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https://github.com/firestar5683/StarPilot.git
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firestar5683
52 lines
2.8 KiB
Python
52 lines
2.8 KiB
Python
from contextlib import ExitStack
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import pytest
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from opendbc.car.hyundai.values import CAR
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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.intent import read_settings
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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@pytest.mark.parametrize('identity', [CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9])
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@pytest.mark.parametrize('fault', ['rolling_denial', 'invalid_native', 'invalid_can', 'permanent_eps', 'panda_rx_fault'])
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def test_temporary_stop_intent_retention_cannot_mask_real_faults(identity, fault):
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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_bool('AlwaysOnLateral', True, 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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saved.put('AolBrakePauseSpeedMps', 0.0, 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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rolling = fixture.car_state()
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rolling.vEgo = rolling.vEgoRaw = 1.0
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axis, _, command = step(2, observed_state=rolling, panda_controls_allowed=False)
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assert axis.lateralActive and command.latActive
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assert receive(10_020_000_000, state=rolling, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'])
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state = fixture.car_state()
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state.vEgo = state.vEgoRaw = 1.0 if fault == 'rolling_denial' else 0.0
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state.standstill = fault != 'rolling_denial'
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state.canValid = fault != 'invalid_can'
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state.steerFaultPermanent = fault == 'permanent_eps'
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axis, _, command = step(3, observed_state=state, allowed=False, native_request_lat=True,
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native_request_long=False, panda_controls_allowed=False,
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native_valid=fault != 'invalid_native', panda_fault=fault == 'panda_rx_fault')
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assert not axis.lateralActive and not command.latActive
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assert not axis.longitudinalActive and not command.longActive
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assert not receive(10_030_000_000, state=state, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'])
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assert not card.aol_card_intent.allowed_latch
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axis, _, command = step(4, observed_state=rolling, panda_controls_allowed=False)
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assert not axis.lateralActive and not command.latActive
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assert not axis.longitudinalActive and not command.longActive
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assert not card.aol_card_intent.allowed_latch
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