mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
114 lines
5.4 KiB
Python
114 lines
5.4 KiB
Python
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from dataclasses import replace
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.classic_long_aol import independent_buttons_qualified
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.values import CAR, HyundaiFlags
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from openpilot.cereal import messaging
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from openpilot.selfdrive.car.card 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_shared_cancel_guard as guards
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from openpilot.starpilot.aol.tests.test_classic_long_profiles import params
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from openpilot.starpilot.aol.transport_pause import cp_identity
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from openpilot.starpilot.aol.wire import encode_safety
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from openpilot.starpilot.car.hyundai.aol import create_intent
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from openpilot.starpilot.aol.tests import classic_cancel_test_helpers as joined
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def marked():
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cp = params(CAR.HYUNDAI_SONATA, lda=True)
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cp.safetyConfigs[0].safetyParam = 0xC04
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cp.alternativeExperience = 32
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return cp
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@pytest.mark.parametrize('case', ['retain', 'settings_off', 'unmapped', 'configured_cancel', 'pause', 'not_latched',
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'no_raw_source', 'expired_original', 'old_native', 'native_lat_denied', 'native_long_allowed', 'no_long_request',
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'wrong_session', 'wrong_inventory', 'panda_rx', 'panda_fault', 'failed_feedback', 'changed_cp', 'producer',
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'wrong_epoch', 'nonfull', 'hard_fault', 'reverse', 'steer_fault', 'invalid_can', 'no_physical_cancel'])
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def test_sonata_reuses_all_current_guard_fault_and_original_deadline_negatives(case, monkeypatch):
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original = guards.captured_context
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def classic_context():
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_, cs, sm, feedback, owner, native, now = original()
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cp = marked()
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feedback.cp = cp_identity(cp)
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config = cp.safetyConfigs[0]
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model = int(config.safetyModel.raw)
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native = replace(native, safetyModel=model, safetyParam=config.safetyParam,
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pandaInventory=(replace(native.pandaInventory[0], safetyModel=model, safetyParam=config.safetyParam),))
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pandas = messaging.new_message('pandaStates', 1)
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pandas.pandaStates[0].safetyModel = config.safetyModel
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pandas.pandaStates[0].safetyParam = config.safetyParam
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pandas.pandaStates[0].alternativeExperience = 32
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sm['pandaStates'] = pandas.as_reader().pandaStates
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sm['aolSafetyWire'] = encode_safety(native)
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return cp, cs, sm, feedback, owner, native, now
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monkeypatch.setattr(guards, 'captured_context', classic_context)
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guards.test_shared_cancel_retains_only_original_current_reason_qualified_intent(case)
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@pytest.mark.parametrize('case', ['exact', 'unmarked', 'experience', 'no_lda', 'other_classic', 'stock', 'two_panda', 'extra_word', 'release'])
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def test_sonata_scope_never_promotes_other_classic_contracts(case):
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cp = marked()
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if case == 'unmarked':
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cp.safetyConfigs[0].safetyParam = 4
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elif case == 'experience':
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cp.alternativeExperience = 0
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elif case == 'no_lda':
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cp.flags = int(cp.flags) & ~int(HyundaiFlags.HAS_LDA_BUTTON)
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cp.safetyConfigs[0].safetyParam = 0x404
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elif case == 'other_classic':
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cp.carFingerprint = CAR.HYUNDAI_IONIQ
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elif case == 'stock':
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cp.openpilotLongitudinalControl = False
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elif case == 'two_panda':
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owner = structs.CarParams.SafetyConfig(safetyModel=str(cp.safetyConfigs[0].safetyModel), safetyParam=0xC04)
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cp.safetyConfigs = [structs.CarParams.SafetyConfig(safetyModel='noOutput'), owner]
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elif case == 'extra_word':
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cp.safetyConfigs[0].safetyParam |= 0x80
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elif case == 'release':
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cp = params(CAR.HYUNDAI_SONATA, lda=True, release=True)
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assert independent_buttons_qualified(cp) == (case == 'exact')
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@pytest.mark.parametrize('role', ['marked', 'unmarked', 'wrong_bus', 'expired_receipt', 'foreign_state'])
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def test_sonata_cancel_source_requires_current_real_parser_batch(role):
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cp = marked() if role != 'unmarked' else params(CAR.HYUNDAI_SONATA, lda=True)
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ci = CarInterface(cp)
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ci.update([])
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for tick in range(29):
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now = 10_000_000_000 + tick * 10_000_000
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frames = joined.classic_frames(ci, tick, button=4 if tick == 28 else 0)
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if role == 'wrong_bus' and tick == 28:
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frames = [(address, data, 1 if address == 0x4F1 else bus) for address, data, bus in frames]
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state = ci.update([(now, frames)])
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if role == 'wrong_bus':
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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observed = state.as_reader().as_builder() if role == 'foreign_state' else state
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receipt = now - 30_000_001 if role == 'expired_receipt' else now
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caller = Car.__new__(Car)
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caller.CI = ci
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caller._aol_can_observation = (observed, receipt, now, now)
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assert (caller.aol_cancel_source(state, now) == now) == (role == 'marked')
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@pytest.mark.parametrize('lkas,main', [(9, 0), (0, 9), (0, 0)])
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def test_only_actual_qualified_saved_mapping_opts_in(lkas, main):
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owner = create_intent(marked(), AolSettings(True, 0., lkas, main, (0, 0, 0), (0, 0, 0)))
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assert owner.independent_cruise_buttons == (lkas == 9 and main == 0)
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state = structs.CarState(canValid=True, gearShifter='drive')
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state.cruiseState.available = True
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owner.update(state, now_ns=1)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='lkas', pressed=True)]
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owner.update(state, now_ns=2)
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assert owner.allowed_latch
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state.buttonEvents = [structs.CarState.ButtonEvent(type='lkas', pressed=False)]
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owner.update(state, now_ns=3)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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owner.update(state, now_ns=4)
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assert owner.allowed_latch == (lkas == 9 and main == 0)
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