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Qualify split HKG angle EPS publications

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firestar5683
2026-11-06 21:18:55 -06:00
parent 6392df973b
commit d5d1b47c32
2 changed files with 18 additions and 5 deletions
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openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py
+10 -5
View File
@@ -209,10 +209,15 @@ def test_stopped_full_request_keeps_existing_lateral_intent_without_granting_com
if tick == 4:
assert axis.desiredLongitudinal and not axis.longitudinalActive
assert not axis.lateralActive and not command.latActive and not command.longActive
stopped_role = feedback._angle_stop_intent_current(sm, sd.CP, state, axis, int(sm.logMonoTime['aolAxisState']), now,
latched=True, producer='authority-card')
before = {'feedback': repr(vars(feedback)), 'state': state.to_dict(), 'native': repr(sd.sm['aolSafetyWire']), 'pandas': repr(sd.sm['pandaStates']), 'tick': tick, 'stopped_role': stopped_role, 'pending_event': feedback.pending_event,
'axis': axis.to_dict(), 'events': [str(e.name) for e in sm['onroadEvents']]}
if tick == 5:
assert axis.longitudinalActive and not axis.lateralActive and not command.latActive
assert all(not p.controlsAllowed for p in sm['pandaStates'])
veto = messaging.SubMaster(['aolAxisState', 'onroadEvents', 'aolSafetyWire', 'pandaStates'])
latest = messaging.new_message('pandaStates', len(sm['pandaStates']), valid=True, logMonoTime=now)
latest.pandaStates = sm['pandaStates']
veto.update_msgs(now / 1e9, [*frames[:3], latest.as_reader()])
assert not feedback._angle_stop_intent_current(veto, sd.CP, state, axis, now, now,
latched=True, producer='authority-card')
assert not feedback.observe(sm, sd.CP, state, now, latched=True,
intent_producer_session='authority-card'), 'STOPPED_FULL_REQUEST_DISARMED ' + repr(before)
intent_producer_session='authority-card'), f'STOPPED_FULL_REQUEST_DISARMED tick={tick}'
assert not feedback.failed
openpilot/starpilot/aol/transport_pause.py
+8
View File
@@ -1201,6 +1201,14 @@ class TransportPauseFeedback:
return False
native = _configured_transport_native(sm, cp, self.session, now_ns,
require_longitudinal=not pending_stop, allow_restricted_lateral=True)
if native is None and combined_stop:
newer = _configured_transport_native(sm, cp, self.session, now_ns,
require_longitudinal=False, allow_restricted_lateral=True)
if (newer is not None and newer.pandaInventory and
0 < int(sm.logMonoTime['pandaStates']) < newer.sourcePandaStatesMonoTime and
all(slot.controlsAllowed for slot, config in zip(newer.pandaInventory, cp.safetyConfigs, strict=True)
if str(config.safetyModel) not in ('silent', 'noOutput'))):
native = newer
return bool(native is not None and native.pandaInventory and native.requestedLateral and
(not native.lateralAllowed or subaru_stop and not axis.desiredLateral and not axis.lateralActive) and
(pending_stop or not native.requestedLongitudinal and not combined_stop or