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https://github.com/firestar5683/StarPilot.git
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firestar5683
45 lines
2.0 KiB
Python
45 lines
2.0 KiB
Python
import pytest
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from opendbc.can import CANPacker
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from opendbc.car import Bus
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from opendbc.car.hyundai.canfd_angle_aol import MODELS, qualified
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from opendbc.car.hyundai.interface import CarInterface
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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.starpilot.aol.intent import AolSettings
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from openpilot.starpilot.aol.tests import test_hkg_cancel_joined as parser_fixture
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from openpilot.starpilot.car.hyundai.aol import create_intent
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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_real_angle_cancel_press_release_batch_preserves_saved_mapping(identity, action):
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cp = source_profile(CAR(identity))
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assert cp.alternativeExperience == 0
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ci = CarInterface(cp)
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cp.alternativeExperience = 32
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assert qualified(ci.CP, marked_only=True)
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settings = AolSettings(True, 0., 9, 0, (0, 0, 0), (action, 0, 0))
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owner = create_intent(ci.CP, settings)
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ci.update([])
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for tick in range(1, 125):
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state = ci.update([(10_000_000_000 + tick * 10_000_000,
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parser_fixture.parser_frames(ci, tick, lkas=int(tick == 122)))])
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owner.update(state, now_ns=10_000_000_000 + tick * 10_000_000)
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assert state.canValid and not state.canTimeout
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assert owner.allowed_latch
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parser = ci.can_parsers[Bus.pt]
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packer = CANPacker(parser.dbc.name)
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name = ci.CS.cruise_btns_msg_canfd
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modulo = 1 << packer.dbc.name_to_msg[name].sigs['COUNTER'].size
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frames = parser_fixture.parser_frames(ci, 126)
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for counter, button in ((64, 4), (65, 0)):
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frames.append(packer.make_can_msg(name, parser.bus, {'COUNTER': counter % modulo, 'CRUISE_BUTTONS': button}))
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state = ci.update([(11_260_000_000, frames)])
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assert state.canValid and not state.canTimeout
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edges = [event.pressed for event in state.buttonEvents if str(event.type) == 'cancel']
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assert edges == [True, False]
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owner.update(state, now_ns=11_260_000_000)
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assert owner.allowed_latch == (action == 0)
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assert owner.settings == settings
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