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>
61 lines
3.0 KiB
Python
61 lines
3.0 KiB
Python
from collections import deque
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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 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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from openpilot.starpilot.aol.wire import decode_intent, encode_intent
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@pytest.mark.parametrize(
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('count', 'sm_extra', 'deny_first'),
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[(2, False, False), (3, False, False), (16, False, False), (17, False, True), (31, False, True), (16, True, False), (16, True, True)],
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)
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def test_host_pause_accounts_for_each_raw_tuple_before_retaining_ordinary_state(count, sm_extra, deny_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, 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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frames = []
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for index in range(count):
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message = intent(BASE + 29_000_000 + index * 1_000, 4 + index)
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if deny_first and index == 0:
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message.aolIntentWire = encode_intent(replace(decode_intent(message.aolIntentWire), pauseLateral=True))
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frames.append(message.as_reader())
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queue = deque(frames)
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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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conflated = intent(BASE + 29_000_000 + count * 1_000, 4 + count) if sm_extra else intent(BASE, 3)
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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=conflated)
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assert not queue
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assert sd.aol_step_intent_drain_count == count
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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 old.validUntilMonoTime == deadline
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eligible = count <= 16 and not deny_first
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assert state.enabled == eligible
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if eligible:
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assert state.state == log.SelfdriveState.OpenpilotState.softDisabling
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assert str(axis.faultReason) == 'availabilityPause' and axis.sourceCarStateMonoTime == 0
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assert log.OnroadEvent.EventName.commIssue 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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else:
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assert not sd.aol_ordinary_source_pause
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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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