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https://github.com/firestar5683/StarPilot.git
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firestar5683
106 lines
4.7 KiB
Python
106 lines
4.7 KiB
Python
"""Exact CC_LONG independent LAT minimum; ordinary LONG admission stays separate.
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Two integration cases use actual parser/Card/SD/Controls/native RX and TX.
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The remaining cases are policy/decision guards with declared native values.
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"""
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from dataclasses import replace
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from types import SimpleNamespace
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import pytest
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from opendbc.car.structs import car
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from opendbc.car.gm.tests.test_bolt_cc import params
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from opendbc.car.gm.values import CAR, GMFlags
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from openpilot.selfdrive.selfdrived.events import EventName
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from openpilot.starpilot.aol.runtime import decide_axes
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from openpilot.starpilot.aol.tests.test_gm_parked_startup import _exercise_parked_main
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from openpilot.starpilot.aol.tests.test_gm_startup_main import cases
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from openpilot.starpilot.aol.wire import IntentState
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from openpilot.starpilot.car.gm.aol import cc_independent_lateral_below_engage
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from openpilot.starpilot.nostalgia import aol_no_entry
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def setup(identity=CAR.CHEVROLET_BOLT_CC_2018_2021):
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cp = params(identity)
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cp.alternativeExperience = 32
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intent = IntentState('card', 1, 10_000_000_000, 10_000_000_000, 10_200_000_000, True, False, False, True, True)
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return cp, intent
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@pytest.mark.parametrize('main_action', [0, 9])
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def test_actual_bolt_main_park_then_low_speed_drive_without_main_edge(main_action):
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_exercise_parked_main(2, main_action, below_engage=True)
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@pytest.mark.parametrize('identity', [CAR.CHEVROLET_BOLT_CC_2017, CAR.CHEVROLET_BOLT_CC_2018_2021, CAR.CHEVROLET_BOLT_CC_2022_2023])
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def test_exact_cc_long_factory_owners(identity):
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cp, intent = setup(identity)
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assert cc_independent_lateral_below_engage(cp, intent, enabled=False, active=False)
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@pytest.mark.parametrize('enabled,active', [(False, False), (True, False), (False, True), (True, True)])
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@pytest.mark.parametrize('long_grant', [False, True])
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def test_minimum_exemption_cannot_engage_ordinary_long(enabled, active, long_grant):
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cp, intent = setup()
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cs = car.CarState(canValid=True, gearShifter='drive', vEgo=4.8, standstill=False)
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cs.cruiseState.available = True
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allowed = cc_independent_lateral_below_engage(cp, intent, enabled=enabled, active=active)
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no_entry = aol_no_entry([EventName.belowEngageSpeed], cs, paddle_only_cancel=False, allow_below_engage_speed=allowed)
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native = SimpleNamespace(requestedLateral=True, lateralAllowed=True, requestedLongitudinal=long_grant, longitudinalAllowed=long_grant)
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decision = decide_axes(
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standard_lateral=active,
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standard_longitudinal=enabled,
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intent=intent,
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native=native,
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car_state=cs,
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initialized=True,
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model_ready=True,
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no_entry=no_entry,
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immediate_disable=False,
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dm_lockout=False,
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pause_brake_mps=0.0,
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)
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assert allowed == (not enabled and not active)
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assert decision.lateral_active == (not enabled and not active)
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assert not decision.desired_longitudinal and not decision.longitudinal_active
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@pytest.mark.parametrize('field', ['settingsQualified', 'allowedLatch', 'lateralArmed'])
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def test_current_armed_intent_required(field):
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cp, intent = setup()
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assert not cc_independent_lateral_below_engage(cp, replace(intent, **{field: False}), enabled=False, active=False)
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def test_lateral_pause_and_missing_intent_remain_denied():
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cp, intent = setup()
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assert not cc_independent_lateral_below_engage(cp, None, enabled=False, active=False)
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assert not cc_independent_lateral_below_engage(cp, replace(intent, pauseLateral=True), enabled=False, active=False)
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assert cc_independent_lateral_below_engage(cp, replace(intent, pauseLongitudinal=True), enabled=False, active=False)
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@pytest.mark.parametrize('index', [0, 1, 3, 4, 5, 6, 7])
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def test_other_factory_profiles_keep_existing_admission(index):
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_, intent = setup()
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cp = list(cases())[index]
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cp.alternativeExperience = 32
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assert not cc_independent_lateral_below_engage(cp, intent, enabled=False, active=False)
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@pytest.mark.parametrize(
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'field,value',
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[('passive', True), ('notCar', True), ('dashcamOnly', True), ('alternativeExperience', 0), ('flags', int(GMFlags.CC_LONG | GMFlags.PEDAL_LONG))],
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)
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def test_changed_configuration_is_not_a_cc_long_owner(field, value):
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cp, intent = setup()
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setattr(cp, field, value)
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assert not cc_independent_lateral_below_engage(cp, intent, enabled=False, active=False)
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@pytest.mark.parametrize('event', [EventName.buttonCancel, EventName.doorOpen, EventName.controlsMismatch, EventName.commIssue, EventName.steerUnavailable])
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def test_only_cruise_speed_event_is_removed(event):
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cp, intent = setup()
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cs = car.CarState(canValid=True, gearShifter='drive', vEgo=4.8)
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cs.cruiseState.available = True
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allowed = cc_independent_lateral_below_engage(cp, intent, enabled=False, active=False)
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assert aol_no_entry([EventName.belowEngageSpeed, event], cs, paddle_only_cancel=False, allow_below_engage_speed=allowed)
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