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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
39 lines
1.6 KiB
Python
39 lines
1.6 KiB
Python
from contextlib import ExitStack
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from unittest import mock
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import pytest
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from openpilot.starpilot.aol import dm as owner
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from openpilot.starpilot.aol.tests.stock_lateral_test_helpers import callers
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@pytest.mark.parametrize('family', ['gm', 'toyota'])
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@pytest.mark.parametrize('restriction', ['healthy', 'red', 'lockout', 'always_lockout', 'invalid', 'native_denied'])
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def test_actual_dm_proof_is_lazy_only_without_an_exception(family, restriction):
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with ExitStack() as cleanup:
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sd, _, drive, _, _ = callers(cleanup, family, True)
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original = sd.update_events
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def events(state):
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value = sd.sm['driverMonitoringState'].as_builder()
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value.alertLevel = 'three' if restriction in ('red', 'native_denied') else 'none'
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value.lockout = restriction == 'lockout'
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value.alwaysOnLockout = restriction == 'always_lockout'
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sd.sm.data['driverMonitoringState'] = value.as_reader()
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if restriction == 'invalid':
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sd.sm.valid['driverMonitoringState'] = False
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return original(state)
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cleanup.enter_context(mock.patch.object(sd, 'update_events', side_effect=events))
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with mock.patch.object(owner, 'armed_lateral_current', wraps=owner.armed_lateral_current) as proof:
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axis, _, command = drive(2, native_request_long=False, allowed=restriction != 'native_denied')
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if restriction in ('healthy', 'invalid'):
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proof.assert_not_called()
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else:
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assert proof.call_count > 0
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if restriction in ('invalid', 'native_denied'):
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assert not axis.lateralActive and not command.latActive
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else:
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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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