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https://github.com/firestar5683/StarPilot.git
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firestar5683
49 lines
1.9 KiB
Python
49 lines
1.9 KiB
Python
from types import SimpleNamespace
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from unittest.mock import patch
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from opendbc.car.hyundai.ecu_startup import Outcome
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.radar_interface import RadarInterface
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from opendbc.car.hyundai.tests.test_g90_continuity import ManualKeeper
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from openpilot.selfdrive.car.card import Car
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def prepared_classic_card(cp, *, now_ns=10_000_000_000):
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if not CarInterface.startup_required(cp):
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return Car(CI=CarInterface(cp), RI=RadarInterface(cp))
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from opendbc.car.hyundai.ordinary_classic_startup import OrdinaryClassicStartup
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sent = []
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diagnostic_commands = []
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owner = CarInterface.startup_owner(cp, (list, sent.extend), requested=True)
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assert isinstance(owner, OrdinaryClassicStartup)
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owner.clock = lambda: now_ns / 1e9
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owner.keeper_factory = ManualKeeper
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def query(sender, receiver, bus, addresses, requests, responses):
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request = requests[0]
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diagnostic_commands.append(request)
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assert bus == 0 and addresses == [(0x7D0, None)]
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assert request in (b'\x10\x03', b'\x28\x83\x01', b'\x28\x00\x01', b'\x10\x01')
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def receive(timeout):
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sender([(0x7D0, bytes([len(request)]) + request + bytes(7 - len(request)), bus)])
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return {} if request == b'\x28\x83\x01' else {(0x7D0, None): b''}
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return SimpleNamespace(get_data=receive)
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owner._query = query
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try:
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with patch('time.clock_gettime_ns', return_value=now_ns), patch('time.sleep'):
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selected = owner.prepare(admission=lambda: True)
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assert owner.outcome is Outcome.SENT_UNCONFIRMED and sent
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assert diagnostic_commands == [b'\x10\x03', b'\x28\x83\x01']
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assert selected.to_dict() == cp.to_dict()
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card = Car(CI=CarInterface(selected), RI=RadarInterface(selected), startup_owner=owner)
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card._classic_startup_requests = tuple(diagnostic_commands)
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assert owner.ready and owner.published and owner.prepared_for(card.CP)
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return card
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except BaseException:
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owner.close()
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raise
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