mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +08:00
the day of the push
This commit is contained in:
firestar5683
@@ -339,6 +339,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"ForceStops", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
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{"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
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{"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
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{"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
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{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
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{"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
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{"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
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@@ -131,7 +131,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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# Note that some Rivians achieve significantly less lateral acceleration than this
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"RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
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"HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
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"HONDA_ACCORD_11G" = [1.35, 1.35, 0.17]
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"HONDA_ACCORD_11G" = [3.0, 1.35, 0.16]
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"HONDA_PILOT_4G" = [1.25, 1.25, 0.21]
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"HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
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"ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
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@@ -518,7 +518,8 @@ class CarController(CarControllerBase):
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main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
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can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
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CS.acc_type, fcw_alert, self.distance_button, starpilot_toggles.reverse_cruise_increase))
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CS.acc_type, fcw_alert, self.distance_button,
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getattr(starpilot_toggles, "reverse_cruise_increase", False)))
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if self.CP.flags & ToyotaFlags.SECOC.value:
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acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
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acc_cmd_2 = add_mac(self.secoc_key,
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@@ -538,7 +539,8 @@ class CarController(CarControllerBase):
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can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
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else:
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can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
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self.distance_button, starpilot_toggles.reverse_cruise_increase))
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self.distance_button,
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getattr(starpilot_toggles, "reverse_cruise_increase", False)))
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# *** hud ui ***
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if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
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@@ -1360,6 +1360,7 @@ FW_VERSIONS = {
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b'\x018966333T5100\x00\x00\x00\x00',
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b'\x018966333X6000\x00\x00\x00\x00',
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b'\x01896633T07000\x00\x00\x00\x00',
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b'\x01896633T24000\x00\x00\x00\x00',
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b'\x01896633T38000\x00\x00\x00\x00',
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b'\x01896633T58000\x00\x00\x00\x00',
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b'\x01896633T63000\x00\x00\x00\x00',
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@@ -1377,6 +1378,7 @@ FW_VERSIONS = {
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b'\x01F152606461\x00\x00\x00\x00\x00\x00',
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b'\x01F15260646200\x00\x00\x00\x00',
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b'\x01F152633A71\x00\x00\x00\x00\x00\x00',
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b'\x01F152633E2100\x00\x00\x00\x00',
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b'F152633423\x00\x00\x00\x00\x00\x00',
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b'F152633680\x00\x00\x00\x00\x00\x00',
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b'F152633681\x00\x00\x00\x00\x00\x00',
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@@ -1411,6 +1413,7 @@ FW_VERSIONS = {
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b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
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b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
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b'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
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b'\x028646F3313000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_ES: {
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@@ -1448,21 +1451,26 @@ FW_VERSIONS = {
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CAR.LEXUS_GS_F: {
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(Ecu.engine, 0x7e0, None): [
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b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
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b'\x02330Y8000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.abs, 0x7b0, None): [
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b'F152630700\x00\x00\x00\x00\x00\x00',
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b'F152630400\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.dsu, 0x791, None): [
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b'881513016200\x00\x00\x00\x00',
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b'881513011300\x00\x00\x00\x00',
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],
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(Ecu.eps, 0x7a1, None): [
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b'8965B30551\x00\x00\x00\x00\x00\x00',
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b'8965B30431\x00\x00\x00\x00\x00\x00',
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],
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(Ecu.fwdRadar, 0x750, 0xf): [
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b'8821F4702000\x00\x00\x00\x00',
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],
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(Ecu.fwdCamera, 0x750, 0x6d): [
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b'8646F3002100\x00\x00\x00\x00',
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b'8646F3001200\x00\x00\x00\x00',
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],
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},
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CAR.LEXUS_NX: {
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@@ -19,7 +19,7 @@ from opendbc.car.toyota.interface import CarInterface
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from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SPEED_SCALE
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from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
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FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
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ToyotaFlags, ToyotaSafetyFlags, get_platform_codes
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ToyotaFlags, ToyotaSafetyFlags, ToyotaStarPilotFlags, get_platform_codes
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from opendbc.safety import ALTERNATIVE_EXPERIENCE
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from openpilot.common.params import Params
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@@ -40,6 +40,32 @@ class TestToyotaInterfaces:
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# At this time, only RAV4 2023 is expected to use LTA/angle control
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assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
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@pytest.mark.parametrize("candidate", [CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2023])
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def test_rav4_can_filter_is_optional(self, candidate):
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def get_params(has_can_filter):
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fingerprint = {bus: {} for bus in range(8)}
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if has_can_filter:
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fingerprint[0][0x2AA] = 8
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car_params = CarInterface.get_params(
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candidate,
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fingerprint,
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[],
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alpha_long=False,
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is_release=False,
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docs=False,
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starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
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)
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return CarInterface.get_starpilot_params(candidate, fingerprint, [], car_params, SimpleNamespace())
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without_filter = get_params(False)
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with_filter = get_params(True)
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assert not without_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
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assert not without_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
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assert with_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
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assert with_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
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def test_rav4_prime_force_torque_controller(self):
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fingerprint = {bus: {} for bus in range(8)}
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@@ -845,6 +871,22 @@ class TestToyotaCarController:
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parser.update([(1, [reverse_msg])])
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assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 2
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def test_acc_control_accepts_toggle_namespace_without_reverse_cruise_option(self):
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# Older or partially refreshed toggle broadcasts do not include this optional field.
