mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-25 11:12:13 +08:00
Code Issues Packages Projects Releases Wiki Activity

G90

Browse Source
This commit is contained in:
firestar5683
2026-07-24 12:46:29 -05:00
parent 8640f06054
commit 6370abd73a
2 changed files with 66 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
starpilot/controls/starpilot_card.py
+4 -1
View File
@@ -40,8 +40,11 @@ class StarPilotCard:
getattr(self.CP, "carFingerprint", None) in (HYUNDAI_CAR.KIA_FORTE_2019_NON_SCC, HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC) and
bool(hyundai_flags & HyundaiFlags.NON_SCC)
)
hyundai_aol_before_engagement = kia_forte_non_scc or getattr(self.CP, "carFingerprint", None) == HYUNDAI_CAR.GENESIS_G90
self.hyundai_preserve_aol_across_reverse = getattr(self.CP, "carFingerprint", None) == HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID
self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not kia_forte_non_scc
self.hyundai_aol_needs_engagement = (
self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not hyundai_aol_before_engagement
)
self.hyundai_aol_ready = False
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
starpilot/controls/tests/test_starpilot_card.py
+62
View File
@@ -219,6 +219,41 @@ def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, t
assert ret.alwaysOnLateralEnabled is False
def test_genesis_g90_main_aol_can_start_before_set(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
card = spc.StarPilotCard(
SimpleNamespace(brand="hyundai", carFingerprint=spc.HYUNDAI_CAR.GENESIS_G90),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
make_toggles(always_on_lateral=True, always_on_lateral_main=True))
assert card.hyundai_aol_needs_engagement is False
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
def test_other_legacy_hyundai_main_aol_still_waits_for_set(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
card = spc.StarPilotCard(
SimpleNamespace(brand="hyundai", carFingerprint=spc.HYUNDAI_CAR.GENESIS_G80),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
make_toggles(always_on_lateral=True, always_on_lateral_main=True))
assert card.hyundai_aol_needs_engagement is True
assert ret.alwaysOnLateralEnabled is False
def test_nissan_main_aol_can_start_before_normal_engagement(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
@@ -313,6 +348,33 @@ def test_kia_forte_non_scc_main_cruise_button_waits_for_main_confirmation(monkey
assert ret.alwaysOnLateralEnabled is True
def test_genesis_g90_main_cruise_button_waits_for_main_confirmation(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
card = spc.StarPilotCard(
SimpleNamespace(brand="hyundai", carFingerprint=spc.HYUNDAI_CAR.GENESIS_G90),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
starpilot_car_state = SimpleNamespace(distancePressed=False)
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(make_car_state(), starpilot_car_state, sm, toggles)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
car_state.buttonEvents = []
car_state.cruiseState.available = True
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
def test_hyundai_main_cruise_button_follows_confirmed_main_state(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)