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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>
56 lines
3.4 KiB
Python
56 lines
3.4 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 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.runtime import current_native
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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_fresh_source_requests_long_before_delayed_native_ack_then_activates(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, controls, drive, _, _ = case._ioniq_availability_callers(full_op=True)
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old, _, command = drive(2, state_stamp=BASE, offset_ns=4_497_535, **settings(mode, BASE, 3))
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assert old.longitudinalActive and command.longActive
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old_deadline = old.validUntilMonoTime
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options = settings(mode, BASE, 3)
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options.update(native_request_long=False, long_allowed=False)
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axis, state, command = drive(5, timeout=True, offset_ns=5_399_000, **options)
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assert state.enabled and state.state == log.SelfdriveState.OpenpilotState.softDisabling
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assert axis.sourceCarStateMonoTime == 0 and not axis.desiredLongitudinal
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assert not axis.longitudinalActive and not command.longActive
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# The newly accepted CS/intent arrives before the native 10Hz request/ACK.
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# Deliver actual healthy native OFF wire bytes; no axis/decision is mocked.
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fresh = BASE + 40_000_000
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options = settings(mode, fresh, 4)
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options.update(native_request_long=False, long_allowed=False)
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axis, state, command = drive(6, state_stamp=fresh, **options)
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native = current_native(sd.sm, sd.CP, now_ns=axis.observedMonoTime, axis_session_id=sd.aol_session_id)
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assert native is not None and not native.requestedLongitudinal and not native.longitudinalAllowed
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assert state.enabled and state.state == log.SelfdriveState.OpenpilotState.enabled
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assert axis.sourceCarStateMonoTime == fresh and axis.desiredLongitudinal
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assert not axis.longitudinalActive and not command.longActive
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assert not sd.aol_authority_lost and not getattr(sd, 'aol_availability_long_inhibit', False)
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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assert not sd.events.contains(fixture.ET.ENABLE)
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# Panda's next actual wire ACK grants only the new current source.
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newer = BASE + 50_000_000
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axis, state, command = drive(7, state_stamp=newer, **settings(mode, newer, 5))
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native = current_native(sd.sm, sd.CP, now_ns=axis.observedMonoTime, axis_session_id=sd.aol_session_id)
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assert native is not None and native.requestedLongitudinal and native.longitudinalAllowed
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assert state.enabled and axis.desiredLongitudinal and axis.longitudinalActive and command.longActive
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assert axis.sourceCarStateMonoTime == newer and axis.validUntilMonoTime > old_deadline
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assert not sd.events.contains(fixture.ET.ENABLE)
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assert old.validUntilMonoTime == old_deadline
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with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=axis.validUntilMonoTime + 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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