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firestar5683
70 lines
3.2 KiB
Python
70 lines
3.2 KiB
Python
"""Current-schema peers for the retained actual SelfdriveD step; no Params shim."""
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from unittest.mock import patch
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from openpilot.cereal import messaging
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def selfdrive_step(sd, published, native, previous_controls, cp, safety, now, *, calibration, driver_lockout=False, driver_monitoring_valid=True):
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peers = []
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for service in sd.sm.data:
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if service in ('alertDebug', 'lateralManeuverPlan', 'laneChangeAssistWire', 'starpilotLongitudinalPlan'):
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continue
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if service == 'aolIntentWire':
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peers.append(published[service])
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continue
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if service == 'aolSafetyWire':
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peers.append(native.as_reader())
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continue
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if service in ('carControl', 'controlsState'):
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if service in previous_controls:
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peers.append(previous_controls[service])
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continue
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size = 1 if service == 'pandaStates' else None
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event = messaging.new_message(service, size, valid=True, logMonoTime=now)
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value = getattr(event, service)
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if service == 'pandaStates':
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value[0].safetyModel = cp.safetyConfigs[0].safetyModel
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value[0].safetyParam = cp.safetyConfigs[0].safetyParam
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value[0].alternativeExperience = cp.alternativeExperience
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value[0].controlsAllowed = bool(safety.get_controls_allowed())
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value[0].safetyRxChecksInvalid = not bool(safety.safety_config_valid())
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elif service == 'driverMonitoringState':
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value.lockout = driver_lockout
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event.valid = driver_monitoring_valid
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elif service == 'extrinsicsCalibration':
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value.calStatus, value.rpyCalib = calibration, [0.0, 0.0, 0.0]
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elif service == 'vehicleParameters':
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value.stiffnessFactor, value.steerRatio, value.valid = 1.0, cp.steerRatio, True
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elif service == 'deviceMotion':
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value.inputsOK = value.posenetOK = True
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value.velocityDevice.x = published['carState'].carState.vEgo
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elif service == 'deviceState':
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value.freeSpacePercent = 50.0
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value.started, value.startedMonoTime = True, 500_000_000
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peers.append(event.as_reader())
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output = {}
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def capture(service, message):
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# Snapshot only a real producer send, once; retain its source timestamp.
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wire = message if isinstance(message, bytes) else message.to_bytes()
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output[service] = messaging.log_from_bytes(wire)
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real_new_message = messaging.new_message
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def stamped_message(service=None, size=None, **kwargs):
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return real_new_message(service, size, **({'logMonoTime': now} | kwargs))
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with (
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patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.new_message', side_effect=stamped_message),
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patch('openpilot.selfdrive.selfdrived.selfdrived.REPLAY', False),
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patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', return_value=now),
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patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic', return_value=now / 1e9),
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patch('openpilot.selfdrive.selfdrived.selfdrived.time.clock_gettime_ns', return_value=now),
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patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.recv_one_or_none', return_value=None),
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patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.recv_one', return_value=published['carState']),
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patch.object(sd.sm, 'update', side_effect=lambda _: sd.sm.update_msgs(now / 1e9, peers)),
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patch.object(sd.pm, 'send', side_effect=capture),
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):
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sd.step()
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return output
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