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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>
59 lines
3.6 KiB
Python
59 lines
3.6 KiB
Python
"""Host source loss and loop-lag lifecycle regression coverage."""
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from contextlib import ExitStack
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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('mode', ['long_only','combined','combined_unarmed'])
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def test_real_prior_lag_clears_while_source_is_still_missing_keeps_normal_soft_state(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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sd,_,drive,card,receive=case._ioniq_availability_callers(full_op=True)
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old,state,command=drive(2,state_stamp=BASE,offset_ns=4_497_535,**settings(mode,BASE,3))
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assert state.enabled and old.longitudinalActive and command.longActive
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if mode=='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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source=BASE+10_000_000
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with mock.patch.object(sd.rk.avg_dt,'get_average',return_value=0.02):
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axis,state,command=drive(3,state_stamp=source,**settings(mode,source,4))
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assert state.enabled and state.state==log.SelfdriveState.OpenpilotState.softDisabling
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assert sd.state_machine.soft_disable_timer==300
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assert log.OnroadEvent.EventName.selfdrivedLagging in sd.events.names
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assert str(axis.faultReason)=='none' and not sd.aol_authority_lost
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assert axis.desiredLongitudinal and axis.longitudinalActive and command.longActive and axis.nativeAcknowledged
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assert bool(axis.lateralActive) == bool(command.latActive) == (mode != 'long_only')
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fresh_lag_deadline = axis.validUntilMonoTime
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if mode=='combined':
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assert receive(source,axis=sd.pm.messages['aolAxisState'],event=sd.pm.messages['onroadEvents'])
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assert not sd.rk.lagging
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axis,state,command=drive(7,timeout=True,state_stamp=source,offset_ns=5_399_000,**settings(mode,source,4))
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assert log.OnroadEvent.EventName.selfdrivedLagging not in sd.events.names
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assert log.OnroadEvent.EventName.commIssue 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<axis.observedMonoTime
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assert fresh_lag_deadline<axis.observedMonoTime
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assert state.enabled and state.state==log.SelfdriveState.OpenpilotState.softDisabling
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assert sd.state_machine.soft_disable_timer==299
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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assert not sd.aol_authority_lost and not getattr(sd,'aol_availability_long_inhibit',False)
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assert axis.sourceCarStateMonoTime==0 and not sd.conditional_car_state_valid
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if mode=='combined':
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assert receive(BASE+55_399_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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fresh=BASE+60_000_000
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options=settings(mode,fresh,5)
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options.update(native_request_long=False,long_allowed=False)
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axis,state,command=drive(8,state_stamp=fresh,**options)
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assert state.enabled and axis.desiredLongitudinal and not axis.longitudinalActive and not command.longActive
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assert not sd.events.contains(fixture.ET.ENABLE)
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fresh+=10_000_000
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axis,state,command=drive(9,state_stamp=fresh,**settings(mode,fresh,6))
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assert state.enabled and axis.longitudinalActive and command.longActive
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assert not sd.events.contains(fixture.ET.ENABLE)
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