mirror of
https://github.com/firestar5683/StarPilot.git
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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
3.2 KiB
Python
59 lines
3.2 KiB
Python
from collections import deque
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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, 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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from openpilot.starpilot.aol.tests.test_input_deadline_continuity import BASE, intent
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@pytest.mark.parametrize('count', [2, 16])
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def test_healthy_unpaired_raw_backlog_ageout_does_not_replace_ordinary_soft_countdown(count):
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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, step, _, _ = case._ioniq_availability_callers(full_op=True)
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old, _, _ = step(2, state_stamp=BASE, offset_ns=4_497_535, intent_message=intent(BASE, 3))
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deadline = old.validUntilMonoTime
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queue = deque(intent(BASE + 29_000_000 + index * 1_000, 4 + index).as_reader() for index in range(count))
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original_receive = messaging.recv_one_or_none
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def receive(sock):
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if sock is sd.aol_intent_companion.sock:
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return queue.popleft() if queue else None
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return original_receive(sock)
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with mock.patch('openpilot.selfdrive.selfdrived.selfdrived.messaging.recv_one_or_none', side_effect=receive):
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axis, state, command = step(5, timeout=True, offset_ns=5_399_000, intent_message=intent(BASE, 3))
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assert not queue and sd.aol_step_intent_drain_count == count
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assert state.enabled and state.state == log.SelfdriveState.OpenpilotState.softDisabling
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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 sd.state_machine.soft_disable_timer == 300
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# There is no new CS/raw packet, invalid burst, changed identity or native
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# fault. Each immutable raw receipt's ORIGINAL200ms lease is still current.
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axis, state, command = step(8, timeout=True, intent_message=intent(BASE, 3))
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assert sd.aol_step_intent_drain_count == 0
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assert sd.aol_intent_companion.raw_projections
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assert all(
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stamp > BASE and axis.observedMonoTime - stamp > 30_000_000 and value.validUntilMonoTime > axis.observedMonoTime
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for stamp, (value, _, _) in sd.aol_intent_companion.raw_projections.items()
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)
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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 axis.sourceCarStateMonoTime == 0 and not sd.conditional_car_state_valid
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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 log.OnroadEvent.EventName.commIssue in sd.events.names
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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 not sd.events.contains(fixture.ET.ENABLE)
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assert old.validUntilMonoTime == deadline
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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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