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https://github.com/firestar5683/StarPilot.git
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firestar5683
96 lines
4.8 KiB
Python
96 lines
4.8 KiB
Python
from contextlib import ExitStack
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import pytest
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from opendbc.car.hyundai.canfd_angle_aol import MODELS
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from openpilot.cereal import log
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from openpilot.common.params import Params
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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 (
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test_fresh_source_replaces_expired_output_without_restoring_disengagement as _fresh_source,
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test_late_carstate_during_environment_work_reaches_final_owners_once as _restrictive_source,
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)
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@pytest.mark.parametrize('timing', ['timely', 'late_poll', 'processing_crosses_deadline'])
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def test_stock_angle_fresh_source_keeps_independent_lateral_with_stock_cruise_off(timing):
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_fresh_source('stock_angle_gas', timing)
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@pytest.mark.parametrize('pulse', ['stock_angle_gas_invalid_envelope', 'stock_angle_gas_permanent_eps'])
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def test_stock_angle_fresh_source_still_observes_invalid_envelope_and_eps_fault(pulse):
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_restrictive_source(pulse)
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@pytest.mark.parametrize('restriction', ['cancel', 'eps', 'can_invalid', 'native_denied', 'native_invalid', 'intent_withdrawn'])
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def test_stock_angle_expired_output_never_renews_through_restrictions(restriction):
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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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with OpenpilotPrefix():
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sd, _, step, _, _ = case._ioniq_availability_callers(full_op=False, stock_angle=True)
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initial, _, command = step(2, gas=True)
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assert initial.lateralActive and command.latActive
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state = fixture.car_state()
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state.vEgoRaw = state.vEgo
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if restriction == 'cancel':
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state.buttonEvents = [fixture.car.CarState.ButtonEvent(type='cancel', pressed=True)]
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elif restriction == 'eps':
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state.steerFaultPermanent = True
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elif restriction == 'can_invalid':
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state.canValid = False
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axis, _, command = step(6, observed_state=state, gas=True, allowed=restriction != 'native_denied',
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native_valid=restriction != 'native_invalid', latched=restriction != 'intent_withdrawn')
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assert not axis.lateralActive and not command.latActive
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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def test_stock_angle_explicit_lateral_pause_keeps_latch_beyond_native_ack_timeout():
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from openpilot.starpilot.aol.intent import PAUSE_LATERAL
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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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with OpenpilotPrefix():
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sd, _, step, card, receive = case._ioniq_availability_callers(full_op=False, stock_angle=True)
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card.aol_card_intent._perform(PAUSE_LATERAL)
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for tick in range(2, 37):
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pause = tick < 36
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if not pause:
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card.aol_card_intent._perform(PAUSE_LATERAL)
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axis, _, command = step(tick, pause=pause, allowed=not pause, native_request_lat=not pause)
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assert axis.lateralActive == command.latActive == (not pause)
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert receive(10_000_000_000 + tick * 10_000_000,
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axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch
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@pytest.mark.parametrize('pause_speed', [0., 30.])
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@pytest.mark.parametrize('identity', sorted(MODELS))
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def test_moving_stock_angle_brake_keeps_latch_and_respects_saved_pause(pause_speed, identity):
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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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with OpenpilotPrefix():
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params = Params()
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params.put('PauseAOLOnBrake', pause_speed, block=True)
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sd, _, step, card, receive = case._ioniq_availability_callers(full_op=False, stock_angle=identity)
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assert card.CP.alternativeExperience == 32
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assert not card.CP.openpilotLongitudinalControl
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for tick in range(2, 37):
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brake = tick < 36
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state = fixture.car_state(brake=brake)
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state.vEgo = state.vEgoRaw = 3.
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expected = not brake or pause_speed == 0.
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axis, _, command = step(tick, observed_state=state, allowed=expected, native_request_lat=expected)
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assert axis.lateralActive == command.latActive == expected
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assert not axis.longitudinalActive and not command.longActive and not sd.enabled
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assert not sd.aol_authority_lost
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assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
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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 card.aol_card_intent.allowed_latch
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assert float(params.get('PauseAOLOnBrake')) == pause_speed
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