mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-22 07:23:53 +08:00
AngusBell97
44 lines
2.5 KiB
Python
44 lines
2.5 KiB
Python
import ast
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from pathlib import Path
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import pytest
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from openpilot.starpilot.common import favorite_slots as favorites
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from openpilot.starpilot.common.controller_actions import CONTROLLER_ACTION_KEYS, CONTROLLER_ACTION_SET_SPEED
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from openpilot.starpilot.common.tests.test_favorite_slots import FakeParams
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from openpilot.starpilot.system.wheel_controls import wheel_controlsd as wheel
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def test_favourites_and_bluetooth_have_identical_unique_options():
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options = favorites.build_favorite_slot_options(lambda _: True, alpha_longitudinal_available=True)
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source = Path(__file__).parents[2] / 'system/the_galaxy/the_galaxy.py'
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fn = next(n for n in ast.parse(source.read_text()).body if isinstance(n, ast.FunctionDef) and n.name == '_get_available_controller_action_options')
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env = {'_get_available_favorite_slot_options': lambda: options}
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exec(compile(ast.Module(body=[fn], type_ignores=[]), str(source), 'exec'), env)
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assert env[fn.name]() == options
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keys = [o['key'] for o in options]
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assert len(keys) == len(set(keys))
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assert CONTROLLER_ACTION_KEYS <= set(keys)
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@pytest.mark.parametrize('key', sorted(CONTROLLER_ACTION_KEYS))
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def test_every_controller_action_works_through_native_favourite_dispatch(key, monkeypatch):
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params, memory, calls = FakeParams(), FakeParams(), []
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slot = {'key': key, 'label': 'Assigned', 'enabled': True, 'show_onroad': True}
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if key == CONTROLLER_ACTION_SET_SPEED: slot['value'] = 42
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params.put(favorites.FAVORITE_SLOTS_PARAM, [slot])
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monkeypatch.setattr(wheel, 'execute_controller_key', lambda k, p, m, **kw: calls.append((k, p, m, kw['value'])) or True)
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assert favorites.toggle_favorite_slot(0, params, memory)
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assert calls == [(key, params, memory, slot.get('value'))]
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assert params.get(favorites.FAVORITE_SLOTS_PARAM) == [slot]
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slot['enabled'] = False
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assert not favorites.toggle_favorite_slot(0, params, memory)
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assert len(calls) == 1
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@pytest.mark.parametrize('onroad,engaged,value,success', [(False,False,30,False),(True,False,30,False),(True,True,30,True),(True,True,500,False),(True,True,float('nan'),False)])
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def test_favourite_set_speed_keeps_controller_bounds_and_engagement_guard(onroad,engaged,value,success):
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from openpilot.starpilot.system.wheel_controls.tests.test_wheel_controlsd import FakeParams as WheelParams
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params, memory = WheelParams({'IsOnroad':onroad,'IsEngaged':engaged,'IsMetric':False}), WheelParams()
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assert favorites.trigger_favorite_action(CONTROLLER_ACTION_SET_SPEED,memory,params=params,value=value) is success
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assert bool(memory.values) is success
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