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toggles = SimpleNamespace()
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assert getattr(toggles, "reverse_cruise_increase", False) is False
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packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
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msg = toyotacan.create_accel_command(
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packer, 0.0, False, True, False, False, 1, False, 0,
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getattr(toggles, "reverse_cruise_increase", False),
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)
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parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
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parser.update([(1, [msg])])
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assert parser.can_valid
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assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
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def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
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controller = self._make_controller()
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controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
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@@ -28,3 +28,7 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
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assert get_kona_non_scc_lateral_active(
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True, True, False, False, False, False, False, True, True, False,
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)
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def test_get_lateral_active_honors_manual_pause_while_cruise_is_engaged():
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assert not get_lateral_active(True, True, False, False, False, False, False, False)
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@@ -120,6 +120,20 @@ def test_standstill_without_turn_signal_keeps_lateral_allowed(monkeypatch):
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planner.shutdown()
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def test_manual_lateral_pause_blocks_lateral_while_cruise_is_enabled(monkeypatch):
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planner = make_planner(monkeypatch)
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try:
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sm = make_sm(planner, frame=1, v_ego=20.0, left_blinker=False)
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sm["starpilotCarState"].pauseLateral = True
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planner.update(0.0, False, sm, make_toggles())
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assert planner.lateral_check is False
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finally:
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planner.shutdown()
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def test_pulse_glide_target_is_published_after_vcruise_update(monkeypatch):
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planner = make_planner(monkeypatch)
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@@ -42,7 +42,6 @@ class StarPilotCarState:
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canUseSDSU: bool = False
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# ========== Device/Car State ==========
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isFrogsGoMoo: bool = False
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hasPCMCruise: bool = False
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hasModeStarButtons: bool = False
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lkasAllowedForAOL: bool = False
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@@ -2,8 +2,6 @@ import os
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import threading
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from collections.abc import Callable
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from enum import IntEnum
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from functools import cache
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from pathlib import Path
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import pyray as rl
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@@ -13,7 +11,6 @@ from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmat
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from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
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from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.system.hardware.hw import Paths
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from openpilot.system.ui.lib.application import FontWeight, MousePos, gui_app
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.widgets import Widget
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@@ -23,11 +20,6 @@ from openpilot.system.ui.widgets.scroller import NavScroller
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UPDATER_TIMEOUT = 10.0
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@cache
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def _is_frogs_go_moo() -> bool:
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return (Path(Paths.persist_root()) / "frogsgomoo.py").is_file()
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def _split_description(desc: str) -> tuple[str, str, str, str] | None:
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parts = [p.strip() for p in desc.split(" / ")]
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if len(parts) != 4:
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@@ -233,10 +225,9 @@ class BranchSelectPage(NavScroller):
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branches_str = params.get("UpdaterAvailableBranches") or ""
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branches = [b for b in branches_str.split(",") if b]
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if not _is_frogs_go_moo():
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for hidden_branch in ("StarPilot-Vetting", "MAKE-PRS-HERE"):
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if hidden_branch in branches:
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branches.remove(hidden_branch)
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for hidden_branch in ("StarPilot-Vetting", "MAKE-PRS-HERE"):
