mirror of
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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
82 lines
4.2 KiB
Python
82 lines
4.2 KiB
Python
from types import SimpleNamespace
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from unittest import mock
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import pytest
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from opendbc.car import structs
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from openpilot.starpilot.controllers import wheel_actions
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@pytest.mark.parametrize('reason', ('passive', 'not_car', 'dashcam', 'invalid_can', 'can_timeout', 'drive_zero'))
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def test_rejected_source_does_not_read_assignment_files(reason):
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owner = wheel_actions.WheelPublisher()
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cp = SimpleNamespace(notCar=reason == 'not_car', passive=reason == 'passive',
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dashcamOnly=reason == 'dashcam', carFingerprint='HYUNDAI IONIQ 6 2023')
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state = structs.CarState(canValid=reason != 'invalid_can', canTimeout=reason == 'can_timeout')
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drive = 0 if reason == 'drive_zero' else 1
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with mock.patch.object(wheel_actions, 'capture', side_effect=AssertionError('rejected source entered filesystem')) as reads:
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assert owner.observe(object(), cp, state, now_ns=10, drive_id=drive) == ()
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reads.assert_not_called()
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assert owner.mapping is None and owner.checked_ns == 10
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assert owner.tracker.distance_held is False
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def test_eligible_source_still_reads_and_failed_read_denies():
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owner = wheel_actions.WheelPublisher()
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cp = SimpleNamespace(notCar=False, passive=False, dashcamOnly=False, carFingerprint='HYUNDAI IONIQ 6 2023')
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with mock.patch.object(wheel_actions, 'capture', return_value=None) as reads:
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assert owner.observe(object(), cp, structs.CarState(canValid=True), now_ns=10, drive_id=1) == ()
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reads.assert_called_once()
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assert owner.mapping is None and owner.checked_ns == 10
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@pytest.fixture
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def real_context(tmp_path):
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.tests.test_hyundai_aol import candidate
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params = Params(str(tmp_path))
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_, cp = candidate(False)
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return params, cp
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def test_invalid_source_recovery_recaptures_and_rejects_held_release(real_context):
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from openpilot.starpilot.controllers.tests.test_wheel_actions import DRIVE, NOW, state
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params, cp = real_context
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params.put('DistanceButtonControl', 8, block=True)
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owner = wheel_actions.WheelPublisher()
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owner.observe(params, cp, state(), now_ns=NOW, drive_id=DRIVE)
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owner.observe(params, cp, state(True), now_ns=NOW + 10_000_000, drive_id=DRIVE)
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assert owner.tracker.distance_held
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invalid = state()
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invalid.canValid = False
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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assert owner.observe(params, cp, invalid, now_ns=NOW + 20_000_000, drive_id=DRIVE) == ()
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reads.assert_not_called()
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assert owner.mapping is None and not owner.tracker.distance_held
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params.put('DistanceButtonControl', 12, block=True)
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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commands = owner.observe(params, cp, state(False), now_ns=NOW + 30_000_000, drive_id=DRIVE)
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reads.assert_called_once_with(params)
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assert owner.mapping['DistanceButtonControl'] == 12
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assert not any(action for _, action in commands)
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owner.observe(params, cp, state(True), now_ns=NOW + 40_000_000, drive_id=DRIVE)
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assert owner.observe(params, cp, state(False), now_ns=NOW + 50_000_000, drive_id=DRIVE) == (('DistanceButtonControl', 12),)
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def test_invalid_drive_new_drive_recaptures_current_mapping(real_context):
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from openpilot.starpilot.controllers.tests.test_wheel_actions import DRIVE, NOW, state
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params, cp = real_context
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owner = wheel_actions.WheelPublisher()
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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assert owner.observe(params, cp, state(), now_ns=NOW, drive_id=0) == ()
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reads.assert_not_called()
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assert owner.mapping is None
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params.put('DistanceButtonControl', 11, block=True)
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with mock.patch.object(wheel_actions, 'capture', wraps=wheel_actions.capture) as reads:
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commands = owner.observe(params, cp, state(), now_ns=NOW + 10_000_000, drive_id=DRIVE + 1)
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reads.assert_called_once_with(params)
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assert owner.mapping is not None
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assert owner.drive == DRIVE + 1 and owner.mapping['DistanceButtonControl'] == 11
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assert not any(action for _, action in commands)
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owner.observe(params, cp, state(True), now_ns=NOW + 20_000_000, drive_id=DRIVE + 1)
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assert owner.observe(params, cp, state(False), now_ns=NOW + 30_000_000, drive_id=DRIVE + 1) == (('DistanceButtonControl', 11),)
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