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https://github.com/firestar5683/StarPilot.git
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firestar5683
103 lines
5.5 KiB
Python
103 lines
5.5 KiB
Python
"""EV6 CANCEL retains an established native-granted lateral owner."""
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from contextlib import ExitStack
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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 openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.intent import AolSettings
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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_ev6_physical_authorization import ev6_params
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from openpilot.starpilot.aol.tests.test_hkg_shared_cancel_guard import captured_context
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from openpilot.starpilot.aol.transport_pause import cp_identity
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from openpilot.starpilot.aol.wire import IntentState, PandaSlot, SafetyState
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from openpilot.starpilot.car.hyundai.aol import physical_cancel_lateral_allowed, retained_shared_long_cancel_intent
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from openpilot.starpilot.car.hyundai.ev6_intent import Ev6CardIntent
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from openpilot.starpilot.aol.runtime import AxisDecision
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@pytest.mark.parametrize('lkas,main', [(0, 0), (9, 0), (0, 9)])
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def test_ev6_cancel_keeps_native_granted_lateral_with_default_or_mapped_buttons(lkas, main):
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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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cleanup.enter_context(OpenpilotPrefix())
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sd, _, drive = case._authority_callers(True, cp=ev6_params(), genuine_events=True)
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sd.aol_settings = AolSettings(True, 0., lkas, main, (0, 0, 0), (0, 0, 0))
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for tick in range(10):
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axis, state, command = drive(tick)
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assert state.enabled and axis.lateralActive and command.latActive
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for tick, pressed in ((10, True), (11, False)):
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state = fixture.car_state()
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=pressed)]
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axis, ordinary, command = drive(tick, observed_state=state, native_request_lat=True,
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native_request_long=False, long_allowed=False, panda_controls_allowed=False)
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assert not ordinary.enabled
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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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@pytest.mark.parametrize('restriction', ['healthy', 'mapped_cancel', 'old_source', 'old_native', 'wrong_session',
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'foreign_inventory', 'lat_denied', 'settings_off', 'not_latched',
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'not_previously_active', 'no_cancel', 'unmarked'])
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def test_ev6_cancel_preservation_requires_current_existing_lateral(restriction):
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cp = ev6_params()
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cp.safetyConfigs[-1].safetyParam |= 0x800
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cp.alternativeExperience = 32
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now, source = 10_000_000_000, 9_990_000_000
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settings = AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0))
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state = structs.CarState(canValid=True, gearShifter='drive', vEgo=10.)
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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intent = IntentState('ev6-card', 1, source, source, source + 200_000_000, True, False, False, True, True)
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config = cp.safetyConfigs[-1]
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slot = PandaSlot(0, 'ev6-panda', int(config.safetyModel.raw), config.safetyParam, 32)
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native = SafetyState(1, True, now, now + 200_000_000, int(config.safetyModel.raw), config.safetyParam,
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True, False, True, False, 'ev6-panda', 'ev6-session', now, (slot,))
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previous = AxisDecision(lateral_active=True, native_acknowledged=True)
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if restriction == 'mapped_cancel':
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settings = replace(settings, cancel_actions=(9, 0, 0))
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elif restriction == 'old_source':
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source = now - 30_000_001
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intent = replace(intent, carStateLogMonoTime=source, observedMonoTime=source)
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elif restriction == 'old_native':
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native = replace(native, validUntilMonoTime=now - 1)
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elif restriction == 'wrong_session':
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native = replace(native, axisSessionId='other')
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elif restriction == 'foreign_inventory':
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native = replace(native, pandaInventory=(replace(slot, safetyParam=0),))
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elif restriction == 'lat_denied':
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native = replace(native, lateralAllowed=False)
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elif restriction == 'settings_off':
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settings = replace(settings, enabled=False)
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elif restriction == 'not_latched':
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intent = replace(intent, allowedLatch=False)
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elif restriction == 'not_previously_active':
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previous = replace(previous, lateral_active=False)
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elif restriction == 'no_cancel':
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state.buttonEvents = []
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elif restriction == 'unmarked':
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cp.safetyConfigs[-1].safetyParam = 0x15
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cp.alternativeExperience = 0
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allowed = physical_cancel_lateral_allowed(cp, state, intent, native, settings=settings, previous=previous,
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source_ns=source, now_ns=now, axis_session_id='ev6-session')
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assert allowed == (restriction == 'healthy')
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@pytest.mark.parametrize('restriction', ['healthy', 'missing_physical', 'stale_buttons', 'mapped_cancel', 'not_latched'])
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def test_ev6_card_cancel_join_requires_its_dedicated_physical_owner(restriction):
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_, cs, sm, feedback, _, _, now = captured_context()
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cp = ev6_params()
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cp.safetyConfigs[-1].safetyParam |= 0x800
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cp.alternativeExperience = 32
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feedback.cp = cp_identity(cp)
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settings = AolSettings(True, 0., 0, 0, (0, 0, 0), (0, 0, 0))
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if restriction == 'mapped_cancel':
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settings = replace(settings, cancel_actions=(9, 0, 0))
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owner = Ev6CardIntent(settings)
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owner.allowed_latch = restriction != 'not_latched'
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owner.physical.lkas_on = restriction != 'missing_physical'
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owner._buttons_current = restriction != 'stale_buttons'
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owner._last_latch_edge_ns = now - 10_000_000
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assert retained_shared_long_cancel_intent(cp, cs, sm, feedback, owner,
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cancel_source_ns=now, now_ns=now, producer='authority-card') == (restriction == 'healthy')
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