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https://github.com/firestar5683/StarPilot.git
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firestar5683
63 lines
2.9 KiB
Python
63 lines
2.9 KiB
Python
"""Saved Ford release intent is consumed before construction, with exact admission."""
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from types import SimpleNamespace
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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 opendbc.car.ford.values import CAR
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from openpilot.starpilot.car.ford.longitudinal_preferences import prepare_release_long
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from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES
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def saved(tmp_path, alpha=b'1', safe=b'0'):
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for key, value in [('AlphaLongitudinalEnabled', alpha), ('SafeMode', safe)]:
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if value is not None:
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(tmp_path / key).write_bytes(value)
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return SimpleNamespace(get_param_path=lambda key: str(tmp_path / key))
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@pytest.mark.parametrize('identity,base', FORD_FACTORIES)
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@pytest.mark.parametrize('manual', [False, True])
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@pytest.mark.parametrize('offset', [0, 4])
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def test_release_long_changes_only_selected_owner_and_long_selection(identity, base, manual, offset, tmp_path):
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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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stock = CarInterface.get_params(identity, fp, [], False, True, False)
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stock.carVin = '0' * 17
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stock.fuzzyFingerprint = True
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before = stock.to_dict()
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selected = prepare_release_long(stock, saved(tmp_path), is_release=True, enabled=True)
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expected = stock.as_reader().as_builder()
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expected.openpilotLongitudinalControl = True
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expected.safetyConfigs[-1].safetyParam = base | 1
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assert stock.to_dict() == before
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assert selected.to_dict() == expected.to_dict()
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@pytest.mark.parametrize('alpha,safe,release,enabled', [
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(None, b'0', True, True), (b'0', b'0', True, True), (b'1junk', b'0', True, True),
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(b'1', b'1', True, True), (b'1', b'bad', True, True), (b'1', b'0', False, True),
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(b'1', b'0', True, False),
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])
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def test_release_opt_in_off_invalid_safe_mode_debug_and_disabled_stay_unchanged(alpha, safe, release, enabled, tmp_path):
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fp = gen_empty_fingerprint()
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fp[0][0x5A] = 8
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cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fp, [], False, True, False)
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assert prepare_release_long(cp, saved(tmp_path, alpha, safe), is_release=release, enabled=enabled) is cp
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@pytest.mark.parametrize('restriction', ['secoc', 'extra-panda', 'angle', 'foreign-brand'])
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def test_release_never_promotes_unowned_configuration(restriction, tmp_path):
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fp = gen_empty_fingerprint()
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fp[0][0x5A] = 8
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fp[2].update({0x3D6: 16 if restriction == 'secoc' else 8, 0x186: 16 if restriction == 'secoc' else 8})
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cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, fp, [], False, True, False)
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if restriction == 'extra-panda':
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cp.safetyConfigs = [cp.safetyConfigs[0], cp.safetyConfigs[0]]
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elif restriction == 'angle':
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cp.safetyConfigs[-1].safetyParam = 130
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elif restriction == 'foreign-brand':
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cp.brand = 'hyundai'
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assert prepare_release_long(cp, saved(tmp_path), is_release=True, enabled=True) is cp
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