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firestar5683
8571e16f68
Register vehicle AOL adapters and runtime dispatch after the vehicle factories and native contracts exist. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
79 lines
3.6 KiB
Python
79 lines
3.6 KiB
Python
"""Independent axes use the finalized ordinary ASCM vehicle owner."""
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import unittest
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from opendbc.car.gm.aol import qualified_gm
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from opendbc.car.gm.tests.test_ascm_intercept import params
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from opendbc.car.gm.values import ORDINARY_ASCM_CAR
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from openpilot.starpilot.aol.vehicle import policy_for, create_intent
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from openpilot.starpilot.aol.intent import AolSettings
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class TestGmAscmAol(unittest.TestCase):
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def test_actual_finalized_cp_and_default_off(self):
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settings = AolSettings(False, 0., 0, 0, (0, 0, 0), (0, 0, 0))
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for identity in ORDINARY_ASCM_CAR:
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for release in (False, True):
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for alpha in (False, True):
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for c9 in (False, True):
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for radar in (False, True):
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cp = params(identity, sascm=True, alpha=alpha, release=release, accelerator=not c9, radar=radar)
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self.assertTrue(qualified_gm(cp))
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self.assertEqual(cp.alternativeExperience, 0)
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policy = policy_for(cp)
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self.assertTrue(policy.normal_runtime_supported)
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intent = create_intent(cp, settings, policy)
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self.assertFalse(intent.allowed_latch)
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cp.alternativeExperience = 32
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self.assertTrue(qualified_gm(cp))
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cp.alternativeExperience = 33
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self.assertFalse(qualified_gm(cp))
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def test_profile_integrity_and_finite_tune_boundaries(self):
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for identity in ORDINARY_ASCM_CAR:
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cp = params(identity, sascm=True)
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for field in ('passive', 'dashcamOnly', 'notCar'):
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setattr(cp, field, True)
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self.assertFalse(qualified_gm(cp))
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setattr(cp, field, False)
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cp.safetyConfigs[0].safetyParam |= 4
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self.assertFalse(qualified_gm(cp))
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cp = params(identity, sascm=True)
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if cp.lateralTuning.which() == 'torque':
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cp.lateralTuning.torque.friction = float('nan')
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else:
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cp.lateralTuning.pid.kpV = [float('nan')]
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self.assertFalse(qualified_gm(cp))
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def test_actual_controller_cruise_off_lateral_only_and_default_off(self):
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from opendbc.can import CANPacker
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from opendbc.car import Bus, structs
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from opendbc.car.gm.interface import CarInterface
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from opendbc.car.gm.tests.test_volt_camera_control import feed_camera
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from opendbc.car.gm.values import DBC
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for identity in ORDINARY_ASCM_CAR:
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for alpha in (False, True):
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for alternative in (0, 32):
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cp = params(identity, sascm=True, alpha=alpha)
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cp.alternativeExperience = alternative
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ci = CarInterface(cp)
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packer = CANPacker(DBC[identity][Bus.pt])
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observed = []
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for tick in range(6):
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now = 1_000_000_000 + tick * 40_000_000
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out, sources = feed_camera(ci, packer, now, counter=tick % 4, active=False)
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sources = [packet for packet in sources if packet[0] != 0x370]
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sources.append(packer.make_can_msg('ASCMActiveCruiseControlStatus', 2, {'ACCCruiseState': 0}))
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out = ci.update([(now + 1, sources)])
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now += 1
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self.assertTrue(out.canValid)
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self.assertTrue(out.cruiseState.available)
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self.assertFalse(out.cruiseState.enabled)
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command = structs.CarControl(enabled=False, latActive=alternative == 32, longActive=False)
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command.actuators.torque = .1
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_, packets = ci.apply(command.as_reader(), now)
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observed.extend(packet for packet in packets if packet[0] == 0x180)
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self.assertTrue(observed)
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nonneutral = any(((packet[1][0] & 7) << 8 | packet[1][1]) != 0 for packet in observed)
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self.assertEqual(nonneutral, alternative == 32)
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