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https://github.com/firestar5683/StarPilot.git
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AngusBell97
c51b96879a
Move the fork-specific diagnostics out of the stock CarOutput schema and into StarPilot reserved messaging. Preserve the legacy saturation fallback when custom diagnostics are unavailable or stale. Co-authored-by: AngusBell97 <124716116+AngusBell97@users.noreply.github.com>
31 lines
879 B
Python
31 lines
879 B
Python
import cereal.messaging as messaging
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from cereal import car
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from openpilot.selfdrive.car.card import _build_starpilot_car_control
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def test_steering_diagnostics_use_reserved_custom_message():
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values = {
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"valid": True,
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"modelLimitErrorDeg": 1.25,
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"resumeLimitErrorDeg": 0.5,
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"cooperativeLimitErrorDeg": 2.0,
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"cooperativeOffsetDeg": -4.5,
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"monoTime": 1_234_567_890,
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"combinedLimitErrorDeg": 3.75,
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}
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message = _build_starpilot_car_control(values, True)
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restored = messaging.log_from_bytes(message.to_bytes())
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info = restored.starpilotCarControl.steeringLimitInfo
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assert restored.valid
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for field, value in values.items():
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assert getattr(info, field) == value
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def test_stock_car_output_has_no_fork_specific_fields():
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actuators = car.CarOutput.new_message().actuatorsOutput
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assert "steeringLimitInfo" not in actuators.to_dict()
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