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https://github.com/firestar5683/StarPilot.git
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firestar5683
107 lines
5.2 KiB
Python
107 lines
5.2 KiB
Python
"""A GM proof expiring during Controls preparation must consume queued evidence."""
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from contextlib import ExitStack
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from unittest.mock import patch
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import pytest
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from opendbc.car.gm.tests.test_ascm_intercept import params
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from opendbc.car.gm.tests.test_bolt_pedal import params as bolt_params
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from opendbc.car.gm.tests.test_volt_sdgm_control import sdgm_params
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from opendbc.car.gm.values import CAR
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from openpilot.cereal import 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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def configuration(profile):
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if profile.startswith('ascm'):
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return params(CAR.CHEVROLET_VOLT_ASCM, sascm=True, alpha=profile.endswith('long'))
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if profile.startswith('sdgm'):
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return sdgm_params(alpha=profile.endswith('long'))
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candidate = CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if profile == 'bolt-acc-pedal' else CAR.CHEVROLET_BOLT_CC_2018_2021
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return bolt_params(candidate, pedal=True, camera=True)
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@pytest.mark.parametrize('profile', ['ascm-stock', 'ascm-long', 'sdgm-stock', 'sdgm-long', 'bolt-cc-pedal', 'bolt-acc-pedal'])
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@pytest.mark.parametrize('arrival', ['healthy', 'empty', 'temporary_fault', 'withdrawn', 'native_invalid',
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'native_expired', 'can_invalid', 'longitudinal'])
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def test_gm_axis_expiry_during_qualification_uses_only_fresh_queued_permission(profile, arrival):
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cp = configuration(profile)
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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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_, controls, step = case._authority_callers(False, cp=cp)
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controls.lane_centering_host = None
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_, _, initial = step(0, native_request_long=False, long_allowed=False)
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assert initial.latActive and not initial.longActive
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base = int(controls.sm.logMonoTime['aolAxisState'])
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deadline = int(controls.sm['aolAxisState'].validUntilMonoTime)
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clock = [deadline - 10_000_000]
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fresh = deadline + (210_000_000 if arrival == 'native_expired' else 10_000_000)
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queued = []
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for service in ('carState', 'aolAxisState', 'selfdriveState'):
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event = messaging.new_message(service, valid=True, logMonoTime=fresh)
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setattr(event, service, controls.sm[service])
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if service == 'carState':
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event.carState.steerFaultTemporary = arrival == 'temporary_fault'
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event.carState.canValid = arrival != 'can_invalid'
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elif service == 'aolAxisState':
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axis = event.aolAxisState
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axis.sequence += 1
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axis.sourceCarStateMonoTime = axis.observedMonoTime = fresh
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axis.validUntilMonoTime = fresh + 30_000_000
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axis.lateralActive = axis.desiredLateral = arrival != 'withdrawn'
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axis.longitudinalActive = axis.desiredLongitudinal = arrival == 'longitudinal'
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queued.append(event.as_reader())
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def qualify(active):
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# Route6a: proof is fresh on entry, expired by the axis-selection gate.
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clock[0] = fresh
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return active
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def receive(_timeout):
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if arrival != 'empty':
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controls.sm.update_msgs(fresh / 1e9, queued)
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if arrival == 'native_invalid':
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controls.sm.valid['aolSafetyWire'] = False
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cleanup.enter_context(patch.dict('os.environ', {'REPLAY': '0'}))
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cleanup.enter_context(patch('time.monotonic_ns', side_effect=lambda: clock[0]))
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cleanup.enter_context(patch.object(controls.longitudinal_inputs, 'qualify_active', side_effect=qualify))
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receive_mock = cleanup.enter_context(patch.object(controls.sm, 'update', side_effect=receive))
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command, _ = controls.state_control()
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receive_mock.assert_called_once_with(0)
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assert command.latActive == (arrival in ('healthy', 'longitudinal'))
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assert not command.longActive
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# Neither the original nor the received proof acquires a longer lease.
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assert deadline == base + 30_000_000
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expected_deadline = deadline if arrival == 'empty' else fresh + 30_000_000
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assert controls.sm['aolAxisState'].validUntilMonoTime == expected_deadline
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@pytest.mark.parametrize('profile', ['ascm-long', 'sdgm-long', 'bolt-cc-pedal', 'bolt-acc-pedal'])
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def test_expired_combined_gm_permission_still_withdraws_both_axes_without_refresh(profile):
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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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_, controls, step = case._authority_callers(True, cp=configuration(profile))
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controls.lane_centering_host = None
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_, _, initial = step(0)
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assert initial.latActive and initial.longActive
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deadline = controls.sm['aolAxisState'].validUntilMonoTime
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clock = [deadline - 10_000_000]
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def qualify(active):
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clock[0] = deadline + 10_000_000
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return active
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cleanup.enter_context(patch.dict('os.environ', {'REPLAY': '0'}))
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cleanup.enter_context(patch('time.monotonic_ns', side_effect=lambda: clock[0]))
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cleanup.enter_context(patch.object(controls.longitudinal_inputs, 'qualify_active', side_effect=qualify))
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receive = cleanup.enter_context(patch.object(controls.sm, 'update'))
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command, _ = controls.state_control()
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receive.assert_not_called()
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assert not command.latActive and not command.longActive
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