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firestar5683
70 lines
3.6 KiB
Python
70 lines
3.6 KiB
Python
"""Presentation distinguishes cold faults from a real acknowledged AOL pause."""
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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 opendbc.car.structs import car
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from openpilot.cereal import log
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
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from openpilot.starpilot.aol.tests.test_canfd_stock_profiles import params
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@pytest.mark.parametrize('context', ['cold_model', 'park', 'unarmed'])
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def test_never_active_fault_does_not_claim_steering_was_paused(context):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with OpenpilotPrefix(), ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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sd, _, step = case._authority_callers(False, cp=params(CAR.KIA_EV6), genuine_events=True)
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if context == 'cold_model':
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sd.initialized = False
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observed = fixture.car_state()
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if context == 'park':
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observed.gearShifter = car.CarState.GearShifter.park
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observed.vEgo = 0.
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observed.standstill = True
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for tick in range(3):
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axis, state, command = step(tick, observed_state=observed, calibrated=context != 'cold_model',
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latched=context != 'unarmed', allowed=context != 'unarmed',
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critical_event=log.OnroadEvent.EventName.lowMemory)
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assert str(axis.faultReason) == 'availabilityPause'
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assert not axis.desiredLateral and not axis.lateralActive
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assert not state.enabled and not state.active and not command.latActive and not command.longActive
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assert state.alertType != 'aolAvailability/warning'
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assert 'aolAvailability/warning' not in sd.AM.alerts
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assert log.OnroadEvent.EventName.lowMemory in sd.events.names
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assert sd.events.contains(fixture.ET.SOFT_DISABLE)
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def test_acknowledged_disabled_aol_pause_warns_then_cold_transition_retires_only_custom_entry():
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with OpenpilotPrefix(), ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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sd, _, step, _, _ = case._ioniq_availability_callers(full_op=False)
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axis, state, command = step(2, car_output_valid=False)
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assert axis.desiredLateral and axis.nativeAcknowledged
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assert not axis.lateralActive and not command.latActive
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assert not state.enabled and not state.active
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queued = sd.AM.alerts['aolAvailability/warning'].alert
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assert queued is not None
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assert (queued.alert_text_1, queued.alert_text_2) == ('Steering Paused', 'Communication Issue')
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# A genuine original communication takeover may outrank the custom notice.
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if state.alertType != 'aolAvailability/warning':
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assert state.alertType == 'commIssue/softDisable'
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assert state.alertStatus == log.SelfdriveState.AlertStatus.critical
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# The real fixture publishes calibration at its service cadence, not every
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# control tick. Wait for the actual delivered state without forging health.
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for tick in range(3, 103):
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axis, state, command = step(tick, calibrated=False, car_output_valid=False)
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assert not axis.lateralActive and not command.latActive and not command.longActive
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if str(sd.sm['extrinsicsCalibration'].calStatus) == 'uncalibrated':
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break
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else:
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raise AssertionError('Uncalibrated state was not genuinely delivered within one second')
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assert str(sd.sm['extrinsicsCalibration'].calStatus) == 'uncalibrated'
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assert not axis.desiredLateral and not axis.lateralActive and not command.latActive
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assert state.alertType != 'aolAvailability/warning'
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assert 'aolAvailability/warning' not in sd.AM.alerts
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assert not state.enabled and not state.active and not command.longActive
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