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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>
75 lines
4.4 KiB
Python
75 lines
4.4 KiB
Python
from contextlib import ExitStack
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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.wire import decode_safety
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@pytest.mark.parametrize('silent', [True, False])
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def test_actual_temporary_eps_keeps_existing_card_latch_and_recovers(silent):
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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)
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for tick in range(2, 152):
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healthy, _, healthy_command = step(tick, native_request_long=False)
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assert healthy.lateralActive and healthy_command.latActive and not healthy_command.longActive
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assert receive(10_000_000_000 + tick * 10_000_000, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'])
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assert sd.car_events.steering_unpressed >= 150
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temporary = fixture.car_state()
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temporary.steerFaultTemporary = True
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temporary.standstill = silent
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# Card observes the physical restriction before the next SD/native heartbeat.
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assert receive(11_519_500_000, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'], state=temporary)
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assert card.aol_card_intent.allowed_latch
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for tick in range(152, 212):
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awaiting_withdrawal = tick < 154
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axis, _, command = step(tick, observed_state=temporary, allowed=awaiting_withdrawal,
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native_request_lat=awaiting_withdrawal, native_request_long=False)
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native = decode_safety(sd.sm['aolSafetyWire'])
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assert native is not None
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assert native.requestedLateral == awaiting_withdrawal and native.lateralAllowed == awaiting_withdrawal
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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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assert not sd.aol_authority_lost and str(axis.faultReason) != 'critical'
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assert any(name in sd.events.names for name in (log.OnroadEvent.EventName.steerTempUnavailable,
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log.OnroadEvent.EventName.steerTempUnavailableSilent))
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expected_event = (log.OnroadEvent.EventName.steerTempUnavailableSilent if silent else
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log.OnroadEvent.EventName.steerTempUnavailable)
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assert expected_event in sd.events.names
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assert receive(10_000_000_000 + tick * 10_000_000, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'], state=temporary)
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assert card.aol_card_intent.allowed_latch and not card.aol_transport_feedback.failed
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recovered, _, command = step(212, native_request_lat=True, native_request_long=False)
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assert recovered.lateralActive and command.latActive
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assert not recovered.longitudinalActive and not command.longActive and not sd.enabled
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assert receive(12_120_000_000, axis=sd.pm.messages['aolAxisState'], event=sd.pm.messages['onroadEvents'])
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assert card.aol_card_intent.allowed_latch and not sd.aol_authority_lost
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@pytest.mark.parametrize('fault', ['permanent_eps', 'invalid_can', 'invalid_native'])
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def test_temporary_eps_never_masks_permanent_can_or_native_fault(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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with OpenpilotPrefix():
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sd, _, step, card, receive = case._ioniq_availability_callers(full_op=False)
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observed = fixture.car_state()
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observed.steerFaultTemporary = True
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observed.steerFaultPermanent = fault == 'permanent_eps'
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observed.canValid = fault != 'invalid_can'
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axis, _, command = step(2, observed_state=observed, native_valid=fault != 'invalid_native', native_request_long=False)
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assert not axis.lateralActive and not axis.longitudinalActive and not command.latActive and not command.longActive
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assert not receive(10_020_000_000, axis=sd.pm.messages['aolAxisState'],
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event=sd.pm.messages['onroadEvents'], state=observed)
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assert not card.aol_card_intent.allowed_latch
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recovered, _, command = step(3, native_request_long=False)
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assert not recovered.lateralActive and not command.latActive and not command.longActive
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assert not card.aol_card_intent.allowed_latch
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