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if hidden_branch in branches:
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branches.remove(hidden_branch)
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for branch in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
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if branch in branches:
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@@ -24,7 +24,6 @@ if "openpilot.starpilot.common.starpilot_variables" not in sys.modules:
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sv_mod.MODELS_PATH = "/tmp"
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sv_mod.EARTH_RADIUS = 6371000
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sv_mod.STARPILOT_API = ""
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sv_mod.FROGS_GO_MOO_PATH = "/tmp"
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sv_mod.KONIK_PATH = "/tmp"
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sys.modules["openpilot.starpilot.common.starpilot_variables"] = sv_mod
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@@ -362,4 +361,3 @@ def test_breadcrumb_panel_stack_unwinds_nav_stack(monkeypatch):
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assert len(layout._panel_stack) == 1
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assert layout._panel_stack[0] == (StarPilotPanelType.MAPS, "sub1")
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@@ -29,9 +29,9 @@ from openpilot.starpilot.common.maps_download_progress import (
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storage_bytes,
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)
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from openpilot.starpilot.common.theme_asset_names import find_matching_theme_asset_file
|
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from openpilot.starpilot.common.starpilot_utilities import get_starpilot_api_info, is_FrogsGoMoo, is_url_pingable, run_cmd
|
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from openpilot.starpilot.common.starpilot_utilities import get_starpilot_api_info, is_url_pingable, run_cmd
|
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from openpilot.starpilot.common.starpilot_variables import (
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ERROR_LOGS_PATH, STARPILOT_API, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
|
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ERROR_LOGS_PATH, STARPILOT_API, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
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StarPilotVariables, get_starpilot_toggles
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)
|
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@@ -113,13 +113,6 @@ def install_starpilot(build_metadata, params):
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update_boot_logo(starpilot=True, selected_logo=params.get("BootLogo"))
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|
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if is_FrogsGoMoo():
|
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mount_options = run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/persist"], "Successfully retrieved mount options", "Failed to retrieve mount options")
|
||||
run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist")
|
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run_cmd(["sudo", "python3", FROGS_GO_MOO_PATH], "Successfully ran frogsgomoo.py", "Failed to run frogsgomoo.py")
|
||||
run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/persist"], "Successfully restored /persist mount options", "Failed to restore /persist mount options")
|
||||
|
||||
|
||||
def register_device(build_metadata, params):
|
||||
def register_thread():
|
||||
dongle_id = params.get("DongleId")
|
||||
|
||||
@@ -23,7 +23,7 @@ from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from panda import Panda, FW_PATH
|
||||
|
||||
from openpilot.starpilot.common.starpilot_variables import EARTH_RADIUS, STARPILOT_API, FROGS_GO_MOO_PATH, KONIK_PATH
|
||||
from openpilot.starpilot.common.starpilot_variables import EARTH_RADIUS, STARPILOT_API, KONIK_PATH
|
||||
|
||||
|
||||
def capture_exception(exception):
|
||||
@@ -272,11 +272,6 @@ def get_sentry_dsn():
|
||||
return ""
|
||||
|
||||
|
||||
@cache
|
||||
def is_FrogsGoMoo():
|
||||
return FROGS_GO_MOO_PATH.is_file()
|
||||
|
||||
|
||||
def is_url_pingable(url):
|
||||
if not url:
|
||||
return False
|
||||
|
||||
@@ -74,7 +74,7 @@ def _lkas_allowed_for_aol(car_make, cp_flags, fpcp_safety_configs) -> bool:
|
||||
hyundai_can_use_lkas_for_aol = car_make == "hyundai" and (
|
||||
bool(cp_flags & HyundaiFlags.CANFD) or hyundai_has_lda_button
|
||||
)
|
||||
return hyundai_can_use_lkas_for_aol or car_make == "honda"
|
||||
return hyundai_can_use_lkas_for_aol or car_make in ("ford", "honda")
|
||||
|
||||
|
||||
def _main_cruise_aol_allowed(button_control: float) -> bool:
|
||||
@@ -145,8 +145,6 @@ BACKUP_PATH = _FP_CACHE_ROOT / "on_backup"
|
||||
STARPILOT_BACKUPS = _FP_DATA_ROOT / "backups"
|
||||
TOGGLE_BACKUPS = _FP_DATA_ROOT / "toggle_backups"
|
||||
|
||||
FROGS_GO_MOO_PATH = _FP_PERSIST_ROOT / "frogsgomoo.py"
|
||||
|
||||
HD_LOGS_PATH = _FP_DATA_ROOT / "media/0/realdata_HD"
|
||||
HD_PATH = _FP_CACHE_ROOT / "use_HD"
|
||||
|
||||
@@ -183,6 +181,7 @@ CANCEL_BUTTON_MAPPINGS = (
|
||||
)
|
||||
|
||||
AOL_LKAS_MIGRATION_KEY = "AOLLKASMigratedToButtonControl"
|
||||
FORD_LKAS_MIGRATION_KEY = "FordLKASButtonControlMigrated"
|
||||
|
||||
|
||||
def sync_reboot_marker(marker_path: Path, enabled: bool, params: Params) -> bool:
|
||||
@@ -401,6 +400,18 @@ def migrate_aol_lkas_to_button_control(params: Params | None = None) -> bool:
|
||||
return True
|
||||
|
||||
|
||||
def migrate_ford_lkas_button_default(car_make: str, params: Params | None = None) -> bool:
|
||||
params = params or Params(return_defaults=True)
|
||||
if car_make != "ford" or params.get_bool(FORD_LKAS_MIGRATION_KEY):
|
||||
return False
|
||||
|
||||
if params.get_int("LKASButtonControl") == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]:
|
||||
params.put_int("LKASButtonControl", BUTTON_FUNCTIONS["AOL_TOGGLE"])
|
||||
|
||||
params.put_bool(FORD_LKAS_MIGRATION_KEY, True)
|
||||
return True
|
||||
|
||||
|
||||
class StarPilotVariables:
|
||||
def __init__(self):
|
||||
self.params = Params(return_defaults=True)
|
||||
@@ -419,7 +430,6 @@ class StarPilotVariables:
|
||||
self.testing_branch = branch == "StarPilot-Testing"
|
||||
self.vetting_branch = branch == "StarPilot-Vetting"
|
||||
|
||||
self.frogs_go_moo = FROGS_GO_MOO_PATH.is_file()
