mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
145 lines
8.0 KiB
Python
145 lines
8.0 KiB
Python
from contextlib import ExitStack
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from unittest import mock
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import pytest
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from opendbc.car import structs
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from opendbc.car.hyundai.canfd_angle_aol import MODELS
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from opendbc.car.hyundai.values import CAR
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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('identity', sorted(MODELS))
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@pytest.mark.parametrize('gas', [False, True])
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@pytest.mark.parametrize('event_first', [False, True])
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def test_stock_pcm_location_input_pause_retains_intent_without_output(identity, gas, event_first):
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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=False, stock_angle=identity)
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state = fixture.car_state()
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state.vEgo = state.vEgoRaw = 6.98
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state.steeringAngleDeg = 65.9
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actual_update = sd.sm.update_msgs
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unavailable = [False]
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delivered = []
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def update(timestamp, messages):
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selected = []
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for message in messages:
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if message.which() == 'deviceMotion':
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delivered.append((int(message.logMonoTime), unavailable[0]))
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message = message.as_builder()
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message.deviceMotion.inputsOK = not unavailable[0]
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message = message.as_reader()
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selected.append(message)
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return actual_update(timestamp, selected)
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with mock.patch.object(sd.sm, 'update_msgs', side_effect=update):
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for tick in range(2, 5):
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axis, _, command = drive(tick, observed_state=state, gas=gas, panda_controls_allowed=False)
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assert axis.lateralActive and command.latActive
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assert receive(10_000_000_000 + tick * 10_000_000, state=state,
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axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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baseline = (card.aol_transport_feedback.lateral_baseline_ns,
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card.aol_transport_feedback.lateral_native_ns)
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prior_axis = sd.pm.messages['aolAxisState']
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unavailable[0] = True
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axis, _, command = drive(5, observed_state=state, gas=gas, panda_controls_allowed=False)
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assert fixture.log.OnroadEvent.EventName.locationdTemporaryError in sd.events.names
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assert fixture.log.OnroadEvent.EventName.pcmDisable in sd.events.names
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assert not axis.lateralActive and not axis.longitudinalActive
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assert not command.latActive and not command.longActive
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if event_first:
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assert receive(10_050_000_000, state=state, axis=prior_axis, event=sd.pm.messages['onroadEvents'])
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assert receive(10_050_000_001, state=state, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch
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assert baseline == (card.aol_transport_feedback.lateral_baseline_ns,
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card.aol_transport_feedback.lateral_native_ns)
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for tick in range(6, 10):
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axis, _, command = drive(tick, observed_state=state, gas=gas, panda_controls_allowed=False,
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allowed=False, native_request_lat=False, 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
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assert receive(10_000_000_000 + tick * 10_000_000, state=state,
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axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert baseline == (card.aol_transport_feedback.lateral_baseline_ns,
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card.aol_transport_feedback.lateral_native_ns)
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unavailable[0] = False
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for tick in range(10, 12):
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axis, _, command = drive(tick, observed_state=state, gas=gas, panda_controls_allowed=False)
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assert receive(10_000_000_000 + tick * 10_000_000, state=state,
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axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert delivered == [(10_050_000_000, True), (10_100_000_000, False)]
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assert axis.lateralActive and command.latActive
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@pytest.mark.parametrize('identity', [CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9])
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@pytest.mark.parametrize('fault', ['native_denial', 'native_invalid', 'panda_rx', 'relay', 'permanent_eps',
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'invalid_can', 'can_timeout', 'door', 'seatbelt', 'brake', 'regen', 'physical_cancel', 'reverse', 'unknown_gear',
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'extra_user', 'hard_event', 'epoch', 'session', 'expired', 'future_source', 'no_baseline', 'configured_cancel'])
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def test_stock_location_input_retention_refuses_independent_faults(identity, fault):
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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=False, stock_angle=identity)
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state = fixture.car_state()
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state.vEgo = state.vEgoRaw = 6.98
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axis, _, command = drive(2, observed_state=state, gas=True,
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critical_event=fixture.log.OnroadEvent.EventName.locationdTemporaryError, native_request_long=False,
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allowed=fault != 'native_denial', native_valid=fault != 'native_invalid',
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panda_fault=fault == 'panda_rx', relay_fault=fault == 'relay')
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assert not axis.lateralActive and not axis.longitudinalActive
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assert not command.latActive and not command.longActive
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# Supply the stock PCM USER envelope alongside the injected host fault.
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proof = sd.pm.messages['aolAxisState'].as_builder()
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event = sd.pm.messages['onroadEvents'].as_builder()
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event.onroadEvents = [x.to_dict() for x in event.onroadEvents] + [{'name': 'pcmDisable', 'userDisable': True}]
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state.steerFaultPermanent = fault == 'permanent_eps'
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state.canValid = fault != 'invalid_can'
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state.canTimeout = fault == 'can_timeout'
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state.doorOpen = fault == 'door'
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state.seatbeltUnlatched = fault == 'seatbelt'
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state.brakePressed = fault == 'brake'
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state.regenBraking = fault == 'regen'
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if fault == 'configured_cancel':
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from dataclasses import replace
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card.aol_card_intent.settings = replace(card.aol_card_intent.settings, cancel_actions=(9, 0, 0))
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if fault in ('physical_cancel', 'configured_cancel'):
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state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
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if fault in ('reverse', 'unknown_gear'):
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state.gearShifter = 'reverse' if fault == 'reverse' else 'unknown'
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if fault == 'extra_user':
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event.onroadEvents = [x.to_dict() for x in event.onroadEvents] + [{'name': 'buttonCancel', 'userDisable': True}]
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if fault == 'hard_event':
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event.onroadEvents[0].immediateDisable = True
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if fault == 'epoch':
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proof.aolAxisState.intentIntegrityEpoch += 1
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if fault == 'session':
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proof.aolAxisState.sessionId = proof.aolAxisState.faultSessionId = 'wrong-owner'
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if fault == 'expired':
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proof.aolAxisState.validUntilMonoTime = 10_019_999_999
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if fault == 'future_source':
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proof.aolAxisState.sourceCarStateMonoTime = 10_030_000_000
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if fault == 'no_baseline':
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# Remove the established baseline without erasing its session/history.
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card.aol_transport_feedback.lateral_baseline_ns = 0
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# A physical pause is independent of the location SOFT warning. Current
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# native proof and zero host commands remain mandatory; unassigned CANCEL
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# preserves intent, whereas the explicitly configured CANCEL still clears.
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baseline = (card.aol_transport_feedback.lateral_baseline_ns, card.aol_transport_feedback.lateral_native_ns)
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retained = receive(10_020_000_000, state=state, axis=proof.as_reader(), event=event.as_reader())
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expected = fault in ('seatbelt', 'brake', 'regen')
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assert retained == expected, fault
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assert card.aol_card_intent.allowed_latch == expected
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assert not axis.lateralActive and not axis.longitudinalActive
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assert not command.latActive and not command.longActive
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if expected:
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assert baseline == (card.aol_transport_feedback.lateral_baseline_ns, card.aol_transport_feedback.lateral_native_ns)
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