mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 06:33:50 +08:00
TonyJOM
69 lines
2.4 KiB
Python
69 lines
2.4 KiB
Python
import importlib.util
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from pathlib import Path
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import sys
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from types import ModuleType, SimpleNamespace
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MODULE_PATH = Path(__file__).resolve().parents[1] / "car_specific.py"
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class FakeEvents:
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def __init__(self):
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self.names = []
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def add(self, event):
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self.names.append(event)
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def load_car_specific(monkeypatch):
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messaging = ModuleType("cereal.messaging")
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messaging.SubMaster = object
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monkeypatch.setitem(sys.modules, "cereal.messaging", messaging)
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events = ModuleType("openpilot.selfdrive.selfdrived.events")
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events.Events = FakeEvents
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monkeypatch.setitem(sys.modules, "openpilot.selfdrive.selfdrived.events", events)
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spec = importlib.util.spec_from_file_location("rivian_car_specific_under_test", MODULE_PATH)
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assert spec is not None and spec.loader is not None
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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return module
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def test_angle_saturation_raises_stock_take_control_event(monkeypatch):
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module = load_car_specific(monkeypatch)
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handler = module.CarSpecificEvents(SimpleNamespace(brand="rivian", flags=1))
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handler.rivian_status_params = SimpleNamespace(get_bool=lambda key: key == "RivianAngleSaturated")
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handler.rivian_angle_params = handler.rivian_status_params
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handler.create_common_events = lambda *args, **kwargs: FakeEvents()
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events = None
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for _ in range(5):
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events = handler.update(SimpleNamespace(), SimpleNamespace(), SimpleNamespace())
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assert module.EventName.steerSaturated in events.names
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def test_saturation_bridge_is_inert_without_angle_harness(monkeypatch):
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module = load_car_specific(monkeypatch)
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handler = module.CarSpecificEvents(SimpleNamespace(brand="rivian", flags=0))
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handler.create_common_events = lambda *args, **kwargs: FakeEvents()
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events = handler.update(SimpleNamespace(), SimpleNamespace(), SimpleNamespace())
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assert module.EventName.steerSaturated not in events.names
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def test_toi_recovery_timeout_raises_temporary_steering_event(monkeypatch):
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module = load_car_specific(monkeypatch)
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handler = module.CarSpecificEvents(SimpleNamespace(brand="rivian", flags=0))
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handler.rivian_status_params = SimpleNamespace(get_bool=lambda key: key == "RivianToiRecoveryFailed")
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handler.create_common_events = lambda *args, **kwargs: FakeEvents()
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events = None
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for _ in range(5):
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events = handler.update(SimpleNamespace(), SimpleNamespace(), SimpleNamespace())
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assert module.EventName.steerTempUnavailable in events.names
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