|
||||
# Development/vetting branches are no longer gated into dashcam mode.
|
||||
toggle.block_user = False
|
||||
|
||||
@@ -611,6 +621,7 @@ class StarPilotVariables:
|
||||
|
||||
alpha_longitudinal = CP.alphaLongitudinalAvailable
|
||||
toggle.car_make = CP.brand
|
||||
migrate_ford_lkas_button_default(toggle.car_make, self.params)
|
||||
toggle.car_model = CP.carFingerprint
|
||||
toggle.disable_openpilot_long = self.get_value("DisableOpenpilotLongitudinal", condition=not alpha_longitudinal)
|
||||
friction = CP.lateralTuning.torque.friction
|
||||
@@ -789,7 +800,10 @@ class StarPilotVariables:
|
||||
|
||||
toggle.always_on_lateral = self.get_value("AlwaysOnLateral")
|
||||
lkas_button_assigned_to_aol = self.get_button_function("LKASButtonControl") == BUTTON_FUNCTIONS["AOL_TOGGLE"]
|
||||
toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and lkas_button_assigned_to_aol
|
||||
toggle.ford_lkas_aol_toggle = toggle.car_make == "ford" and lkas_button_assigned_to_aol
|
||||
toggle.always_on_lateral_lkas = (
|
||||
toggle.always_on_lateral and toggle.lkas_allowed_for_aol and lkas_button_assigned_to_aol and not toggle.ford_lkas_aol_toggle
|
||||
)
|
||||
toggle.always_on_lateral_main = toggle.always_on_lateral and not prohibited_main_aol
|
||||
toggle.always_on_lateral_pause_speed = self.get_value("PauseAOLOnBrake", cast=float, condition=toggle.always_on_lateral)
|
||||
|
||||
|
||||
@@ -21,6 +21,10 @@ def test_hyundai_and_honda_keep_lkas_aol_button_path():
|
||||
assert spv._lkas_allowed_for_aol("hyundai", spv.HyundaiFlags.CANFD, []) is True
|
||||
|
||||
|
||||
def test_ford_can_map_lkas_button_to_aol():
|
||||
assert spv._lkas_allowed_for_aol("ford", 0, []) is True
|
||||
|
||||
|
||||
def test_explicit_main_cruise_aol_mapping_is_not_disabled_by_longitudinal_gate():
|
||||
aol_button = spv.BUTTON_FUNCTIONS["AOL_TOGGLE"]
|
||||
|
||||
@@ -130,6 +134,33 @@ class _FakeParams:
|
||||
self.bools.pop(key, None)
|
||||
|
||||
|
||||
def test_ford_lkas_default_migrates_from_experimental_to_aol_toggle():
|
||||
params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]})
|
||||
|
||||
assert spv.migrate_ford_lkas_button_default("ford", params) is True
|
||||
assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["AOL_TOGGLE"]
|
||||
assert params.get_bool(spv.FORD_LKAS_MIGRATION_KEY) is True
|
||||
|
||||
params.put_int("LKASButtonControl", spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"])
|
||||
assert spv.migrate_ford_lkas_button_default("ford", params) is False
|
||||
assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
|
||||
|
||||
def test_ford_lkas_default_migration_preserves_custom_mapping():
|
||||
params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["BOOKMARK"]})
|
||||
|
||||
assert spv.migrate_ford_lkas_button_default("ford", params) is True
|
||||
assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["BOOKMARK"]
|
||||
|
||||
|
||||
def test_ford_lkas_default_migration_ignores_other_brands():
|
||||
params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]})
|
||||
|
||||
assert spv.migrate_ford_lkas_button_default("honda", params) is False
|
||||
assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
assert params.get_bool(spv.FORD_LKAS_MIGRATION_KEY) is False
|
||||
|
||||
|
||||
def test_sync_reboot_marker_uses_manager_guard(tmp_path):
|
||||
params = _FakeParams()
|
||||
marker = tmp_path / "cache" / "use_HD"
|
||||
|
||||
@@ -545,7 +545,7 @@ class StarPilotVCruise:
|
||||
v_ego_cluster = max(sm["carState"].vEgoCluster, v_ego)
|
||||
v_ego_diff = v_ego_cluster - v_ego
|
||||
|
||||
# FrogsGoMoo's Curve Speed Controller
|
||||
# Curve Speed Controller
|
||||
following_lead = bool(getattr(self.starpilot_planner.starpilot_following, "following_lead", False))
|
||||
manual_speed_control = is_manual_speed_control(sm)
|
||||
csc_available = (
|
||||
|
||||
@@ -16,7 +16,6 @@ from openpilot.starpilot.common.experimental_state import (
|
||||
sync_manual_ce_state,
|
||||
)
|
||||
from openpilot.starpilot.common.favorite_slots import FAVORITE_ACTION_TRAFFIC_MODE_COUNTER, toggle_favorite_slot
|
||||
from openpilot.starpilot.common.starpilot_utilities import is_FrogsGoMoo
|
||||
from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
|
||||
|
||||
HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES = 100
|
||||
@@ -74,8 +73,6 @@ class StarPilotCard:
|
||||
self._onroad_distance_pressed = False
|
||||
|
||||
self.always_on_lateral_set = bool(FPCP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
|
||||
