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https://github.com/firestar5683/StarPilot.git
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firestar5683
68 lines
2.9 KiB
Python
68 lines
2.9 KiB
Python
"""Alpha CP may retain only a proven LAT-only Reverse intent, never LONG."""
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from dataclasses import replace
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import pytest
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from openpilot.starpilot.tests.ford_alpha_test_support import NOW, PRODUCER, baseline, change, native_change, receipt
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from opendbc.car import structs
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from openpilot.starpilot.car.ford.reverse_intent import retain_reverse_intent
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NEGATIVES = (
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'lat-only-origin',
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'axis-long-desire',
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'axis-long-active',
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'native-long-request',
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'native-long-grant',
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'native-controls',
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'raw-controls',
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'native-rx',
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'native-heartbeat',
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'expired',
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'event',
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'epoch',
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)
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def setup():
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cp, cs, f = baseline(combined=False)
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cs.gearShifter = structs.CarState.GearShifter.reverse
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sm, native = receipt(cp, NOW + 10_000_000, NOW + 20_000_000, 2, reverse=True)
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return cp, cs, f, sm, native
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def test_alpha_reverse_uses_original_lat_only_proof_with_zero_long_and_no_renewal():
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cp, cs, f, sm, _ = setup()
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before = dict(vars(f))
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assert retain_reverse_intent(f, sm, cp, cs, sm['aolAxisState'], NOW + 20_000_000, latched=True, producer=PRODUCER)
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assert vars(f) == before
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assert not f.observe(sm, cp, cs, NOW + 20_000_000, latched=True, intent_producer_session=PRODUCER)
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assert f.sequence == before['sequence'] and f.signature == before['signature']
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assert f.healthy_native_ns == before['healthy_native_ns'] and f.lateral_source_ns == before['lateral_source_ns']
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@pytest.mark.parametrize('fault', NEGATIVES)
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def test_alpha_reverse_cannot_borrow_combined_permission_or_mask_native_fault(fault):
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cp, cs, f, sm, native = setup()
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now = NOW + 20_000_000
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if fault == 'lat-only-origin':
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f.lateral_only_baseline = False
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elif fault in ('axis-long-desire', 'axis-long-active'):
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change(sm, 'aolAxisState', lambda a: setattr(a, 'desiredLongitudinal' if fault == 'axis-long-desire' else 'longitudinalActive', True))
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elif fault in ('native-long-request', 'native-long-grant'):
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native_change(sm, native, **{'requestedLongitudinal' if fault == 'native-long-request' else 'longitudinalAllowed': True})
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elif fault in ('native-controls', 'native-rx', 'native-heartbeat'):
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field = {'native-controls': 'controlsAllowed', 'native-rx': 'safetyRxChecksInvalid', 'native-heartbeat': 'heartbeatLost'}[fault]
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native_change(sm, native, pandaInventory=(replace(native.pandaInventory[0], **{field: True}),))
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elif fault == 'raw-controls':
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change(sm, 'pandaStates', lambda ps: setattr(ps[0], 'controlsAllowed', True))
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elif fault == 'expired':
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now = NOW + 40_000_000
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sm, _ = receipt(cp, NOW + 30_000_000, now, 3, reverse=True)
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elif fault == 'event':
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change(sm, 'onroadEvents', lambda es: setattr(es[0], 'immediateDisable', True))
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elif fault == 'epoch':
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change(sm, 'aolAxisState', lambda a: setattr(a, 'intentIntegrityEpoch', 2))
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else:
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raise AssertionError(fault)
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assert not retain_reverse_intent(f, sm, cp, cs, sm['aolAxisState'], now, latched=True, producer=PRODUCER)
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