mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 14:43:48 +08:00
firestar5683
64 lines
2.6 KiB
Python
64 lines
2.6 KiB
Python
from types import SimpleNamespace
|
|
|
|
from openpilot.selfdrive.ui.lib.starpilot_status import (
|
|
DISENGAGED_COLOR,
|
|
ENGAGED_COLOR,
|
|
LONGITUDINAL_ONLY_COLOR,
|
|
AOL_COLOR,
|
|
OVERRIDE_COLOR,
|
|
get_border_color,
|
|
get_screen_edge_color,
|
|
)
|
|
from openpilot.selfdrive.ui.ui_state import UIStatus
|
|
|
|
|
|
def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=()):
|
|
return SimpleNamespace(
|
|
sm={
|
|
"selfdriveState": SimpleNamespace(enabled=enabled, experimentalMode=False),
|
|
"carControl": SimpleNamespace(latActive=lat_active),
|
|
"onroadEvents": events,
|
|
},
|
|
status=status if status is not None else (UIStatus.ENGAGED if enabled else UIStatus.DISENGAGED),
|
|
always_on_lateral_active=aol,
|
|
switchback_mode_enabled=False,
|
|
traffic_mode_enabled=False,
|
|
conditional_status=0,
|
|
)
|
|
|
|
|
|
def _rgb(color):
|
|
return color.r, color.g, color.b
|
|
|
|
|
|
def test_cruise_only_uses_pink_for_border_and_screen_edge():
|
|
state = _state(enabled=True, lat_active=False)
|
|
|
|
assert _rgb(get_border_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
|
|
assert _rgb(get_screen_edge_color(state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
|
|
|
|
|
|
def test_lateral_active_colors_remain_unchanged():
|
|
assert _rgb(get_border_color(_state(enabled=True, lat_active=True))) == _rgb(ENGAGED_COLOR)
|
|
assert _rgb(get_border_color(_state(aol=True))) == _rgb(AOL_COLOR)
|
|
assert _rgb(get_border_color(_state())) == _rgb(DISENGAGED_COLOR)
|
|
|
|
|
|
def test_override_color_matches_active_control_mode():
|
|
lateral_override = SimpleNamespace(overrideLateral=True, overrideLongitudinal=False)
|
|
longitudinal_override = SimpleNamespace(overrideLateral=False, overrideLongitudinal=True)
|
|
override = UIStatus.OVERRIDE
|
|
|
|
# Green: either active-control override is gray.
|
|
assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
|
|
assert _rgb(get_border_color(_state(enabled=True, lat_active=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
|
|
|
|
# Pink: steering is already inactive, so only a longitudinal override is gray.
|
|
pink_state = _state(enabled=True, status=override, events=[lateral_override])
|
|
assert _rgb(get_border_color(pink_state)) == _rgb(LONGITUDINAL_ONLY_COLOR)
|
|
assert _rgb(get_border_color(_state(enabled=True, status=override, events=[longitudinal_override]))) == _rgb(OVERRIDE_COLOR)
|
|
|
|
# Blue/AOL: longitudinal override is inactive, so only steering is gray.
|
|
assert _rgb(get_border_color(_state(aol=True, status=override, events=[lateral_override]))) == _rgb(OVERRIDE_COLOR)
|
|
assert _rgb(get_border_color(_state(aol=True, status=override, events=[longitudinal_override]))) == _rgb(AOL_COLOR)
|