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https://github.com/firestar5683/StarPilot.git
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firestar5683
89 lines
4.9 KiB
Python
89 lines
4.9 KiB
Python
"""Real event selection must notify loss of independent lateral authority."""
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from contextlib import ExitStack
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from dataclasses import replace
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from unittest import mock
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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 opendbc.car.structs import car
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from openpilot.cereal import messaging
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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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@pytest.mark.parametrize('pedal', ['none', 'brake', 'low_gas', 'drive_gas'])
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@pytest.mark.parametrize('timer', [0, 120])
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def test_lag_notifies_actual_lat_withdrawal_without_changing_timer(pedal, timer):
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with OpenpilotPrefix(), ExitStack() as cleanup:
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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cleanup.callback(case.doCleanups)
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cp = sdgm_params()
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assert cp.safetyConfigs[0].safetyParam == 0x5007
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sd, _, drive = case._authority_callers(False, cp=cp, genuine_events=True)
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axis, _, command = drive(0, native_request_long=False)
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assert axis.lateralActive and axis.nativeAcknowledged and command.latActive
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sd.state_machine.soft_disable_timer = timer
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cs = fixture.car_state(brake=pedal == 'brake')
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cs.gearShifter = car.CarState.GearShifter.low if pedal == 'low_gas' else car.CarState.GearShifter.drive
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with mock.patch.object(sd.rk.avg_dt, 'get_average', return_value=.02):
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axis, state, command = drive(1, observed_state=cs, gas=pedal.endswith('gas'), native_request_long=False)
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assert not axis.lateralActive and not axis.longitudinalActive
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assert not command.latActive and not command.longActive and not state.enabled
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assert state.alertType == 'selfdrivedLagging/softDisable'
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assert state.alertText1 == 'TAKE CONTROL IMMEDIATELY'
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assert state.alertText2 == 'System Lagging'
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assert str(state.alertSound) == 'warningImmediate'
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assert sd.state_machine.soft_disable_timer == max(0, timer - 1)
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drive(2, native_request_long=False)
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assert not sd.aol_lag_takeover_alert
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axis, _, command = drive(3, allowed=False, native_request_lat=False, native_request_long=False)
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assert not axis.lateralActive and not command.latActive
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@pytest.mark.parametrize('bad', ['never_active', 'unarmed', 'native_invalid', 'native_denied', 'pause',
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'cancel', 'reverse', 'temporary_eps', 'main_off', 'brake_pause', 'door'])
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def test_no_lag_takeover_without_counterfactual_authority(bad):
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with OpenpilotPrefix(), ExitStack() as cleanup:
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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cleanup.callback(case.doCleanups)
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sd, _, drive = case._authority_callers(False, cp=sdgm_params(), genuine_events=True)
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drive(0, native_request_long=False, latched=bad != 'never_active')
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kwargs = {'unarmed': {'latched': False}, 'native_invalid': {'native_valid': False},
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'native_denied': {'allowed': False}, 'pause': {'pause': True},
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'never_active': {'latched': False}}.get(bad, {})
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cs = fixture.car_state(brake=bad == 'brake_pause')
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cs.cruiseState.available = bad != 'main_off'
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if bad == 'cancel':
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cs.buttonEvents = [car.CarState.ButtonEvent(type=car.CarState.ButtonEvent.Type.cancel, pressed=True)]
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if bad == 'reverse':
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cs.gearShifter = car.CarState.GearShifter.reverse
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cs.steerFaultTemporary = bad == 'temporary_eps'
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cs.doorOpen = bad == 'door'
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if bad == 'brake_pause':
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from openpilot.starpilot.aol.intent import read_settings
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sd.aol_settings = replace(read_settings(sd.params), pause_brake_mps=100.)
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source = messaging.new_message('carState', valid=True, logMonoTime=10_010_000_000)
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source.carState = cs
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with mock.patch.object(sd.rk.avg_dt, 'get_average', return_value=.02):
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_, _, command = drive(1, native_request_long=False, car_state_message=source, **kwargs)
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assert not sd.aol_lag_takeover_alert and not command.latActive and not command.longActive
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@pytest.mark.parametrize('case_name', ['ordinary_lag', 'ordinary_brake', 'immediate'])
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def test_existing_ordinary_timer_and_immediate_priority(case_name):
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with OpenpilotPrefix(), ExitStack() as cleanup:
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case = fixture.IoniqAvailabilityTests(methodName='runTest')
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cleanup.callback(case.doCleanups)
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sd, _, drive = case._authority_callers(case_name != 'immediate', cp=sdgm_params(), genuine_events=True)
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drive(0)
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with mock.patch.object(sd.rk.avg_dt, 'get_average', return_value=.02):
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_, state, _ = drive(1, brake=case_name == 'ordinary_brake', native_valid=case_name != 'immediate')
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assert not sd.aol_lag_takeover_alert
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if case_name == 'ordinary_lag':
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assert str(state.state) == 'softDisabling' and sd.state_machine.soft_disable_timer == 300
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assert str(state.alertSound) == 'warningSoft'
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elif case_name == 'ordinary_brake':
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assert state.alertType == 'pedalPressed/userDisable' and not state.enabled
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else:
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assert state.alertType == 'controlsMismatch/immediateDisable'
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