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https://github.com/firestar5683/StarPilot.git
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firestar5683
86 lines
3.5 KiB
Python
86 lines
3.5 KiB
Python
"""The recent deadline eligibility path reuses only exact static policy."""
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from unittest.mock import patch
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import pytest
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from openpilot.starpilot.aol import vehicle
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from openpilot.starpilot.car.hyundai import aol
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from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
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def original(cp):
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config = aol.aol_safety_config(cp)
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policy = aol.policy_for(cp)
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return bool(policy.runtime_supported and policy.full_axis_runtime_required and config is not None and
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aol.native_accepts_cp(cp, int(config.safetyModel.raw), int(config.safetyParam)))
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def outcome(function, cp):
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try:
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return ('value', function(cp))
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except (AttributeError, TypeError, ValueError, OverflowError, IndexError) as error:
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return ('error', type(error))
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@pytest.fixture(params=('ev6', 'ev6_two_pandas', 'ev9'))
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def cp(request):
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if request.param == 'ev9':
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from openpilot.starpilot.tests.test_ev9_lead_inputs import long_params
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result = long_params()
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else:
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from openpilot.starpilot.tests.test_ev6_startup import params
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result = params()
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result.openpilotLongitudinalControl, result.pcmCruise = True, False
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result.safetyConfigs = ([{'safetyModel': 'noOutput', 'safetyParam': 0}] if request.param == 'ev6_two_pandas' else []) + [
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{'safetyModel': 'hyundaiCanfd', 'safetyParam': 0x815}]
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result.alternativeExperience = 32
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return result
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def test_actual_selfdrive_eligibility_reuses_policy_without_changing_cp(cp):
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before = cp.to_dict()
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vehicle._policy_for_bytes.cache_clear()
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aol._source_deadline_for_bytes.cache_clear()
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sd = SelfdriveD.__new__(SelfdriveD)
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sd.CP = cp
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with patch.object(aol, 'policy_for', wraps=aol.policy_for) as local:
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for _ in range(10):
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assert aol.source_deadline_supported(cp)
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assert sd.source_deadline_deferral_supported()
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assert local.call_count == 1
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assert cp.to_dict() == before
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assert original(cp)
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@pytest.mark.parametrize('field', ('brand', 'flags', 'radarUnavailable', 'alphaLongitudinalAvailable', 'steerControlType',
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'passive', 'notCar', 'dashcamOnly', 'openpilotLongitudinalControl', 'pcmCruise',
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'alternativeExperience', 'safetyParam', 'safetyModel', 'safetyConfigs', 'carVin'))
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def test_hot_policy_mutations_match_original_deadline_eligibility(cp, field):
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assert aol.source_deadline_supported(cp) == original(cp)
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if field == 'safetyParam':
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cp.safetyConfigs[-1].safetyParam ^= 1
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elif field == 'safetyModel':
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cp.safetyConfigs[-1].safetyModel = 'noOutput'
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elif field == 'safetyConfigs':
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cp.safetyConfigs = []
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elif field == 'steerControlType':
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cp.steerControlType = 'torque' if str(cp.steerControlType) == 'angle' else 'angle'
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elif field == 'brand':
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cp.brand = 'ford'
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elif field in ('radarUnavailable', 'alphaLongitudinalAvailable', 'passive', 'notCar', 'dashcamOnly',
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'openpilotLongitudinalControl', 'pcmCruise'):
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setattr(cp, field, not getattr(cp, field))
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elif field == 'carVin':
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cp.carVin = 'MUTATED'
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else:
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setattr(cp, field, int(getattr(cp, field)) ^ 1)
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assert outcome(aol.source_deadline_supported, cp) == outcome(original, cp)
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assert outcome(aol.source_deadline_supported, cp.as_reader()) == outcome(original, cp)
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@pytest.mark.parametrize('brand', ('honda', 'gm', 'ford', 'mazda', 'tesla', 'toyota'))
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def test_non_hkg_profiles_keep_original_result(brand):
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from openpilot.starpilot.aol.tests.test_vehicle_policy_cache import profile
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cp = profile(brand)
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assert outcome(aol.source_deadline_supported, cp) == outcome(original, cp)
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