mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-10 06:23:43 +08:00
Prabhaav Pillai
72 lines
2.9 KiB
Python
72 lines
2.9 KiB
Python
"""Optional projection cannot acquire driving health authority."""
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import pytest
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from openpilot.cereal import log, messaging
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from openpilot.selfdrive.selfdrived.events import ET, EventName, Events
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from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
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from openpilot.selfdrive.selfdrived.state import StateMachine
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def process_health(processes):
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message = messaging.new_message('managerState')
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message.managerState.processes = [{'name': name, 'running': running, 'shouldBeRunning': requested}
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for name, running, requested in processes]
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drive = SelfdriveD.__new__(SelfdriveD)
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class Sources:
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recv_frame = {'managerState': 1}
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def __getitem__(self, key):
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assert key == 'managerState'
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return message.managerState.as_reader()
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vars(drive)['sm'] = Sources()
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drive.not_running_prev = None
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drive.events = Events()
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return drive
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@pytest.mark.parametrize('name', ['starportd', 'galaxy_hotspot', 'jetlinkd'])
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@pytest.mark.parametrize('running,requested', [(False, False), (False, True), (True, True)])
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def test_optional_lifecycle_does_not_block_engagement(name, running, requested):
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drive = process_health([(name, running, requested)])
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assert not drive.update_process_health()
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assert not drive.events.contains(ET.NO_ENTRY)
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drive.events.add(EventName.buttonEnable)
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state = StateMachine()
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state.update(drive.events)
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assert state.state == log.SelfdriveState.OpenpilotState.enabled
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# Manager still reports the real failed/requested service rather than hiding it.
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assert drive.sm['managerState'].processes[0].running == running
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assert drive.sm['managerState'].processes[0].shouldBeRunning == requested
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@pytest.mark.parametrize('critical', ['controlsd', 'pandad', 'modeld', 'card', 'unknown_service'])
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def test_projection_failure_does_not_hide_critical_process_failure(critical):
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drive = process_health([('starportd', False, True), (critical, False, True)])
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assert drive.update_process_health()
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assert drive.not_running_prev == {critical}
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assert drive.events.contains(ET.NO_ENTRY)
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assert drive.events.contains(ET.SOFT_DISABLE)
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drive.events.add(EventName.buttonEnable)
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state = StateMachine()
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state.update(drive.events)
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assert state.state == log.SelfdriveState.OpenpilotState.disabled
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def test_optional_failure_does_not_soft_disable_existing_drive():
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drive = process_health([('starportd', False, True)])
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assert not drive.update_process_health()
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state = StateMachine()
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state.state = log.SelfdriveState.OpenpilotState.enabled
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state.update(drive.events)
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assert state.state == log.SelfdriveState.OpenpilotState.enabled
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def test_missing_starport_service_does_not_block_engagement():
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drive = process_health([])
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assert not drive.update_process_health()
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drive.events.add(EventName.buttonEnable)
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state = StateMachine()
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state.update(drive.events)
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assert state.state == log.SelfdriveState.OpenpilotState.enabled
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