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https://github.com/firestar5683/StarPilot.git
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firestar5683
52 lines
2.7 KiB
Python
52 lines
2.7 KiB
Python
"""The HKG healthy-stop exception cannot widen a Ford native denial."""
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from types import SimpleNamespace
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from unittest.mock import Mock
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import pytest
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.ford.interface import CarInterface
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from openpilot.starpilot.aol.vehicle import policy_for
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from openpilot.starpilot.car.hyundai.aol import expected_stopped_lateral_denial
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from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES
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@pytest.mark.parametrize('identity,base', FORD_FACTORIES)
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@pytest.mark.parametrize('alpha', [False, True])
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@pytest.mark.parametrize('manual,offset', [(False, 0), (True, 0), (False, 4), (True, 4)])
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def test_hkg_stop_exception_never_qualifies_ford(identity, base, alpha, manual, offset, monkeypatch):
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fp = gen_empty_fingerprint()
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if not manual:
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fp[offset][0x5A] = 8
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fp[offset + 2].update({0x3D6: 8, 0x186: 8})
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cp = CarInterface.get_params(identity, fp, [], alpha, True, False)
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policy = policy_for(cp)
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cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
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cp.alternativeExperience |= policy.alternative_experience_addition
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assert cp.safetyConfigs[-1].safetyParam == (base | int(alpha) | (256 if manual else 0))
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transport = Mock(side_effect=AssertionError('Ford must reject the HKG-only exception before native transport'))
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monkeypatch.setattr('openpilot.starpilot.aol.transport_pause._configured_transport_native', transport)
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assert not expected_stopped_lateral_denial(cp, SimpleNamespace(), SimpleNamespace(), sm=None, axis_session_id='ford', now_ns=100)
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transport.assert_not_called()
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from openpilot.starpilot.car.hyundai.aol import source_deadline_supported
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from opendbc.car.hyundai.canfd_stock_aol import qualified as hkg_stock_qualified
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assert not source_deadline_supported(cp)
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assert not hkg_stock_qualified(cp, marked_only=True)
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from openpilot.starpilot.car.volkswagen.aol import qualified as vw_qualified, temporary_eps_restriction
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assert not vw_qualified(cp, marked_only=True)
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assert not temporary_eps_restriction(cp, SimpleNamespace())
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from openpilot.starpilot.car.subaru.smoothing import prepare, install, read_frozen, control_maximum, seconds, filter_action
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before = cp.to_dict()
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params = Mock()
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assert prepare(cp, object()).to_dict() == before
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assert install(cp, b'ford', object(), params) is None
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assert read_frozen(cp, params) == 0. and control_maximum(SimpleNamespace(CP=cp)) == 0.
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assert not params.mock_calls
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action = SimpleNamespace(desiredCurvature=.001, desiredAcceleration=.5)
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previous = SimpleNamespace(desiredCurvature=.002)
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for speed in (0., .3, 5., 20.):
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tau = seconds(speed, 0.)
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assert tau == 0.
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filter_action(action, previous, speed, tau)
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assert vars(action) == {'desiredCurvature': .001, 'desiredAcceleration': .5}
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