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firestar5683
143 lines
7.1 KiB
Python
143 lines
7.1 KiB
Python
"""Recorded EV6 8f2e source cutoff keeps only its original unexpired proof."""
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from contextlib import ExitStack
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from unittest import mock
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import pytest
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from openpilot.cereal import log, messaging
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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_ev6_physical_authorization import ev6_params
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from openpilot.starpilot.aol.tests.test_ordinary_source_availability import settings
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SOURCE = 10_020_000_000
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@pytest.mark.parametrize('socket_timeout', [False, True])
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@pytest.mark.parametrize('age_ns,published_offset_ns', [
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(30_960_101, 4_945_854),
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(31_244_572, 5_262_889),
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(31_383_633, 5_039_179),
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(30_890_079, 4_798_596),
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(31_008_968, 5_325_976),
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(31_351_205, 5_392_434),
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(31_544_229, 5_502_541),
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(32_161_269, 6_033_539),
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(31_684_749, 5_741_086),
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(31_896_523, 5_808_274),
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(32_254_551, 5_671_607),
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(31_565_476, 5_393_216),
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(30_879_839, 5_223_629),
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])
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def test_ev6_recorded_source_cutoff_retains_only_original_unexpired_output(age_ns, published_offset_ns, socket_timeout):
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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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cp = ev6_params()
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sd, controls, drive = case._authority_callers(True, cp=cp, genuine_events=True)
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assert sd.CP.carFingerprint == 'KIA_EV6'
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assert sd.CP.safetyConfigs[0].safetyParam == 0x815 and sd.CP.alternativeExperience == 32
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for tick in (0, 1):
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drive(tick, **settings('combined', 10_000_000_000 + tick * 10_000_000, tick + 1))
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original, state, command = drive(2, state_stamp=SOURCE, offset_ns=published_offset_ns, **settings('combined', SOURCE, 3))
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assert original.lateralActive and original.longitudinalActive and command.latActive and command.longActive
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deadline = original.validUntilMonoTime
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assert deadline == SOURCE + published_offset_ns + 30_000_000
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old = original.to_dict()
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timer = sd.state_machine.soft_disable_timer
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sd.car_state_poller = mock.Mock()
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sd.car_state_poller.poll.return_value = []
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axis, state, command = drive(5, timeout=socket_timeout, state_stamp=SOURCE, offset_ns=age_ns - 30_000_000,
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**settings('combined', SOURCE, 3))
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assert sd.aol_axis_publication_deferred
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if socket_timeout:
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assert sd.aol_car_state_log_ns == 0 and not sd.conditional_car_state_valid
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else:
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assert sd.aol_car_state_log_ns == SOURCE and sd.conditional_car_state_valid
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assert axis.to_dict() == old and axis.validUntilMonoTime == deadline
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assert state.enabled and sd.state_machine.soft_disable_timer == timer
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assert log.OnroadEvent.EventName.commIssue not in sd.events.names
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# The consumer stops at the original cutoff; retaining a proof never renews it.
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with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=deadline + 1):
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expired, _ = controls.state_control()
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assert not expired.latActive and not expired.longActive
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# A second stale loop cannot repeat the deferral even within that deadline.
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next_axis, _, next_command = drive(5, timeout=True, state_stamp=SOURCE, offset_ns=age_ns - 30_000_000 + 100_000,
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**settings('combined', SOURCE, 3))
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assert not sd.aol_axis_publication_deferred
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assert not next_axis.lateralActive and not next_axis.longitudinalActive
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assert not next_command.latActive and not next_command.longActive
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@pytest.mark.parametrize('fault', ['can', 'epsTemporary', 'epsPermanent', 'acc', 'brake', 'gas',
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'pandaRx', 'relay', 'nativeInvalid', 'uncalibrated'])
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def test_ev6_unexpired_output_never_defers_a_new_fault(fault):
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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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for tick in (0, 1, 2):
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stamp = 10_000_000_000 + tick * 10_000_000
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axis, _, command = drive(tick, state_stamp=stamp, offset_ns=4_945_854 if tick == 2 else 0,
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**settings('combined', stamp, tick + 1))
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assert axis.lateralActive and axis.longitudinalActive and command.latActive and command.longActive
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state = fixture.car_state()
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changes = {}
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if fault == 'can':
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state.canValid = False
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elif fault == 'epsTemporary':
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state.steerFaultTemporary = True
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elif fault == 'epsPermanent':
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state.steerFaultPermanent = True
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elif fault == 'acc':
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state.accFaulted = True
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elif fault == 'brake':
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changes['brake'] = True
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elif fault == 'gas':
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changes['gas'] = True
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elif fault == 'pandaRx':
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changes['panda_fault'] = True
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elif fault == 'relay':
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changes['relay_fault'] = True
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elif fault == 'nativeInvalid':
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changes['native_valid'] = False
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elif fault == 'uncalibrated':
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# Calibration publishes at 1 Hz; the normal fixture cadence correctly
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# skips a replacement only 30 ms later. Deliver the new envelope itself.
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stamp = SOURCE + 30_960_101
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calibration = messaging.new_message('extrinsicsCalibration', valid=True, logMonoTime=stamp)
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calibration.extrinsicsCalibration.calStatus = 'uncalibrated'
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sd.sm.update_msgs(stamp / 1e9, [calibration.as_reader()])
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if fault in ('can', 'epsTemporary', 'epsPermanent', 'acc'):
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changes['observed_state'] = state
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axis, _, command = drive(5, state_stamp=SOURCE, offset_ns=960_101,
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**settings('combined', SOURCE, 3), **changes)
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if fault == 'uncalibrated':
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assert sd.sm['extrinsicsCalibration'].calStatus == log.ExtrinsicsCalibration.Status.uncalibrated
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assert not sd.aol_axis_publication_deferred
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# The existing fault/pedal rules select the remaining axes; the previous
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# combined proof cannot survive the new restriction.
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assert not (axis.lateralActive and axis.longitudinalActive)
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assert not (command.latActive and command.longActive)
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@pytest.mark.parametrize('timing', ['timely', 'late_poll', 'processing_crosses_deadline'])
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def test_ev6_fresh_pair_reconciles_without_extending_the_old_deadline(timing):
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from openpilot.starpilot.aol.tests import test_input_deadline_continuity as continuity
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def ev6_callers(case, full_op=True, *, stock_angle=False):
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assert full_op and not stock_angle
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sd, controls, drive = case._authority_callers(True, cp=ev6_params(), genuine_events=True)
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assert sd.CP.carFingerprint == 'KIA_EV6'
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assert sd.CP.safetyConfigs[0].safetyParam == 0x815 and sd.CP.alternativeExperience == 32
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for tick in (0, 1):
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stamp = 10_000_000_000 + tick * 10_000_000
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drive(tick, **settings('combined', stamp, tick + 1))
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return sd, controls, drive, None, None
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# Reuse the existing timing stimulus with the captured EV6 configuration;
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# production event, source, native and consumer checks remain real.
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with mock.patch.object(fixture.IoniqAvailabilityTests, '_ioniq_availability_callers', ev6_callers):
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continuity.test_fresh_source_replaces_expired_output_without_restoring_disengagement('ordinary', timing)
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