self.frogs_go_moo = is_FrogsGoMoo()
|
||||
|
||||
self.long_press_threshold = CRUISE_LONG_PRESS
|
||||
self.very_long_press_threshold = CRUISE_LONG_PRESS * 5
|
||||
|
||||
@@ -215,6 +212,13 @@ class StarPilotCard:
|
||||
self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
|
||||
|
||||
cruise_available_changed = self.prev_cruise_available is not None and carState.cruiseState.available != self.prev_cruise_available
|
||||
ford_lateral_session_started = self.CP.brand == "ford" and (
|
||||
(cruise_available_changed and carState.cruiseState.available) or
|
||||
(carState.cruiseState.enabled and not self.prev_cruise_enabled)
|
||||
)
|
||||
if ford_lateral_session_started:
|
||||
self.pause_lateral = False
|
||||
|
||||
if self.g70_main_cruise_aol_pending:
|
||||
if cruise_available_changed:
|
||||
self.always_on_lateral_allowed = carState.cruiseState.available
|
||||
@@ -256,9 +260,9 @@ class StarPilotCard:
|
||||
self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
|
||||
self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
|
||||
alert_types = sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType
|
||||
self.always_on_lateral_enabled &= ET.IMMEDIATE_DISABLE not in alert_types or self.frogs_go_moo
|
||||
self.always_on_lateral_enabled &= ET.IMMEDIATE_DISABLE not in alert_types
|
||||
self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < starpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
|
||||
self.always_on_lateral_enabled &= not self.error_log.is_file() or self.frogs_go_moo
|
||||
self.always_on_lateral_enabled &= not self.error_log.is_file()
|
||||
|
||||
if sm.updated["starpilotPlan"] or any(be_type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be_type in button_event_types):
|
||||
self.accel_pressed = any(be_type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be_type in button_event_types)
|
||||
@@ -327,7 +331,11 @@ class StarPilotCard:
|
||||
self.cancel_pulse_glide_suppressed = False
|
||||
|
||||
if lkas_pressed:
|
||||
self.handle_button_event("lkas", sm, starpilot_toggles)
|
||||
if self.CP.brand != "ford" or carState.cruiseState.available:
|
||||
if self.CP.brand == "ford" and getattr(starpilot_toggles, "ford_lkas_aol_toggle", False):
|
||||
self.pause_lateral = not self.pause_lateral
|
||||
else:
|
||||
self.handle_button_event("lkas", sm, starpilot_toggles)
|
||||
|
||||
if getattr(starpilot_toggles, "has_canfd_media_buttons", False):
|
||||
if starpilotCarState.modePressed:
|
||||
|
||||
@@ -83,6 +83,7 @@ def make_toggles(**overrides):
|
||||
"conditional_experimental_mode": False,
|
||||
"experimental_mode_via_lkas": False,
|
||||
"force_coast_via_lkas": False,
|
||||
"ford_lkas_aol_toggle": False,
|
||||
"pulse_and_glide_available": False,
|
||||
"pulse_and_glide_via_cancel": False,
|
||||
"pulse_and_glide_via_cancel_long": False,
|
||||
@@ -103,7 +104,6 @@ def make_toggles(**overrides):
|
||||
|
||||
def test_pulse_and_glide_requires_developer_access_and_active_longitudinal(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -128,7 +128,6 @@ def test_pulse_and_glide_requires_developer_access_and_active_longitudinal(monke
|
||||
|
||||
def test_pulse_and_glide_consumes_native_cancel_when_mapped(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -155,7 +154,6 @@ def test_pulse_and_glide_consumes_native_cancel_when_mapped(monkeypatch, tmp_pat
|
||||
|
||||
def test_pulse_and_glide_consumes_lkas_when_mapped(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -177,7 +175,6 @@ def test_pulse_and_glide_consumes_lkas_when_mapped(monkeypatch, tmp_path):
|
||||
|
||||
def test_pulse_and_glide_long_cancel_consumes_release_after_threshold(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -230,7 +227,6 @@ def test_distance_release_normalization_is_limited_to_reported_elantra_hybrid(
|
||||
monkeypatch, tmp_path, car_fingerprint, expect_normalized_release,
|
||||
):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(
|
||||
@@ -263,7 +259,6 @@ def test_distance_release_normalization_is_limited_to_reported_elantra_hybrid(
|
||||
|
||||
def test_honda_lkas_button_can_toggle_always_on_lateral(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="honda"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -281,7 +276,6 @@ def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
|
||||
|
||||
def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(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(
|
||||
@@ -311,7 +305,6 @@ def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(monkeypatch,
|
||||
|
||||
