +477,12 @@ class Controls:
if not self.CP.pcmCruise:
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if actuators are enabled
self.active = self.state in (State.enabled, State.softDisabling)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
self.active = self.state in ACTIVE_STATES
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns a CarControl packet"""