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https://github.com/firestar5683/StarPilot.git
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firestar5683
b945d4c021
Integrate V-ASM from PR #75 with Galaxy-only configuration, stale-state safety, conditional SLV coexistence, and OpenCV inference. Originally contributed by @prabhaavp in #75. Co-authored-by: Prabhaav Pillai <143428353+prabhaavp@users.noreply.github.com>
105 lines
4.4 KiB
Python
105 lines
4.4 KiB
Python
from types import SimpleNamespace
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from cereal import custom, log
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from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
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from openpilot.selfdrive.selfdrived.events import ET, Events
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from openpilot.selfdrive.selfdrived.selfdrived import get_starpilot_alert_filters, should_loud_blindspot_alert_without_lateral
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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StarPilotEventName = custom.StarPilotOnroadEvent.EventName
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def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, right_blindspot=False):
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return SimpleNamespace(
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leftBlinker=left_blinker,
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rightBlinker=right_blinker,
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leftBlindspot=left_blindspot,
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rightBlindspot=right_blindspot,
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)
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def _sm(lane_change_state=LaneChangeState.off, lane_change_direction=LaneChangeDirection.none,
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lat_active=False, lateral_check=False, pause_lateral=False):
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return {
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"modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state, laneChangeDirection=lane_change_direction)),
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"carControl": SimpleNamespace(latActive=lat_active),
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"starpilotPlan": SimpleNamespace(lateralCheck=lateral_check),
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"starpilotCarState": SimpleNamespace(pauseLateral=pause_lateral),
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}
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def _toggles(enabled=True):
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return SimpleNamespace(
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loud_blindspot_alert=True,
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loud_blindspot_alert_when_disengaged=enabled,
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)
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def test_loud_blindspot_alert_without_lateral_for_matching_signal():
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CS = _car_state(left_blinker=True, left_blindspot=True)
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assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=False), _toggles())
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assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=False), _toggles())
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assert should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=True, pause_lateral=True), _toggles())
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def test_loud_blindspot_alert_accepts_combined_vision_state():
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CS = _car_state(left_blinker=True)
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assert should_loud_blindspot_alert_without_lateral(
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CS, _sm(lat_active=False), _toggles(), combined_left_bsm=True,
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)
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def test_loud_blindspot_alert_without_lateral_ignores_active_lateral():
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CS = _car_state(right_blinker=True, right_blindspot=True)
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assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lat_active=True, lateral_check=True), _toggles())
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def test_loud_blindspot_alert_without_lateral_requires_matching_side_and_toggle():
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assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, right_blindspot=True), _sm(), _toggles())
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assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, right_blinker=True, left_blindspot=True), _sm(), _toggles())
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assert not should_loud_blindspot_alert_without_lateral(_car_state(left_blinker=True, left_blindspot=True), _sm(), _toggles(enabled=False))
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def test_loud_blindspot_alert_without_lateral_skips_normal_lane_change_alert_path():
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CS = _car_state(left_blinker=True, left_blindspot=True)
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assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange,
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lane_change_direction=LaneChangeDirection.left), _toggles())
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def test_loud_blindspot_alert_without_lateral_handles_paused_pre_lane_change_without_direction():
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CS = _car_state(left_blinker=True, left_blindspot=True)
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sm = _sm(lane_change_state=LaneChangeState.preLaneChange, lat_active=True, lateral_check=True, pause_lateral=True)
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assert should_loud_blindspot_alert_without_lateral(CS, sm, _toggles())
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def test_loud_blindspot_alert_survives_disabled_warning_filter():
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events = Events(starpilot=True)
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events.add(StarPilotEventName.laneChangeBlockedLoud)
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alert_types, clear_event_types = get_starpilot_alert_filters([ET.PERMANENT], {ET.WARNING}, events)
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alerts = events.create_alerts(alert_types)
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alert_manager = AlertManager()
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alert_manager.add_many(0, alerts)
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alert_manager.process_alerts(0, clear_event_types)
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assert alert_manager.current_alert.alert_type == "laneChangeBlockedLoud/warning"
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def test_disabled_starpilot_warnings_stay_filtered_without_blindspot_event():
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events = Events(starpilot=True)
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events.add(StarPilotEventName.noLaneAvailable)
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alert_types, clear_event_types = get_starpilot_alert_filters([ET.PERMANENT], {ET.WARNING}, events)
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assert ET.WARNING not in alert_types
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assert ET.WARNING in clear_event_types
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assert events.create_alerts(alert_types) == []
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