def test_sonata_hybrid_lkas_button_can_start_aol_before_normal_engagement(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(
|
||||
@@ -332,7 +325,6 @@ def test_sonata_hybrid_lkas_button_can_start_aol_before_normal_engagement(monkey
|
||||
|
||||
def test_sonata_hybrid_preserves_aol_latch_across_reverse(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(
|
||||
@@ -363,7 +355,6 @@ def test_sonata_hybrid_preserves_aol_latch_across_reverse(monkeypatch, tmp_path)
|
||||
|
||||
def test_hyundai_aol_does_not_auto_start_from_cruise_availability(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(
|
||||
@@ -380,7 +371,6 @@ def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, t
|
||||
|
||||
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(
|
||||
@@ -398,7 +388,6 @@ def test_genesis_g90_main_aol_can_start_before_set(monkeypatch, tmp_path):
|
||||
|
||||
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(
|
||||
@@ -415,7 +404,6 @@ def test_other_legacy_hyundai_main_aol_still_waits_for_set(monkeypatch, tmp_path
|
||||
|
||||
def test_legacy_hyundai_main_aol_waits_for_main_button_permission(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(
|
||||
@@ -447,7 +435,6 @@ def test_legacy_hyundai_main_aol_waits_for_main_button_permission(monkeypatch, t
|
||||
|
||||
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)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(
|
||||
@@ -464,7 +451,6 @@ def test_nissan_main_aol_can_start_before_normal_engagement(monkeypatch, tmp_pat
|
||||
|
||||
def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(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(
|
||||
@@ -485,7 +471,6 @@ def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch,
|
||||
|
||||
def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(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(
|
||||
@@ -510,7 +495,6 @@ def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_
|
||||
|
||||
def test_kia_forte_non_scc_main_cruise_button_toggles_aol_immediately(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(
|
||||
@@ -540,7 +524,6 @@ def test_kia_forte_non_scc_main_cruise_button_toggles_aol_immediately(monkeypatc
|
||||
|
||||
def test_genesis_g90_main_cruise_button_toggles_aol_immediately(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(
|
||||
@@ -566,7 +549,6 @@ def test_genesis_g90_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp
|
||||
|
||||
def test_genesis_g70_main_cruise_button_waits_for_cruise_availability(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(
|
||||
@@ -604,7 +586,6 @@ def test_genesis_g70_main_cruise_button_waits_for_cruise_availability(monkeypatc
|
||||
|
||||
def test_legacy_hyundai_main_cruise_button_toggles_aol_immediately(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(
|
||||
@@ -630,7 +611,6 @@ def test_legacy_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch,
|
||||
|
||||
def test_hyundai_main_cruise_button_toggles_aol_immediately(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(
|
||||
@@ -655,7 +635,6 @@ def test_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_pat
|
||||
|
||||
def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(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(
|
||||
@@ -688,7 +667,6 @@ def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp
|
||||
|
||||
def test_hyundai_lda_platform_main_aol_waits_for_engagement_without_lkas_mapping(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(
|
||||
@@ -711,7 +689,6 @@ def test_hyundai_lda_platform_main_aol_waits_for_engagement_without_lkas_mapping
|
||||
|
||||
def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(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(
|
||||
@@ -729,7 +706,6 @@ def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(monkeypatch, tmp
|
||||
|
||||
def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(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"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -749,7 +725,6 @@ def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch,
|
||||
|
||||
def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(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(
|
||||
@@ -776,9 +751,204 @@ def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp
|
||||
assert ret.pauseLateral is False
|
||||
|
||||
|
||||
def test_ford_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(
|
||||
SimpleNamespace(brand="ford"),
|
||||
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
||||
)
|
||||
