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https://github.com/firestar5683/StarPilot.git
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firestar5683
66 lines
3.7 KiB
Python
66 lines
3.7 KiB
Python
from contextlib import ExitStack
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import pytest
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from opendbc.car.hyundai.canfd_angle_aol import temporary_restriction, MODELS
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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.vehicle import native_latch_rejected
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from openpilot.starpilot.aol.runtime import current_native
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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@pytest.mark.parametrize('identity', sorted(MODELS))
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@pytest.mark.parametrize('signal', [False, True])
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@pytest.mark.parametrize('brake', [False, True])
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def test_native_stop_restriction_withdraws_steering_without_disarming_driver_intent(identity, signal, brake):
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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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saved.put('PauseLateralSpeed', 0.0, block=True)
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saved.put_bool('PauseLateralOnSignal', False, block=True)
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saved.put('LateralResumeDelay', 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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assert sd.aol_settings.pause_brake_mps == 0.0
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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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for tick in range(3, 37):
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stopped = fixture.car_state(brake=brake)
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stopped.vEgo = stopped.vEgoRaw = 0.0
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stopped.standstill = True
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stopped.leftBlinker = signal
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assert temporary_restriction(card.CP, stopped)
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axis, _, command = step(tick, observed_state=stopped, allowed=False, native_request_lat=True,
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native_request_long=False, panda_controls_allowed=False)
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now = 10_000_000_000 + tick * 10_000_000
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native = current_native(sd.sm, sd.CP, now_ns=now, axis_session_id=sd.aol_session_id)
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assert native is not None and native.requestedLateral and not native.lateralAllowed
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assert not native_latch_rejected(card.CP, native, state=stopped)
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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 receive(now, state=stopped, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents']), card.aol_card_intent.latch_clear_reason
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assert card.aol_card_intent.allowed_latch and not sd.aol_authority_lost
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axis, _, command = step(37, observed_state=rolling, allowed=True, native_request_lat=True,
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native_request_long=False, panda_controls_allowed=False)
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assert axis.lateralActive and command.latActive
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assert not axis.longitudinalActive and not command.longActive
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assert receive(10_370_000_000, state=rolling, 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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