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https://github.com/firestar5683/StarPilot.git
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firestar5683
105 lines
5.4 KiB
Python
105 lines
5.4 KiB
Python
from contextlib import ExitStack
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from dataclasses import replace
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.canfd_angle_aol import MODELS
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from opendbc.car.hyundai.tests.test_stock_angle_aol import source_profile
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from opendbc.car.hyundai.values import CAR
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.common.params import Params
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from openpilot.starpilot.aol.intent import AolSettings, read_settings
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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from openpilot.starpilot.car.hyundai.aol import create_intent, physical_cancel_lateral_allowed
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from openpilot.starpilot.aol.runtime import AxisDecision
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from openpilot.starpilot.aol.wire import IntentState, PandaSlot, SafetyState
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@pytest.mark.parametrize('identity', sorted(MODELS))
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@pytest.mark.parametrize('tick', [2, 6])
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def test_unassigned_cancel_retains_current_angle_lateral_and_card_latch(identity, tick):
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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('LKASButtonControl', 9, block=True)
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saved.put('MainCruiseButtonControl', 0, block=True)
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for key in ('CancelButtonControl', 'LongCancelButtonControl', 'VeryLongCancelButtonControl'):
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saved.put(key, 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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state = fixture.car_state()
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state.vEgoRaw = state.vEgo
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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axis, _, command = step(tick, observed_state=state)
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assert axis.lateralActive and command.latActive
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert receive(10_000_000_000 + tick * 10_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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@pytest.mark.parametrize('identity', sorted(MODELS))
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@pytest.mark.parametrize('action', [0, 3, 4, 9])
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def test_angle_cancel_mapping_preserves_saved_action_semantics(identity, action):
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cp = source_profile(CAR(identity))
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cp.alternativeExperience = 32
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settings = AolSettings(True, 0., 9, 0, (0, 0, 0), (action, 0, 0))
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owner = create_intent(cp, settings)
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state = structs.CarState(canValid=True, gearShifter='drive')
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state.cruiseState.available = True
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owner.update(state, now_ns=1)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='lkas', pressed=True)]
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owner.update(state, now_ns=2)
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assert owner.allowed_latch
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state.buttonEvents = [structs.CarState.ButtonEvent(type='lkas', pressed=False)]
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owner.update(state, now_ns=3)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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owner.update(state, now_ns=4)
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assert owner.allowed_latch == (action == 0)
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assert owner.settings == settings
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@pytest.mark.parametrize('identity', sorted(MODELS))
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@pytest.mark.parametrize('restriction', ['none', 'unclaimed', 'mapped_cancel', 'paused', 'old_source', 'old_native',
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'wrong_session', 'foreign_inventory', 'rx_invalid', 'lat_denied', 'no_cancel'])
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def test_angle_cancel_preservation_requires_current_claim_and_native_inventory(identity, restriction):
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cp = source_profile(CAR(identity))
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cp.alternativeExperience = 32
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now, source = 10_000_000_000, 9_990_000_000
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settings = AolSettings(True, 0., 9, 0, (0, 0, 0), (0, 0, 0))
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state = structs.CarState(canValid=True, gearShifter='drive', vEgo=10.)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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intent = IntentState('angle-card', 1, source, source, source + 200_000_000, True, False, False, True, True)
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config = cp.safetyConfigs[0]
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slot = PandaSlot(0, 'angle-panda', int(config.safetyModel.raw), config.safetyParam, 32)
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native = SafetyState(1, True, now, now + 200_000_000, int(config.safetyModel.raw), config.safetyParam,
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True, False, True, False, 'angle-panda', 'angle-session', now, (slot,))
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previous = AxisDecision(lateral_active=True, native_acknowledged=True)
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if restriction == 'unclaimed':
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previous = replace(previous, lateral_active=False)
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elif restriction == 'mapped_cancel':
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settings = replace(settings, cancel_actions=(3, 0, 0))
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elif restriction == 'paused':
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intent = replace(intent, pauseLateral=True)
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elif restriction == 'old_source':
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source = now - 30_000_001
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intent = replace(intent, carStateLogMonoTime=source, observedMonoTime=source)
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elif restriction == 'old_native':
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native = replace(native, validUntilMonoTime=now - 1)
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elif restriction == 'wrong_session':
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native = replace(native, axisSessionId='foreign-session')
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elif restriction == 'foreign_inventory':
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native = replace(native, pandaInventory=(replace(slot, safetyParam=config.safetyParam ^ 1),))
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elif restriction == 'rx_invalid':
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native = replace(native, pandaInventory=(replace(slot, safetyRxChecksInvalid=True),))
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elif restriction == 'lat_denied':
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native = replace(native, lateralAllowed=False)
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elif restriction == 'no_cancel':
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state.buttonEvents = []
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assert physical_cancel_lateral_allowed(cp, state, intent, native, settings=settings, previous=previous,
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source_ns=source, now_ns=now, axis_session_id='angle-session') == (restriction == 'none')
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