card.always_on_lateral_allowed = True
|
||||
|
||||
car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
||||
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
||||
sm = make_sm()
|
||||
sm["selfdriveState"].active = True
|
||||
sm["carControl"].longActive = True
|
||||
toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, pause_lateral_via_lkas=True)
|
||||
card.prev_active = True
|
||||
|
||||
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is True
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
|
||||
card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is False
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
|
||||
def test_ford_lkas_button_pauses_aol_with_only_cruise_master_on(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(
|
||||
SimpleNamespace(brand="ford"),
|
||||
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
||||
)
|
||||
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
||||
sm = make_sm()
|
||||
toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, pause_lateral_via_lkas=True)
|
||||
|
||||
master_on = make_car_state(available=True, enabled=False)
|
||||
ret = card.update(master_on, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.alwaysOnLateralEnabled is True
|
||||
|
||||
master_on.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(master_on, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is True
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
sm["starpilotPlan"].lateralCheck = False
|
||||
master_on.buttonEvents = []
|
||||
ret = card.update(master_on, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.alwaysOnLateralEnabled is False
|
||||
|
||||
master_on.cruiseState.available = False
|
||||
master_on.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(master_on, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is False
|
||||
assert ret.pauseLateral is True
|
||||
|
||||
sm["starpilotPlan"].lateralCheck = True
|
||||
master_on.cruiseState.available = True
|
||||
master_on.buttonEvents = []
|
||||
ret = card.update(master_on, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.alwaysOnLateralEnabled is True
|
||||
assert ret.pauseLateral is False
|
||||
|
||||
|
||||
def test_ford_lkas_button_pauses_lateral_when_aol_is_disabled(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
|
||||
car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
||||
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
||||
sm = make_sm()
|
||||
sm["selfdriveState"].active = True
|
||||
sm["carControl"].longActive = True
|
||||
toggles = make_toggles(pause_lateral_via_lkas=True)
|
||||
card.prev_active = True
|
||||
|
||||
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is False
|
||||
assert ret.pauseLateral is True
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
|
||||
card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(car_state, starpilot_car_state, sm, toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is False
|
||||
assert ret.pauseLateral is False
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
|
||||
def test_ford_lkas_button_can_use_aol_mapping(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(
|
||||
SimpleNamespace(brand="ford"),
|
||||
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
|
||||
)
|
||||
car_state = make_car_state(available=True)
|
||||
toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, ford_lkas_aol_toggle=True, lkas_allowed_for_aol=True)
|
||||
|
||||
ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is False
|
||||
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is True
|
||||
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
|
||||
card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
|
||||
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
|
||||
ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is True
|
||||
assert ret.pauseLateral is False
|
||||
|
||||
|
||||
def test_ford_aol_mapping_pauses_lateral_when_aol_is_disabled(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
|
||||
card.prev_cruise_enabled = True
|
||||
car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
||||
sm = make_sm()
|
||||
sm["selfdriveState"].active = True
|
||||
sm["carControl"].longActive = True
|
||||
|
||||
ret = card.update(car_state, SimpleNamespace(distancePressed=False), sm, make_toggles(ford_lkas_aol_toggle=True))
|
||||
|
||||
assert ret.alwaysOnLateralAllowed is False
|
||||
assert ret.pauseLateral is True
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
|
||||
