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https://github.com/firestar5683/StarPilot.git
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Exercise AOL state machine across fleet platform fixtures
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firestar5683
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"""Synthetic-input coverage of the real StarPilotCard latch across all platforms.
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CP/FPCP come from current interfaces with empty CAN fingerprints/firmware and
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isolated default settings. These tests do not model CAN safety, selfdrived,
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physical buttons, firmware-dependent variants, or vehicle actuation. Skipped
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active sequences are coverage gaps, not evidence of fleet compatibility.
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"""
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import importlib
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from types import SimpleNamespace
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import pytest
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.values import PLATFORMS
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from openpilot.common import params as params_module
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from openpilot.starpilot.controls.tests.test_starpilot_card import FakeParams, make_car_state, make_sm, make_toggles, spc
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class FleetParams(FakeParams):
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def get_bool(self, key, default=False):
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return bool(self._store.get(key, default))
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def get_float(self, key, default=0.0):
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return float(self._store.get(key, default))
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@pytest.fixture
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def isolated_settings(monkeypatch, tmp_path):
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# Interfaces have both imported Params aliases and dynamic imports. The Pre-AP
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# configuration also retains a Params instance, so isolate all three forms.
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monkeypatch.setattr(params_module, "Params", FleetParams)
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for name in {"opendbc.car.interfaces", *(interface.__module__ for interface in interfaces.values())}:
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module = importlib.import_module(name)
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if hasattr(module, "Params"):
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monkeypatch.setattr(module, "Params", FleetParams)
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monkeypatch.setattr(importlib.import_module("opendbc.car.tesla.preap.nap_conf"), "_params", FleetParams())
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monkeypatch.setattr(spc, "Params", FleetParams)
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monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
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def fleet_config(platform, mode, enabled=True):
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toggles = make_toggles(always_on_lateral=enabled, always_on_lateral_main=mode == "main",
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always_on_lateral_lkas=mode == "engage", lkas_allowed_for_aol=mode == "engage",
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always_on_lateral_pause_speed=5.0)
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fingerprint = gen_empty_fingerprint()
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interface = interfaces[platform]
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cp = interface.get_params(platform, fingerprint, [], False, False, docs=False, starpilot_toggles=toggles)
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fp = interface.get_starpilot_params(platform, fingerprint, [], cp, toggles)
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assert cp.carFingerprint == platform
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# Card startup installs this feature bit after the interface returns FPCP.
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# This is an explicit feature-on fixture, not a call to the full card daemon.
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if enabled and spc.always_on_lateral_available(cp):
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cp.alternativeExperience |= spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
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fp.alternativeExperience |= spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
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else:
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cp.alternativeExperience &= ~spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
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fp.alternativeExperience &= ~spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
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return cp, fp, toggles
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class Sequence:
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def __init__(self, cp, fp, toggles):
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self.card = spc.StarPilotCard(cp, fp)
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self.toggles = toggles
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self.sm = make_sm()
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self.cs = make_car_state()
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self.output = SimpleNamespace(distancePressed=False)
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self.preap_authorized = None
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def step(self, expected, *, frames=1):
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for _ in range(frames):
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kwargs = {} if self.preap_authorized is None else {"preap_authorized": self.preap_authorized}
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output = self.card.update(self.cs, self.output, self.sm, self.toggles, **kwargs)
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assert output.alwaysOnLateralEnabled is expected
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return output
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def engage(self):
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self.cs.cruiseState.available = self.cs.cruiseState.enabled = True
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self.sm["selfdriveState"].active = True
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self.sm["carControl"].longActive = True
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self.cs.brakePressed = False
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self.cs.vEgo = 15.0
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self.cs.standstill = False
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self.cs.gearShifter = spc.GearShifter.drive
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def disengage(self):
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self.cs.cruiseState.enabled = False
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self.sm["selfdriveState"].active = False
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self.sm["carControl"].longActive = False
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@pytest.mark.parametrize("platform", sorted(PLATFORMS))
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def test_fleet_aol_disabled_configuration(platform, isolated_settings):
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cp, fp, toggles = fleet_config(platform, "main", enabled=False)
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sequence = Sequence(cp, fp, toggles)
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sequence.step(False)
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sequence.engage()
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sequence.step(False, frames=20)
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sequence.disengage()
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sequence.cs.brakePressed = True
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sequence.step(False, frames=20)
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@pytest.mark.parametrize("platform", sorted(PLATFORMS))
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@pytest.mark.parametrize("mode", ("main", "engage"))
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def test_fleet_aol_state_sequence(platform, mode, isolated_settings, record_property):
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cp, fp, toggles = fleet_config(platform, mode)
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record_property("platform", platform)
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record_property("brand", cp.brand)
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record_property("mode", mode)
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record_property("fixture", "empty fingerprint/firmware; synthetic normalized state; no CAN/safety or selfdrived")
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if not spc.always_on_lateral_available(cp):
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# Even a stale feature bit must not grant a platform denied by current policy.
