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https://github.com/firestar5683/StarPilot.git
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firestar5683
119 lines
6.2 KiB
Python
119 lines
6.2 KiB
Python
"""Route19 causal host regressions; time and receive transport are declared fixtures."""
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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_volt_sdgm_control import sdgm_params
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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.selfdrive.selfdrived.selfdrived import SelfdriveD
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from openpilot.selfdrive.selfdrived.events import Events
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from openpilot.starpilot.aol.runtime import AxisDecision
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from openpilot.starpilot.aol.intent import read_settings
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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_input_deadline_continuity import BASE, intent
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from openpilot.starpilot.car.gm.steering_companion import SteeringCompanion
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@pytest.mark.parametrize('c9', [False, True])
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@pytest.mark.parametrize('native_ready', [False, True])
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def test_cold_never_active_sdgm_source_expiry_is_not_take_control(c9, native_ready):
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with OpenpilotPrefix(), ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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sd, _, step = case._authority_callers(False, cp=sdgm_params(alpha=True, brake_c9=c9), genuine_events=True)
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sd.aol_settings = read_settings(sd.params)
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sd.initialized = False
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cleanup.enter_context(patch('openpilot.selfdrive.selfdrived.selfdrived.SIMULATION', False))
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cleanup.enter_context(patch.object(sd.sm, 'all_checks', return_value=False))
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cs = fixture.car_state()
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cs.vEgo = 5.36448 #12mph: startup report, not a low-speed steering exemption.
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now = [BASE + 29_900_000]
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def finish_environment(_cs):
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now[0] = BASE + 32_985_260
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with patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=lambda: now[0]), \
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patch.object(sd, 'update_conditional_mode', side_effect=finish_environment):
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axis, _, command = step(2, observed_state=cs, state_stamp=BASE,
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intent_message=intent(BASE,3), native_request_long=False, native_valid=native_ready)
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assert not sd.initialized and not getattr(sd, 'aol_ever_active', False)
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assert not axis.lateralActive and not axis.longitudinalActive and not command.latActive and not command.longActive
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assert not sd.aol_authority_lost and log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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@pytest.mark.parametrize('c9', [False, True])
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@pytest.mark.parametrize('condition', ['healthy','genuine_future','old_after_drain','faulty_latest','invalid_latest','missing_exact','wrong_source'])
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def test_steering_receipt_published_during_drain_is_checked_after_drain(c9, condition):
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sd = SelfdriveD.__new__(SelfdriveD)
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sd.CP = sdgm_params(alpha=True, brake_c9=c9)
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sd.events = Events()
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sd.aol_car_state_log_ns = BASE
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sd.conditional_car_state_valid = True
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sd.active = sd.enabled = False
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sd.aol_axis_decision = AxisDecision(desired_lateral=True, lateral_active=True, native_acknowledged=True)
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sd.steering_authority_unavailable = False
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cs = fixture.car_state()
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source = messaging.new_message('starpilotCarState', valid=True, logMonoTime=BASE)
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source.starpilotCarState.sourceCarStateMonoTime = BASE
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later = messaging.new_message('starpilotCarState', valid=True, logMonoTime=BASE+2_000_000)
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later.starpilotCarState.sourceCarStateMonoTime = BASE+2_000_000
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if condition == 'old_after_drain':
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later.logMonoTime = BASE+32_000_000
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later.starpilotCarState.sourceCarStateMonoTime = later.logMonoTime
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if condition == 'faulty_latest':
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later.starpilotCarState.lateralAuthorityUnavailable = True
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if condition == 'invalid_latest':
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later.valid = False
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if condition == 'wrong_source':
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later.starpilotCarState.sourceCarStateMonoTime -= 1
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sd.sm = messaging.SubMaster(['starpilotCarState'])
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sd.sm.update_msgs(BASE/1e9, [source.as_reader()])
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sock = object()
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sd.steering_companion = SteeringCompanion(sock)
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queue = ([source.as_reader()] if condition != 'missing_exact' else []) + [later.as_reader()]
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now = [BASE+1_000_000]
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def deliver(received):
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assert received is sock
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if not queue:
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return None
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message = queue.pop(0)
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if condition != 'genuine_future':
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now[0] = max(now[0], int(message.logMonoTime)+100_000)
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return message
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with patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=lambda:now[0]), \
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patch('openpilot.starpilot.car.gm.steering_companion.messaging.recv_one_or_none', side_effect=deliver):
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sd._update_steering_authority(cs)
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assert not queue
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assert sd.steering_authority_unavailable == (condition != 'healthy')
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assert (log.OnroadEvent.EventName.controlsMismatch in sd.events.names) == (condition != 'healthy')
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if condition == 'healthy':
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assert BASE in sd.steering_companion.samples
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@pytest.mark.parametrize('c9', [False, True])
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@pytest.mark.parametrize('condition', ['cold', 'initialized', 'prior_aol', 'ordinary_enabled', 'immediate_fault', 'foreign'])
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def test_expiry_of_known_main_intent_does_not_invent_prior_actuation(c9, condition):
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from openpilot.starpilot.aol.wire import decode_intent
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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with OpenpilotPrefix(), ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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sd, _, _ = case._authority_callers(False, cp=sdgm_params(alpha=True, brake_c9=c9), genuine_events=True)
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sd.initialized = condition == 'initialized'
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sd.aol_ever_active = condition == 'prior_aol'
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sd.enabled = condition == 'ordinary_enabled'
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sd.aol_last_intent = decode_intent(intent(BASE,3).aolIntentWire)
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sd.aol_car_state_log_ns = BASE
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sd.conditional_car_state_valid = True
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sd.events.clear()
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sd.events.add(log.OnroadEvent.EventName.selfdriveInitializing)
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if condition == 'immediate_fault':
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sd.events.add(log.OnroadEvent.EventName.relayMalfunction)
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if condition == 'foreign':
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sd.CP = sd.CP.as_builder()
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sd.CP.brand = 'hyundai'
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cs = fixture.car_state()
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cs.vEgo = 5.36448
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sd._expire_axis_source(cs, BASE+32_985_260)
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assert not sd.aol_axis_decision.lateral_active and not sd.aol_axis_decision.longitudinal_active
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assert sd.aol_car_state_log_ns == 0 and not sd.conditional_car_state_valid
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assert (log.OnroadEvent.EventName.controlsMismatch in sd.events.names) == (condition != 'cold')
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assert sd.aol_authority_lost == (condition != 'cold')
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