def test_ford_lkas_button_can_keep_experimental_mapping(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
|
||||
card.prev_cruise_enabled = True
|
||||
car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
|
||||
sm = make_sm()
|
||||
sm["carControl"].longActive = True
|
||||
|
||||
ret = card.update(car_state, SimpleNamespace(distancePressed=False), sm, make_toggles(experimental_mode_via_lkas=True))
|
||||
|
||||
assert card.params.get_bool("ExperimentalMode") is True
|
||||
assert ret.pauseLateral is False
|
||||
|
||||
|
||||
def test_ford_new_longitudinal_engagement_resumes_lateral(monkeypatch, tmp_path):
|
||||
monkeypatch.setattr(spc, "Params", FakeParams)
|
||||
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
|
||||
|
||||
card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
|
||||
card.pause_lateral = True
|
||||
|
||||
car_state = make_car_state(available=True, enabled=True)
|
||||
starpilot_car_state = SimpleNamespace(distancePressed=False)
|
||||
sm = make_sm()
|
||||
sm["selfdriveState"].active = True
|
||||
sm["carControl"].longActive = True
|
||||
|
||||
ret = card.update(car_state, starpilot_car_state, sm, make_toggles())
|
||||
|
||||
assert ret.pauseLateral is False
|
||||
assert ret.pauseLongitudinal is False
|
||||
|
||||
|
||||
def test_honda_main_aol_follows_cruise_main_without_manual_aol_button_mapping(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(
|
||||
@@ -795,7 +965,6 @@ def test_honda_main_aol_follows_cruise_main_without_manual_aol_button_mapping(mo
|
||||
|
||||
def test_hyundai_main_aol_persists_after_brake_disengage_without_manual_aol_button_mapping(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(
|
||||
@@ -823,7 +992,6 @@ def test_hyundai_main_aol_persists_after_brake_disengage_without_manual_aol_butt
|
||||
|
||||
def test_non_button_aol_platform_keeps_main_aol_when_main_cruise_is_mapped(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(
|
||||
@@ -840,7 +1008,6 @@ def test_non_button_aol_platform_keeps_main_aol_when_main_cruise_is_mapped(monke
|
||||
|
||||
def test_main_aol_still_follows_cruise_main_for_other_platforms(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="toyota", carFingerprint="TOYOTA_TEST", pcmCruise=True),
|
||||
@@ -855,7 +1022,6 @@ def test_main_aol_still_follows_cruise_main_for_other_platforms(monkeypatch, tmp
|
||||
|
||||
def test_pacifica_hybrid_main_aol_waits_for_set_press(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(
|
||||
@@ -890,7 +1056,6 @@ def test_pacifica_hybrid_main_aol_waits_for_set_press(monkeypatch, tmp_path):
|
||||
|
||||
def test_conditional_chill_wheel_override_cycles_manual_state(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -907,7 +1072,6 @@ def test_conditional_chill_wheel_override_cycles_manual_state(monkeypatch, tmp_p
|
||||
|
||||
def test_cancel_button_short_press_can_run_independent_mapping(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -933,7 +1097,6 @@ def test_cancel_button_short_press_can_run_independent_mapping(monkeypatch, tmp_
|
||||
|
||||
def test_lkas_button_press_creates_bookmark(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="toyota"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -946,7 +1109,6 @@ def test_lkas_button_press_creates_bookmark(monkeypatch, tmp_path):
|
||||
|
||||
def test_favorite_wheel_action_toggles_hidden_onroad_slot(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -963,7 +1125,6 @@ def test_favorite_wheel_action_toggles_hidden_onroad_slot(monkeypatch, tmp_path)
|
||||
|
||||
def test_favorite_wheel_action_can_press_virtual_resume(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -978,7 +1139,6 @@ def test_favorite_wheel_action_can_press_virtual_resume(monkeypatch, tmp_path):
|
||||
|
||||
def test_favorite_action_toggles_traffic_mode_when_longitudinal_control_is_active(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
@@ -998,7 +1158,6 @@ def test_favorite_action_toggles_traffic_mode_when_longitudinal_control_is_activ
|
||||
|
||||
def test_favorite_traffic_mode_action_is_consumed_when_not_active(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="gm"), SimpleNamespace(alternativeExperience=0))
|
||||
|
||||
@@ -200,10 +200,6 @@ def send_stats():
|
||||
build_metadata = get_build_metadata()
|
||||
starpilot_toggles = get_starpilot_toggles()
|
||||
|
||||
frogs_go_moo = getattr(starpilot_toggles, "frogs_go_moo", False)
|
||||
if frogs_go_moo:
|
||||
return
|
||||
|
||||
if starpilot_toggles.car_make == "mock":
|
||||
return
|
||||
|
||||
|
||||
Reference in New Issue
Block a user