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fp.alternativeExperience |= spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
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denied = Sequence(cp, fp, toggles)
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denied.engage()
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denied.step(False, frames=20)
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denied.disengage()
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denied.step(False, frames=20)
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pytest.skip(f"AOL active coverage gap: current platform policy excludes {platform}; denial checked")
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if cp.dashcamOnly or cp.notCar:
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pytest.skip(f"AOL active coverage gap: empty-fingerprint configuration has dashcamOnly={cp.dashcamOnly}, notCar={cp.notCar}")
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if platform == "TESLA_MODEL_S_PREAP":
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denied = Sequence(cp, fp, toggles)
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denied.engage()
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denied.step(False, frames=20)
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denied.disengage()
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denied.step(False, frames=20)
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pytest.skip("AOL active coverage gap: Pre-AP requires external authorization; synthetic cruise state cannot supply it; denial checked")
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sequence = Sequence(cp, fp, toggles)
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sequence.step(False, frames=20)
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sequence.engage()
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sequence.step(True, frames=120)
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# Braking out of longitudinal at speed leaves a stable AOL-only state.
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sequence.disengage()
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sequence.cs.brakePressed = True
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sequence.step(True, frames=120)
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assert not sequence.sm["selfdriveState"].active
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assert not sequence.sm["carControl"].longActive
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# Both native and StarPilot immediate-disable sources suppress lateral.
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for source in ("selfdriveState", "starpilotSelfdriveState"):
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sequence.sm[source].alertType = f"controlsMismatch/{spc.ET.IMMEDIATE_DISABLE}"
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sequence.step(False, frames=20)
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sequence.sm[source].alertType = ""
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sequence.step(True, frames=20)
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sequence.sm["selfdriveState"].alertType = f"speedTooLow/{spc.ET.IMMEDIATE_DISABLE}"
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sequence.step(True, frames=20) # Explicit existing longitudinal-only exception.
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sequence.sm["selfdriveState"].alertType = ""
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sequence.cs.vEgo = 2.0
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sequence.step(False, frames=20)
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sequence.cs.brakePressed = False
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sequence.step(True, frames=20)
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sequence.cs.vEgo = 0.0
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sequence.cs.brakePressed = sequence.cs.standstill = True
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sequence.step(True, frames=20) # Existing standstill exception to brake pause.
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sequence.sm["liveCalibration"].calPerc = 0
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sequence.step(False, frames=20)
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sequence.sm["liveCalibration"].calPerc = 100
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sequence.step(True)
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sequence.sm["starpilotPlan"].lateralCheck = False
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sequence.step(False, frames=20)
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sequence.sm["starpilotPlan"].lateralCheck = True
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sequence.step(True)
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for gear in (spc.GearShifter.park, spc.GearShifter.reverse):
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sequence.cs.gearShifter = gear
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sequence.step(False, frames=20)
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sequence.engage()
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sequence.step(True, frames=20)
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sequence.disengage()
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# Explicit mode-off must remain off rather than repeatedly re-latching.
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if mode == "main":
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sequence.cs.cruiseState.available = False
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sequence.step(False)
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else:
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sequence.cs.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
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sequence.step(False)
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sequence.cs.buttonEvents = []
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sequence.step(False, frames=120)
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def test_preap_aol_explicit_authorization_boundary(isolated_settings):
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cp, fp, toggles = fleet_config("TESLA_MODEL_S_PREAP", "main")
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if not spc.always_on_lateral_available(cp):
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pytest.skip("Pre-AP AOL unavailable by current policy")
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sequence = Sequence(cp, fp, toggles)
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sequence.engage()
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sequence.step(False, frames=20)
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sequence.preap_authorized = True
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sequence.step(True, frames=20)
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sequence.disengage()
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sequence.step(True, frames=20)
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sequence.sm["selfdriveState"].alertType = f"controlsMismatch/{spc.ET.IMMEDIATE_DISABLE}"
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sequence.step(False, frames=20)
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sequence.sm["selfdriveState"].alertType = ""
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sequence.step(True, frames=20)
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sequence.preap_authorized = False
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sequence.step(False, frames=120)
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