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firestar5683
fc73a3383e
Wire longitudinal feature selection and inputs into planner hosts after their owners are available. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: whoisdomi <dcantu83@gmail.com>
140 lines
7.5 KiB
Python
140 lines
7.5 KiB
Python
import unittest
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from opendbc.car.structs import car
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from opendbc.car.hyundai.ioniq6_media import MediaObservation, MediaSample
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from openpilot.starpilot.aol.intent import AolCardIntent, AolSettings, independent_axis_requested
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def state(events=(), valid=True):
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return car.CarState(canValid=valid, gearShifter='drive', buttonEvents=[
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car.CarState.ButtonEvent(type=button, pressed=pressed) for button, pressed in events])
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class TestAuxiliaryActions(unittest.TestCase):
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def test_auxiliary_pause_is_not_unqualified_startup_demand(self):
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for action in (3, 4):
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settings = AolSettings(False, 0., 0, 0, (0, 0, 0), (action, 0, 0), (action, 0, 0))
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self.assertFalse(independent_axis_requested(settings))
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self.assertTrue(independent_axis_requested(settings, include_auxiliary=True))
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self.assertFalse(AolCardIntent(settings, explicit_latch=True).auxiliary_supported())
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def test_auxiliary_cannot_rearm_after_actual_gm_fault_owner_update(self):
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from openpilot.starpilot.car.gm.aol import GmAolCardIntent
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for defect in ('permanent', 'event', 'sticky'):
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owner = GmAolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (9, 0, 0)))
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neutral = state()
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neutral.cruiseState.available = True
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owner.update_auxiliary(neutral)
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pressed = state(((car.CarState.ButtonEvent.Type.cancel, True),))
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pressed.cruiseState.available = True
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owner.update(pressed)
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owner.update_auxiliary(pressed)
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released = state(((car.CarState.ButtonEvent.Type.cancel, False),))
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released.cruiseState.available = True
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if defect == 'permanent':
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released.steerFaultPermanent = True
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if defect == 'sticky':
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fault = state()
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fault.cruiseState.available = True
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owner.update(fault, fault_active=True)
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fault_active = True if defect == 'event' else False
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owner.update(released, fault_active=fault_active)
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owner.update_auxiliary(released, fault_active=fault_active)
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self.assertFalse(owner.allowed_latch)
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def test_actual_cancel_short_dispatch_and_invalid_source_reset(self):
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for action, field in ((3, 'pause_lateral'), (4, 'pause_longitudinal'), (9, 'allowed_latch')):
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owner = AolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (action, 0, 0)))
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owner.update_auxiliary(state())
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, True),)))
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, False),)))
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self.assertTrue(getattr(owner, field))
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owner.update_auxiliary(state(valid=False))
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, True),)))
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, False),)))
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self.assertTrue(getattr(owner, field))
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def test_actual_media_tracker_and_source_epoch(self):
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owner = AolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0), (3, 0, 0), (4, 0, 0)))
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for custom, field in ((False, 'pause_lateral'), (True, 'pause_longitudinal')):
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samples = (MediaSample(False, False, 1), MediaSample(not custom, custom, 100000001),
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MediaSample(False, False, 200000001))
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owner.update_auxiliary(state(), media=MediaObservation(samples, 200000001, int(custom), True), media_eligible=True)
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self.assertTrue(getattr(owner, field))
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def test_cancel_hold_boundaries_and_unrelated_buttons(self):
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button = car.CarState.ButtonEvent.Type
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for frames, expected in ((1, (True, False, False)), (49, (True, False, False)),
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(50, (False, True, False)), (249, (False, True, False)),
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(250, (False, True, True)), (251, (False, True, True))):
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owner = AolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (9, 3, 4)))
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owner.update_auxiliary(state())
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for tick in range(frames):
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events = ((button.cancel, True), (button.lkas, True), (button.gapAdjustCruise, True)) if tick == 0 else ()
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source = state(events)
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source.vEgo = 12.
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before = source.to_dict()
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owner.update_auxiliary(source)
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self.assertEqual(source.to_dict(), before)
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owner.update_auxiliary(state(((button.cancel, False), (button.lkas, False), (button.gapAdjustCruise, False))))
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owner.update_auxiliary(state())
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self.assertEqual((owner.allowed_latch, owner.pause_lateral, owner.pause_longitudinal), expected)
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def test_timeout_interrupts_held_cancel(self):
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button = car.CarState.ButtonEvent.Type.cancel
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owner = AolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (9, 3, 4)))
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owner.update_auxiliary(state())
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owner.update_auxiliary(state(((button, True),)))
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for _ in range(48):
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owner.update_auxiliary(state())
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interrupted = state()
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interrupted.canTimeout = True
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owner.update_auxiliary(interrupted)
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owner.update_auxiliary(state(((button, False),)))
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self.assertEqual((owner.allowed_latch, owner.pause_lateral, owner.pause_longitudinal), (False, False, False))
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owner.update_auxiliary(state(((button, True),)))
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owner.update_auxiliary(state(((button, False),)))
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self.assertTrue(owner.allowed_latch)
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def test_explicit_owner_auxiliary_actions_denied(self):
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for action in (3, 4, 9):
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owner = AolCardIntent(AolSettings(True, 0., 0, 0, (0, 0, 0), (action, 0, 0), (action, 0, 0)), explicit_latch=True)
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owner.update_auxiliary(state())
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, True),)))
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owner.update_auxiliary(state(((car.CarState.ButtonEvent.Type.cancel, False),)))
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owner.update_auxiliary(state(), media=MediaObservation((MediaSample(False, False, 1),
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MediaSample(True, False, 100000001), MediaSample(False, False, 200000001)), 200000001, 1, True), media_eligible=True)
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self.assertEqual((owner.allowed_latch, owner.pause_lateral, owner.pause_longitudinal), (False, False, False))
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class TestAuxiliaryStartupAdmission(unittest.TestCase):
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def test_actual_cp_master_off_auxiliary_request_is_scoped(self):
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import tempfile
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.gm.interface import CarInterface as GmInterface
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from opendbc.car.gm.values import CAR as GM
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from opendbc.car.honda.interface import CarInterface as HondaInterface
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from opendbc.car.honda.values import CAR as HONDA
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from openpilot.common.params import Params
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from openpilot.starpilot.aol.intent import read_settings
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from openpilot.starpilot.aol.vehicle import policy_for
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from openpilot.starpilot.feature_runtime import enabled, requested
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legacy = GmInterface.get_params(GM.CHEVROLET_BOLT_EUV, gen_empty_fingerprint(), [], False, False, False)
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explicit = HondaInterface.get_params(HONDA.HONDA_CIVIC_BOSCH, gen_empty_fingerprint(), [], False, False, False)
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self.assertTrue(policy_for(legacy).intent_supported)
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self.assertFalse(policy_for(legacy).explicit_latch)
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self.assertTrue(policy_for(explicit).explicit_latch)
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with tempfile.TemporaryDirectory() as directory:
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params = Params(directory)
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params.put('AlwaysOnLateral', False, block=True)
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params.put('CancelButtonControl', 3, block=True)
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settings = read_settings(params)
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self.assertFalse(requested(params, 'aol'))
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self.assertTrue(enabled(params, legacy, 'aol', {}))
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self.assertFalse(enabled(params, explicit, 'aol', {}))
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for cp, expected in ((legacy, True), (explicit, False)):
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policy = policy_for(cp)
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self.assertEqual(independent_axis_requested(settings,
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include_auxiliary=policy.intent_supported and not policy.explicit_latch), expected)
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