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https://github.com/firestar5683/StarPilot.git
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firestar5683
75 lines
3.5 KiB
Python
75 lines
3.5 KiB
Python
"""Ford auto-MAIN synthetic pulse must stay within its original input window."""
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import pytest
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from opendbc.car import structs
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from dataclasses import replace
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from openpilot.starpilot.aol.intent import AolSettings
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from openpilot.starpilot.car.ford.aol import FordCardIntent
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def state(*, available, **kwargs):
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return structs.CarState(
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canValid=True, cruiseState=structs.CarState.CruiseState(available=available), gearShifter=structs.CarState.GearShifter.drive, **kwargs
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).as_reader()
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@pytest.mark.parametrize('guard', ('late', 'backwards', 'cancel', 'main-off', 'can', 'permanent', 'acc', 'disabled', 'fault'))
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def test_pending_main_cannot_replay_after_stale_or_disarming_input(guard):
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intent = FordCardIntent(
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None, AolSettings(enabled=True, pause_brake_mps=0.0, lkas_action=0, main_action=0, distance_actions=(0, 0, 0), cancel_actions=(0, 0, 0))
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)
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intent.update(state(available=False), now_ns=1_000_000_000, fault_active=False)
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intent.update(state(available=True), now_ns=1_010_000_000, fault_active=False)
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assert not intent.allowed_latch
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kwargs = {}
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available = True
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now = 1_020_000_000
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if guard == 'late':
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now = 1_040_000_001
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elif guard == 'backwards':
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now = 1_009_000_000
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elif guard == 'cancel':
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kwargs['buttonEvents'] = [structs.CarState.ButtonEvent(type=structs.CarState.ButtonEvent.Type.cancel, pressed=True)]
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elif guard == 'main-off':
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available = False
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elif guard == 'can':
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kwargs['canTimeout'] = True
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elif guard == 'permanent':
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kwargs['steerFaultPermanent'] = True
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elif guard == 'acc':
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kwargs['accFaulted'] = True
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elif guard == 'disabled':
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intent.settings = replace(intent.settings, enabled=False)
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intent.update(state(available=available, **kwargs), now_ns=now, fault_active=guard == 'fault')
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assert not intent.allowed_latch
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intent.update(state(available=True), now_ns=max(now, 1_020_000_000) + 10_000_000, fault_active=False)
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# A new actual MAIN rise is separate; stale pending delivery has been consumed.
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if guard != 'main-off':
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assert not intent.allowed_latch
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def test_main_pulse_arms_once_after_prior_main_off_feedback_clears():
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intent = FordCardIntent(None, AolSettings(True, 0.0, 0, 0, (0, 0, 0), (0, 0, 0)))
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intent.update(state(available=False), now_ns=1_000_000_000, fault_active=False)
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intent.update(state(available=True), now_ns=1_010_000_000, fault_active=False)
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assert not intent.allowed_latch
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intent.update(state(available=True), now_ns=1_020_000_000, fault_active=False)
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assert intent.allowed_latch
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intent.update(state(available=True), now_ns=1_030_000_000, fault_active=False)
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assert intent.allowed_latch and not intent.main_pulse
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@pytest.mark.parametrize('edge_fault', ('host', 'permanent', 'acc', 'disabled'))
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def test_fault_at_original_main_edge_cannot_arm_after_fault_clears(edge_fault):
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intent = FordCardIntent(None, AolSettings(True, 0.0, 0, 0, (0, 0, 0), (0, 0, 0)))
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intent.update(state(available=False), now_ns=1_000_000_000, fault_active=False)
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if edge_fault == 'disabled':
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intent.settings = replace(intent.settings, enabled=False)
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cs = state(available=True, steerFaultPermanent=edge_fault == 'permanent', accFaulted=edge_fault == 'acc')
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intent.update(cs, now_ns=1_010_000_000, fault_active=edge_fault == 'host')
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intent.settings = replace(intent.settings, enabled=True)
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intent.update(state(available=True), now_ns=1_020_000_000, fault_active=False)
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assert not intent.allowed_latch
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intent.update(state(available=True), now_ns=1_030_000_000, fault_active=False)
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assert not intent.allowed_latch
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