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https://github.com/firestar5683/StarPilot.git
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firestar5683
77 lines
3.9 KiB
Python
77 lines
3.9 KiB
Python
from contextlib import ExitStack
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import pytest
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from opendbc.car.hyundai.canfd_angle_aol import MODELS
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from openpilot.cereal import log
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from openpilot.common.params import Params
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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from openpilot.starpilot.aol.intent import read_settings
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@pytest.mark.parametrize('identity', sorted(MODELS))
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@pytest.mark.parametrize('pause_speed,speed', [(0., 3.), (30., 3.), (30., 30.), (30., 31.)])
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def test_fresh_first_brake_after_expired_angle_output_preserves_saved_pause(identity, pause_speed, speed):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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with OpenpilotPrefix():
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saved = Params()
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saved.put('PauseAOLOnBrake', pause_speed, block=True)
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saved.put('LKASButtonControl', 9, block=True)
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saved.put('MainCruiseButtonControl', 0, block=True)
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sd, _, step, card, receive = case._ioniq_availability_callers(full_op=False, stock_angle=identity)
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sd.aol_settings = read_settings(saved)
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assert sd.aol_settings == card.aol_card_intent.settings
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before, _, command = step(2)
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assert before.lateralActive and command.latActive
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state = fixture.car_state(brake=True)
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state.vEgo = state.vEgoRaw = speed
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expected = speed >= pause_speed
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axis, _, command = step(6, observed_state=state, pause=not expected,
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allowed=expected, native_request_lat=expected)
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assert axis.lateralActive == command.latActive == expected
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert not sd.aol_authority_lost
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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assert receive(10_060_000_000, state=state, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch
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assert float(saved.get('PauseAOLOnBrake')) == pause_speed
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@pytest.mark.parametrize('identity', ['HYUNDAI_IONIQ_5_PE', 'KIA_EV9', 'GENESIS_GV70_2026'])
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@pytest.mark.parametrize('restriction', ['native_denied', 'native_invalid', 'intent_withdrawn', 'can_invalid',
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'permanent_eps', 'reverse', 'paused_intent', 'old_source'])
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def test_fresh_brake_zero_never_replaces_missing_current_authority(identity, restriction):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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with OpenpilotPrefix():
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saved = Params()
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saved.put('PauseAOLOnBrake', 0., block=True)
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saved.put('LKASButtonControl', 9, block=True)
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saved.put('MainCruiseButtonControl', 0, block=True)
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sd, _, step, _, _ = case._ioniq_availability_callers(full_op=False, stock_angle=identity)
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sd.aol_settings = read_settings(saved)
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initial, _, command = step(2)
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assert initial.lateralActive and command.latActive
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state = fixture.car_state(brake=True)
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state.vEgo = state.vEgoRaw = 3.
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if restriction == 'can_invalid':
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state.canValid = False
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elif restriction == 'permanent_eps':
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state.steerFaultPermanent = True
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elif restriction == 'reverse':
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state.gearShifter = 'reverse'
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kwargs = {'observed_state': state, 'allowed': restriction != 'native_denied',
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'native_valid': restriction != 'native_invalid', 'latched': restriction != 'intent_withdrawn',
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'pause': restriction == 'paused_intent'}
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if restriction == 'old_source':
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kwargs['state_stamp'] = 10_020_000_000
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axis, _, command = step(6, **kwargs)
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assert not axis.lateralActive and not command.latActive
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert float(saved.get('PauseAOLOnBrake')) == 0.
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