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firestar5683
80fbb4f6db
Register vehicle controls, planner modes, UI actions and Galaxy services after their providers exist. Wire the shared runtime entrypoints and cover their combined behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
104 lines
6.5 KiB
Python
104 lines
6.5 KiB
Python
"""Host source expiry preserves intent without expired commands."""
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from contextlib import ExitStack
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import time
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from unittest import mock
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import pytest
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from openpilot.cereal import log
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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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from openpilot.starpilot.aol.tests.test_input_deadline_continuity import BASE
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from openpilot.starpilot.aol.tests.test_ordinary_source_availability import settings
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@pytest.mark.parametrize('prior_lag', [False, True])
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def test_actual_aol_only_host_lag_source_gap_preserves_only_armed_intent(prior_lag):
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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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sd, controls, drive, card, receive = case._ioniq_availability_callers(full_op=False)
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old, state, command = drive(2, state_stamp=BASE, offset_ns=4_497_535, **settings('lateral_only', BASE, 3))
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assert old.lateralActive and command.latActive and not old.longitudinalActive and not command.longActive
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assert not state.enabled and not state.active and card.aol_card_intent.allowed_latch
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assert receive(BASE + 4_497_535, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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deadline = old.validUntilMonoTime
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with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=deadline + 1):
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expired, _ = controls.state_control()
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assert not expired.latActive and not expired.longActive
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source, sequence = BASE, 3
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with mock.patch.object(sd.rk.avg_dt, 'get_average', return_value=0.02):
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if prior_lag:
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source, sequence = BASE + 10_000_000, 4
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axis, state, command = drive(3, state_stamp=source, **settings('lateral_only', source, sequence))
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assert log.OnroadEvent.EventName.selfdrivedLagging in sd.events.names
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assert not axis.lateralActive and not command.latActive and not sd.aol_authority_lost
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assert not state.enabled and not state.active and not axis.longitudinalActive and not command.longActive
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assert receive(source, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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tick = 7 if prior_lag else 5
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now = BASE + (tick - 2) * 10_000_000 + 5_399_000
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axis, state, command = drive(tick, timeout=True, state_stamp=source, offset_ns=5_399_000,
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**settings('lateral_only', source, sequence))
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assert log.OnroadEvent.EventName.selfdrivedLagging in sd.events.names
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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 old.validUntilMonoTime == deadline < now
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assert not state.enabled and not state.active
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# An ordinary host fault must not fabricate Panda-authority loss or
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# revoke established armed intent; native/config/physical inputs are healthy.
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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assert not sd.aol_authority_lost
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assert receive(now, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch
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fresh = BASE + (tick - 1) * 10_000_000
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axis, state, command = drive(tick + 1, state_stamp=fresh, **settings('lateral_only', fresh, sequence + 1))
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assert not state.enabled and not state.active and not axis.longitudinalActive and not command.longActive
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assert axis.lateralActive and command.latActive
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assert not sd.events.contains(fixture.ET.ENABLE)
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assert receive(fresh, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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@pytest.mark.parametrize('mode', ['lateral_only', 'long_only', 'combined', 'combined_unarmed'])
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def test_first_real_lag_fresh_decision_expiring_during_publication_keeps_normal_state_and_intent(mode):
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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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full_op = mode != 'lateral_only'
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sd, controls, drive, card, receive = case._ioniq_availability_callers(full_op=full_op)
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old, state, _ = drive(2, state_stamp=BASE, offset_ns=4_497_535, **settings(mode, BASE, 3))
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assert state.enabled == full_op and old.longitudinalActive == full_op
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if mode in ('lateral_only', 'combined'):
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assert receive(BASE + 4_497_535, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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fresh = BASE + 40_000_000
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clock = [fresh + 29_999_000]
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original_publish = sd.publish_axis_proof
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entered = []
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def publish(cs, **kwargs):
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publication_ns = time.monotonic_ns()
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entered.append((publication_ns, sd.aol_car_state_log_ns, tuple(sd.events.names),
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sd.state_machine.state, sd.state_machine.soft_disable_timer))
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assert publication_ns == fresh + 29_999_000 and sd.aol_car_state_log_ns == fresh
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assert log.OnroadEvent.EventName.selfdrivedLagging in sd.events.names
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assert log.OnroadEvent.EventName.commIssue not in sd.events.names
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assert not sd.aol_authority_lost and sd.aol_published_fault_reason == 'none'
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clock[0] = fresh + 30_001_000
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return original_publish(cs, **kwargs)
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with mock.patch.object(sd.rk.avg_dt, 'get_average', return_value=0.02), \
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mock.patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', side_effect=lambda: clock[0]), \
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mock.patch.object(sd, 'publish_axis_proof', side_effect=publish):
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axis, state, command = drive(6, state_stamp=fresh, offset_ns=29_999_000, **settings(mode, fresh, 4))
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assert len(entered) == 1
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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 old.validUntilMonoTime < axis.observedMonoTime
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assert state.enabled == full_op and state.active == full_op
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if full_op:
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assert state.state == log.SelfdriveState.OpenpilotState.softDisabling and sd.state_machine.soft_disable_timer == 300
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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assert not sd.aol_authority_lost
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if mode in ('lateral_only', 'combined'):
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assert receive(fresh + 30_001_000, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch
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with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=old.validUntilMonoTime + 1):
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expired, _ = controls.state_control()
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assert not expired.latActive and not expired.longActive
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